Cantilever AGV stable in butt joint
By introducing an angle adjustment mechanism into the cantilever AGV, the inclination angle of the cantilever is adjusted in real time, and the problem of docking instability caused by load changes is solved, and the stability and working efficiency of the equipment are improved.
Patent Information
- Application Number
- CN202411431911.X
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-10-14
- Publication Date
- 2025-01-07
AI Technical Summary
During the polar roll processing, the load change of the cantilever AGV leads to deviations in the front end of the cantilever when docking, resulting in unstable docking, low equipment stability, and frequent maintenance and adjustments are required, which reduces operating efficiency.
An angle adjustment mechanism including a sensor, controller and angle adjustment component is adopted to detect the inclination angle of the front end of the cantilever in real time, and adjust the inclination angle of the cantilever through the controller to keep it horizontal, thereby achieving stable docking of the docking structure.
By adjusting the inclination angle of the cantilever in real time, ensuring stable docking of the cantilever with docking structures such as the machine or cache rack, improving the stability of the equipment and operating efficiency, and solving the problem of deflection docking stability caused by load changes.
Smart Images
Figure CN119262928A_ABST
Abstract
Description
Technical Field
[0001] The present invention relates to the technical field of material transfer, and in particular to a cantilever AGV with stable docking. Background Art
[0002] During the processing of the pole roll, the loading and unloading is mainly carried out by the cantilever AGV. The AGV first automatically takes the material from the unloading end of the roller press and transports the material to the slitting loading end for loading; then multiple empty rolls are placed on the slitting unloading end; after the slitting is completed, the empty rolls on the slitting loading end are removed, and then a roll of material is taken from the unloading end of the roller press, and the new roll is placed on the slitting loading end, and then the multiple rolls of small pole rolls slit by the slitting unloading end are taken and placed on the post-slitting buffer rack, and then a group of empty rolls are placed on the slitting unloading end, and this cycle is repeated. The weight of the large pole roll material is 600kg, and the weight of the small pole roll after slitting is 100-300kg. When the cantilever does not take the material, the weight of the upper pole roll can be considered to be 0. Therefore, the load weight difference between the AGV cantilever in different processes is very large, and the cantilever string rod has a large deflection difference in different working conditions, which causes the front end of the AGV cantilever to deviate when docking with the machine or buffer rack and other docking structures. The heavier the material, the greater the deviation value, which makes the AGV cantilever docking unstable, the equipment stability is low, and requires frequent maintenance and adjustment, which reduces the operating efficiency. Summary of the invention
[0003] In order to overcome the deficiencies of the prior art, the object of the present invention is to provide a cantilever AGV with stable docking, which can solve the problem of deflection docking stability caused by the large load variation range between different processes and improve the stability of the equipment.
[0004] In order to solve the above problems, the technical solution adopted by the present invention is as follows: a cantilever AGV with stable docking, including a cantilever assembly and an angle adjustment mechanism, wherein the cantilever assembly includes a carrier frame and a cantilever, and the cantilever is rotatably connected to the carrier frame; the angle adjustment mechanism includes a sensor, a controller and an angle adjustment assembly, and the controller is electrically connected or signal-connected to the sensor and the angle adjustment assembly; the sensor can detect the inclination angle of the front end of the cantilever, the controller can receive the inclination angle information of the front end of the cantilever, and control the start-up of the angle adjustment assembly, and the angle adjustment assembly can drive the cantilever to rotate relative to the carrier frame to adjust the inclination angle of the cantilever.
[0005] Compared with the prior art, the beneficial effects of the present invention are: the cantilever AGV is provided with an angle adjustment mechanism. In the process of loading and unloading materials using the cantilever AGV, the sensor can monitor the inclination angle of the front end of the cantilever in real time and send the inclination angle information to the controller. The controller controls the angle adjustment component to drive the cantilever to rotate relative to the load frame to adjust the inclination angle of the front end of the cantilever so that the front end of the cantilever remains horizontal, which is conducive to the stable docking of the cantilever with the docking structure such as the machine or the buffer rack, so as to solve the deflection docking stability problem caused by the large load change range between different processes. During the material turnover switching process of the entire production process from rolling unloading to winding loading, the cantilever AGV can maintain stable docking, which can improve equipment stability and operating efficiency.
