An automatic loading and unloading basket system for an inverted disc pulling machine

Abstract

The present invention discloses an automatic loading and unloading basket system of an inverted disc pulling machine, comprising a transfer track mechanism, a material unloading device and a material loading device are arranged on one side of the transfer track mechanism, an automatic lifting truss is covered between the transfer track mechanism, the material unloading device and the material loading device; a plurality of disc pulling trolleys are movably arranged on the transfer track mechanism, a material lifting frame is installed on the disc pulling trolley, a positioning device for positioning the disc pulling trolley is arranged on the transfer track mechanism, so as to further improve the transfer stability and positioning accuracy, and then a self-aligning mechanism is arranged to enable the movable lock tongue structure to automatically rotate to the position of the lock tongue hole, and after the anti-swing device is installed, the swing of the material basket is greatly reduced, so as to play a role in accurately positioning the material basket and meet the use requirements, and for the first time, the automatic lifting truss, the loading and unloading roller table and the AGV trolley are connected to realize the automatic loading and unloading of the disc pulling basket, so as to improve the work efficiency and the transfer speed.

Description

Technical Field

[0001] The invention relates to a lifting device, in particular to an automatic loading and unloading basket system of an inverted disc pulling machine. Background Art

[0002] The inverted coil drawing machine is the main equipment for copper tube stretching. It usually uses a circulating material basket for multiple drawing. Each inverted coil drawing machine usually has 8 circulating material baskets. After the drawing is completed, a crane operated by personnel is required to load and unload the material basket 16 times. If there are many equipment on the production line, the crane will be used too frequently. On the one hand, the crane is prone to failure, and there will be various reasons for the crane to fail to lift the material basket in time, causing equipment shutdown and affecting production. The crane usually lifts the material basket from the previous process of coil pulling, and lifts the unloaded material from the coil pulling to the next process. At present, there is no mature automatic loading and unloading material basket system for coil pulling on the market. The swing amplitude is large during the lifting process, which is difficult to position. At the same time, the material frame and the lifting device need to be manually docked, which is inefficient. In view of the above problems, it is necessary to design an automatic loading and unloading material basket system that can solve the above problems.

[0003] Therefore, the existing lifting device needs to be further improved. Summary of the invention

[0004] The purpose of the present invention is to provide an automatic loading and unloading material basket system for an inverted disc pulling machine, which can reduce the swing amount of the material basket during lifting, accurately position it, realize automatic transportation, and improve work efficiency.

[0005] In order to achieve the above object, the present invention adopts the following scheme:

[0006] An automatic loading and unloading basket system for an inverted disc pulling machine comprises a transfer track mechanism, a material unloading device and a material loading device are arranged on one side of the transfer track mechanism, and an automatic lifting truss is covered between the transfer track mechanism, the material unloading device and the material loading device; a plurality of disc pulling trolleys are movably arranged on the transfer track mechanism, a lifting material frame is installed on the disc pulling trolley, and a positioning device for positioning the disc pulling trolley is arranged on the transfer track mechanism;

[0007] The automatic lifting truss is provided with a lifting device, the lifting device is provided with a lifting mechanism, the lifting mechanism is provided with a positioning rotating shaft assembly, the lower end of the positioning rotating shaft assembly is provided with a docking portion, the docking portion is provided with a plurality of movable locking tongue structures, the docking portion is provided with a synchronous control assembly for synchronously controlling the opening or closing of the plurality of movable locking tongue structures, and the positioning rotating shaft assembly is provided with an elastic structure for hindering the rotation of the positioning rotating shaft assembly;

[0008] The lifting material frame is provided with a docking hole capable of cooperating with the docking portion, and the docking hole is provided with a locking tongue hole capable of cooperating with the plurality of movable locking tongue structures;

[0009] A self-aligning mechanism is provided between the docking hole and the docking portion;

[0010] After the docking portion enters the docking hole, the self-aligning mechanism drives the movable lock tongue structure to align with a corresponding lock tongue hole.

[0011] Furthermore, the automatic lifting truss comprises a truss body, and a conveying track is arranged on the truss body.