[0006] In the above-mentioned docking stable cantilever AGV, the angle adjustment assembly includes a driving member and a sliding member, the driving member is installed on the supporting frame, the sliding member is connected to the output end of the driving member, and can slide relative to the supporting frame under the drive of the driving member, and the side of the sliding member is provided with an inclined sliding groove; the outer periphery of the cantilever is provided with a rotating connection part and a sliding connection part, the rotating connection part is rotatably connected to the supporting frame, the sliding connection part is inserted into the inclined sliding groove, and can slide relative to the inclined sliding groove; when the driving member drives the sliding member to slide relative to the supporting frame, the inclined sliding groove slides relative to the sliding connection part, so that the cantilever rotates around the rotating connection part.
[0007] In the above-mentioned cantilever AGV with stable docking, a sliding wheel is sleeved on the outer periphery of the sliding connection part, and the outer diameter of the sliding wheel is equal to the groove width of the inclined slide groove.
[0008] In the above-mentioned docking stable cantilever AGV, the side of the sliding member is provided with an inclined slide, and the inclined slide is arranged opposite to the inclined slide groove; two sliding connection parts are arranged opposite to each other, one of the sliding connection parts is inserted into the inclined slide groove, and the other sliding connection part is slidably connected to the inclined slide, and the inclined slide is located above the sliding connection part.
[0009] In the above-mentioned cantilever AGV with stable docking, a notch is provided at the rear end of the cantilever, the sliding connection part is located above the notch, and the rotating connection part is located in front of the notch.
[0010] In the above-mentioned cantilever AGV with stable docking, the sliding connection part is higher than the rotating connection part.
[0011] In the above-mentioned cantilever AGV with stable docking, a reinforcing protrusion is integrally formed on the rear end side of the cantilever, and the sliding connection part is integrally formed on the side of the reinforcing protrusion.
[0012] In the above-mentioned cantilever AGV with stable docking, the angle adjustment assembly also includes a ball screw, the driving member is used to drive the screw of the ball screw to rotate, and the nut of the ball screw is fixedly connected to the sliding member.
[0013] In the above-mentioned cantilever AGV with stable docking, a slide rail is provided on the carrier frame, a slider is provided on the top of the sliding member, and the slider is slidably connected to the slide rail.
[0014] The above-mentioned docking stable cantilever AGV has a guide assembly on the top of the cantilever, and the guide assembly has multiple groups distributed along the axial direction of the cantilever. Each group of the guide assemblies includes three guide wheels rotatably connected to the cantilever. The three guide wheels are distributed in a triangle and are arranged at angles to each other.
[0015] The present invention is further described in detail below in conjunction with the accompanying drawings and specific embodiments. BRIEF DESCRIPTION OF THE DRAWINGS
[0016] Figure 1 It is a partial structural schematic diagram of a cantilever AGV according to an embodiment of the present invention;
[0017] Figure 2 A partial structural schematic diagram of an angle adjustment mechanism according to an embodiment of the present invention;
[0018] Figure 3 This is one of the structural schematic diagrams of the angle adjustment assembly of an embodiment of the present invention;
[0019] Figure 4 This is a second structural schematic diagram of the angle adjustment assembly according to an embodiment of the present invention;
[0020] Figure 5 It is a schematic diagram of the local structure of the rear end of the cantilever according to an embodiment of the present invention.
[0021] Description of the accompanying drawings: 100 cantilever assembly, 110 carrier frame, 111 slide rail, 120 cantilever, 121 rotating connection part, 122 sliding connection part, 123 sliding wheel, 124 notch, 125 reinforcing protrusion, 130 guide assembly, 131 guide wheel, 200 angle adjustment mechanism, 210 sensor, 220 controller, 230 angle adjustment assembly, 231 driving member, 232 sliding member, 2321 inclined slide groove, 2322 inclined slide table, 233 ball screw, 234 slider. DETAILED DESCRIPTION
[0022] The embodiments of the present invention are described in detail below. Figures 1 to 5, an embodiment of the present invention provides a cantilever AGV with stable docking, including a cantilever assembly 100 and an angle adjustment mechanism 200. The cantilever assembly 100 includes a carrier 110 and a cantilever 120. The carrier 110 is installed on the body of the AGV and is used to install the cantilever 120, certain components of the angle adjustment mechanism 200 and other components of the control structure, and can also play the role of carrying materials. The cantilever 120 is rotatably connected to the carrier 110, and its rotation is controlled by the angle adjustment mechanism 200. The cantilever 120 is used to connect materials in series. Its main structure and function can refer to the prior art and are not described here. The angle adjustment mechanism 200 includes a sensor 210, a controller 220 and an angle adjustment assembly 230. The controller 220 is electrically connected or signal-connected to the sensor 210 and the angle adjustment assembly 230. The electrical connection refers to a wired connection through structures such as wires, and the signal connection refers to a wireless connection through methods such as wifi. The sensor 210 is generally an inclination sensor installed at the front end of the cantilever 120, and can detect the inclination of the front end of the cantilever 120. The controller 220 can receive the inclination information of the front end of the cantilever 120 and control the angle adjustment component 230 to start. The angle adjustment component 230 can drive the cantilever 120 to rotate relative to the support frame 110 to adjust the inclination of the cantilever 120.
[0023] The cantilever AGV is provided with an angle adjustment mechanism 200. In the process of loading and unloading materials using the cantilever AGV, the sensor 210 can monitor the inclination angle of the front end of the cantilever 120 in real time and send the inclination angle information to the controller 220. The controller 220 controls the angle adjustment component 230 to drive the cantilever 120 to rotate relative to the carrier frame 110 to adjust the inclination angle of the front end of the cantilever 120 so that the front end of the cantilever 120 remains horizontal, which is conducive to the cantilever 120 and the docking structure such as the machine or the buffer rack to achieve stable docking, so as to solve the deflection docking stability problem caused by the large load change range between different processes. During the material turnover switching process from roller unloading to winding loading in the entire production process, the cantilever AGV can maintain stable docking, which can improve equipment stability and operating efficiency.
[0024] Further, refer to Figure 1The front end of the cantilever 120 is equipped with a docking shaft head, a high-precision positioning camera, and a docking position sensor. The high-precision positioning camera is used to identify the docking center position of the docking structure such as the buffer rack or the machine. After centering, the cantilever 120 moves forward with the AGV body as a whole. The docking shaft head is docked through the docking guide sleeve of the docking structure such as the buffer rack or the machine. The docking is sensed by the front end position sensor when it is docked to a certain position. The position sensor feedbacks that the body is in place and stops the body from moving forward. The other specific working processes of the cantilever AGV can refer to the existing technology and will not be repeated here. Further, a guide assembly 130 is provided at the top of the cantilever 120. The guide assembly 130 is distributed in multiple groups along the axial direction of the cantilever 120. Each group of guide assemblies 130 includes three guide wheels 131 rotatably connected to the cantilever 120, which can reduce the friction during the material movement. The three guide wheels 131 are distributed in a triangular shape and are arranged at an angle to each other. They can be tangentially in contact with the inner wall of the material roll. In addition to supporting the material, they can also prevent the material from shaking left and right, ensuring the stability of the material movement. Of course, a material in-place sensor is also installed on the cantilever 120. When the material moves a moving distance on the cantilever 120, the material in-place sensor will send a material in-place signal. After the signal is triggered, it is determined that the material is in place and the material stops moving.
[0025] Further, refer to Figures 2 to 4 The angle adjustment assembly 230 includes a driving member 231 and a sliding member 232. The driving member 231 is installed on the carrier 110. The sliding member 232 is connected to the output end of the driving member 231 and can slide relative to the carrier 110 under the drive of the driving member 231. An inclined sliding groove 2321 is provided on the side of the sliding member 232. A rotating connection part 121 and a sliding connection part 122 are provided on the outer periphery of the cantilever 120. The rotating connection part 121 is rotatably connected to the carrier 110. The sliding connection part 122 is inserted into the inclined sliding groove 2321 and can slide relative to the inclined sliding groove 2321. When the driving member 231 drives the sliding member 232 to slide relative to the carrier 110, the inclined sliding groove 2321 slides relative to the sliding connection part 122, so that the cantilever 120 rotates around the rotating connection part 121.
[0026] When the inclination sensor recognizes that there is an inclination deviation at the front end of the cantilever 120, that is, the front end of the cantilever 120 is not kept horizontal, the inclination sensor sends the inclination information to the controller 220. The controller 220 controls the driving member 231 to start according to the inclination information. After the driving member 231 is started, it can drive the sliding member 232 to slide relative to the supporting frame 110. Since an inclined slot 2321 is provided on the side of the sliding member 232, and the sliding connection part 122 of the cantilever 120 is inserted into the inclined slot 2321, when the sliding member 232 moves, the inclined slot 2321 will slide relative to the sliding connection part 122, thereby pressing down or lifting up the rear end of the cantilever 120, and then causing the cantilever 120 to rotate around the rotating connection part 121. When the inclination sensor recognizes that there is no inclination deviation at the front end of the cantilever 120, that is, the front end of the cantilever 120 remains horizontal, the controller 220 controls the driving member 231 to stop moving. Under the limit cooperation of the inclined slot 2321 and the sliding connection part 122, the cantilever 120 remains in the current position, thereby achieving stable docking.
[0027] Further, refer to Figure 5 The rear end side of the cantilever 120 is integrally formed with a reinforcing protrusion 125, which is square in shape, and the sliding connection part 122 is integrally formed on the side of the reinforcing protrusion 125 to increase the connection strength between the sliding connection part 122 and the cantilever 120. Furthermore, the sliding connection part 122 is cylindrical, and a sliding wheel 123 is sleeved on the outer periphery of the sliding connection part 122. The outer diameter of the sliding wheel 123 is equal to the groove width of the inclined slide groove 2321, which can not only facilitate the relative sliding connection between the sliding connection part 122 and the inclined slide groove 2321, but also ensure that the sliding member 232 can accurately drive the cantilever 120 to rotate when sliding. As for the sliding member 232, it needs to ensure that it can drive the cantilever 120 to rotate when it slides forward and backward. Therefore, the inclined slide groove 2321 is a circumferentially closed through groove, and because the outer diameter of the sliding wheel 123 is equal to the groove width of the inclined slide groove 2321, the upper and lower walls of the inclined slide groove 2321 are in contact with the outer periphery of the sliding wheel 123. When the sliding member 232 slides forward and backward, the upper and lower walls of the inclined slide groove 2321 are in contact with the outer periphery of the sliding wheel 123, so that the rear end of the cantilever 120 can be pressed down or lifted up. Since the inclined slide groove 2321 is set obliquely, the force generated by it on the cantilever 120 when it moves forward and backward is at a certain angle to the cantilever 120, and the setting of the sliding wheel 123 can make the relative movement between the sliding member 232 and the sliding connection part 122 smoother.
[0028] In order to further ensure the smoothness of the relative movement between the sliding member 232 and the sliding connection part 122, the docking stability of the cantilever AGV can be further improved to avoid the jamming phenomenon. Figure 4, the side of the sliding member 232 is provided with an inclined slide 2322, and the inclined slide 2322 is arranged opposite to the inclined slide groove 2321; two sliding connection parts 122 are arranged opposite to each other, one of the sliding connection parts 122 is inserted into the inclined slide groove 2321, and the other sliding connection part 122 is slidably connected to the inclined slide 2322, and the inclined slide 2322 is located above the sliding connection part 122. The upper and lower walls of the inclined slide groove 2321 are in contact with the outer periphery of the sliding wheel 123, while the inclined slide 2322 has only one wall in contact with the outer periphery of the sliding wheel 123. When the sliding member 232 moves forward and backward, the inclined slide groove 2321 slides relative to the sliding wheel 123, and the inclined slide 2322 also slides relative to the sliding wheel 123. On the one hand, the setting of the inclined slide 2322 provides a guiding effect for the relative sliding of the inclined slide 2322 and the sliding wheel 123, so that the downward pressing or upward lifting of the cantilever 120 by the sliding member 232 is a continuous and slow process, so that the cantilever 120 can gradually swing up or down, and the movement process is more stable without generating additional jitter. The setting of the inclined slide 2321 provides a limit for the cooperation between the sliding member 232 and the sliding connection part 122, so as to ensure that the cantilever 120 can be driven to swing up and down during the sliding process of the sliding member 232. On the other hand, the setting of the inclined slide 2322 only provides a guiding effect, and does not provide additional limit for the sliding connection part 122 or the sliding wheel 123, so as to avoid excessive limit of the sliding connection part 122 or the sliding wheel 123 due to processing errors or displacement caused by long-term use, thereby causing problems such as motion jamming and unstable docking.
[0029] Further, refer to Figure 2 and Figure 4 A notch 124 is provided at the rear end of the cantilever 120, the sliding connection part 122 is located above the notch 124, and the rotating connection part 121 is located in front of the notch 124. The provision of the notch 124 can prevent the rear end of the cantilever 120 from interfering with the movements of other structures when the cantilever 120 swings. Furthermore, the sliding connection part 122 is higher than the rotating connection part 121. When the cantilever 120 swings, the force point of its rear end is the sliding connection part 122, and its rotation center is the rotating connection part 121. In addition, the front end of the cantilever 120 is longer, so the front end of the cantilever 120 is easier to swing down. The sliding connection part 122 is higher than the rotating connection part 121, so that when the sliding member 232 moves, it can press down the rear end of the cantilever 120 from a high position, thereby making it easier for the rear end of the cantilever 120 to move downward and the front end of the cantilever 120 to swing up, and finally making it easier for the front end of the cantilever 120 to swing up and down. Further, referring to Figure 3 and Figure 4The angle adjustment assembly 230 further includes a ball screw 233, a driving member 231 for driving the screw of the ball screw 233 to rotate, and a nut of the ball screw 233 is fixedly connected to the sliding member 232. The driving member 231 may be a servo motor, which drives the screw of the ball screw 233 to rotate through a synchronous belt structure. Further, a slide rail 111 is provided on the carrier 110, and a slider 234 is provided on the top of the sliding member 232, and the slider 234 is slidably connected to the slide rail 111.
[0030] It should be noted that in the description of the present invention, if there are any orientation descriptions, such as up, down, front, back, left, right, etc., the orientations or positional relationships indicated are all based on the orientations or positional relationships shown in the drawings. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed or operated in a specific orientation, and cannot be understood as a limitation on the present invention.
[0031] In the description of the present invention, "several" means one or more, "more" means two or more, "greater than", "less than", "exceed" etc. are understood to exclude the number itself, and "above", "below", "within" etc. are understood to include the number itself. If there is a description of "first" or "second", it is only used to distinguish the technical features, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features or implicitly indicating the order of the indicated technical features.
[0032] In the description of the present invention, unless otherwise clearly defined, terms such as setting, installing, connecting, etc. should be understood in a broad sense, and technicians in the relevant technical field can reasonably determine the specific meanings of the above terms in the present invention based on the specific content of the technical solution.
[0033] The above-mentioned embodiments are only preferred embodiments of the present invention and cannot be used to limit the scope of protection of the present invention. Any non-substantial changes and substitutions made by technicians in this field on the basis of the present invention shall fall within the scope of protection required by the present invention.
Claims
1. A cantilever AGV with stable docking, characterized in that: The invention comprises a cantilever assembly (100) and an angle adjustment mechanism (200), wherein the cantilever assembly (100) comprises a carrier (110) and a cantilever (120), wherein the cantilever (120) is rotatably connected to the carrier (110); the angle adjustment mechanism (200) comprises a sensor (210), a controller (220) and an angle adjustment assembly (230), wherein the controller (220) is electrically connected or signal-connected to the sensor (210) and the angle adjustment assembly (230); The sensor (210) is capable of detecting the inclination angle of the front end of the cantilever (120), the controller (220) is capable of receiving the inclination angle information of the front end of the cantilever (120), and controlling the start of the angle adjustment component (230), and the angle adjustment component (230) is capable of driving the cantilever (120) to rotate relative to the support frame (110) to adjust the inclination angle of the cantilever (120).
2. The docking-stable cantilever AGV according to claim 1, characterized in that: The angle adjustment assembly (230) comprises a driving member (231) and a sliding member (232), wherein the driving member (231) is mounted on the supporting frame (110), the sliding member (232) is connected to an output end of the driving member (231) and can slide relative to the supporting frame (110) under the drive of the driving member (231), and an inclined sliding groove (2321) is provided on a side of the sliding member (232); The outer periphery of the cantilever (120) is provided with a rotating connection part (121) and a sliding connection part (122), wherein the rotating connection part (121) is rotatably connected to the carrier frame (110), and the sliding connection part (122) is inserted into the inclined slide groove (2321) and can slide relative to the inclined slide groove (2321); When the driving member (231) drives the sliding member (232) to slide relative to the supporting frame (110), the inclined sliding groove (2321) slides relative to the sliding connection part (122), so that the cantilever (120) rotates around the rotating connection part (121).
3. The docking-stable cantilever AGV according to claim 2, characterized in that: A sliding wheel (123) is sleeved on the outer periphery of the sliding connection portion (122), and the outer diameter of the sliding wheel (123) is equal to the groove width of the inclined sliding groove (2321).
4. The docking-stable cantilever AGV according to claim 3, characterized in that: The side of the sliding member (232) is provided with an inclined sliding platform (2322), and the inclined sliding platform (2322) is arranged opposite to the inclined sliding groove (2321); The sliding connection parts (122) are arranged in two opposite directions, one of the sliding connection parts (122) is inserted into the inclined slide groove (2321), and the other sliding connection part (122) is slidably connected to the inclined slide platform (2322), and the inclined slide platform (2322) is located above the sliding connection part (122).
5. The docking-stable cantilever AGV according to claim 2, characterized in that: A notch (124) is provided at the rear end of the cantilever (120), the sliding connection portion (122) is located above the notch (124), and the rotating connection portion (121) is located in front of the notch (124).
6. The docking-stable cantilever AGV according to claim 5, characterized in that: The sliding connection portion (122) is higher than the rotating connection portion (121).
7. The docking-stable cantilever AGV according to claim 5, characterized in that: A reinforcing protrusion (125) is integrally formed on the rear end side of the cantilever (120), and the sliding connection portion (122) is integrally formed on the side of the reinforcing protrusion (125).
8. The docking-stable cantilever AGV according to claim 2, characterized in that: The angle adjustment assembly (230) further comprises a ball screw (233), the driving member (231) is used to drive the screw of the ball screw (233) to rotate, and the nut of the ball screw (233) is fixedly connected to the sliding member (232).
9. The docking-stable cantilever AGV according to claim 2, characterized in that: A slide rail (111) is provided on the carrier (110), a slider (234) is provided on the top of the sliding member (232), and the slider (234) is slidably connected to the slide rail (111).
10. The docking-stable cantilever AGV according to claim 1, characterized in that: A guide assembly (130) is provided at the top of the cantilever (120), and the guide assembly (130) is distributed in multiple groups along the axial direction of the cantilever (120), and each group of the guide assembly (130) includes three guide wheels (131) rotatably connected to the cantilever (120), and the three guide wheels (131) are distributed in a triangular shape and are arranged at an angle to each other.