[0012] Furthermore, the unloading device and the loading device are arranged below the conveying track at intervals on the left and right;

[0013] The unloading device comprises an unloading roller table;

[0014] The feeding device comprises a feeding roller table;

[0015] Auxiliary rollers are respectively arranged on both sides of the unloading roller and both sides of the loading roller, and an AGV intelligent vehicle can be installed between the two auxiliary rollers.

[0016] Furthermore, the plane support elastic plate assembly includes a plurality of guide sleeves arranged on the lifting device, a telescopic shaft is movably arranged in the guide sleeve, a limited position plane support plate is connected between the lower ends of the plurality of telescopic shafts, and a spring structure is arranged between the telescopic shaft and the guide sleeve for maintaining the limited position plane support plate in a downward pressed state.

[0017] Furthermore, the alignment rotating shaft assembly includes a fixed sleeve arranged on the lower end surface of the lifting device, an adjustment shaft is sleeved inside the fixed sleeve, a plane bearing is fixedly installed inside the fixed sleeve, and the plane bearing is fixedly connected to the adjustment shaft.

[0018] Furthermore, the plurality of movable locking tongue structures are evenly distributed around the circumference of the central axis of the aligning rotating shaft assembly, and the number of the movable locking tongue structures is four;

[0019] The movable locking tongue structure comprises an arc-shaped guide groove arranged on the upper end surface of the docking portion, and an arc-shaped locking tongue is movably arranged in the arc-shaped guide groove.

[0020] Furthermore, the synchronous control component includes a passive gear arranged on the docking portion, a plurality of eccentric hinge shafts are evenly distributed on the upper end surface of the passive gear around the central circumference of the passive gear, a driving hinge shaft is arranged on the arc-shaped lock tongue, a synchronous connecting rod is hinged between the eccentric hinge shaft and a corresponding one of the driving hinge shafts, a motor seat is arranged on the adjustment shaft, an active motor is installed on the motor seat, a driving gear is arranged at the output end of the active motor, and the driving gear and the passive gear are meshed for transmission.

[0021] Furthermore, the number of the locking tongue holes is four, and the four locking tongue holes are evenly distributed around the central circumference of the docking hole, and the locking tongue holes are arranged in an arc shape.

[0022] Further, the self-aligning mechanism comprises a plurality of swinging guide wheels arranged at the lower end of the docking portion, and a plurality of aligning guide inclined surfaces are arranged on the surface of the docking hole;

[0023] The number of the swing guide wheels is the same as the number of the alignment guide inclined surfaces, and they are evenly distributed around the circumference of the adjustment shaft axis.

[0024] Furthermore, a top pressure surface is provided on the straightening guide inclined surface, a pressure sensor is provided on one side of the swing guide wheel, and a control module is provided on the lifting device, and the control module is communicatively connected to the pressure sensor and the lifting mechanism;

[0025] When the pressure sensor is in close contact with the top pressure surface, a signal is sent to the control module, and the control module sends a command to the lifting mechanism to perform an upward lifting action.

[0026] In summary, the present invention has the following beneficial effects compared with the prior art:

[0027] The present invention solves the shortcomings of the existing lifting devices and has the following advantages through the structural arrangement of the present invention. The present invention adds four spring guide pillars under the hook, and the material basket hits the guide pillars when it rises to a certain height, thereby fixing the material basket. The tightening height is selected according to the weight of the material basket. The heavier the weight, the greater the tightening force is selected, thereby ensuring that the axial swing amplitude is small. Then, a movable locking tongue structure and a locking tongue hole are provided to cooperate to prevent the material frame from rotating in a circle during the lifting process, thereby further improving the transportation stability and positioning accuracy. Then, a self-aligning mechanism is provided to enable the movable locking tongue structure to automatically rotate to the locking tongue hole position, thereby ensuring the accuracy of each cooperation and improving the connection and installation efficiency. The material basket has an anti-swaying function when it is running. After the anti-swaying device is installed, the shaking of the material basket is greatly reduced, thereby playing a role in accurately positioning the material basket and meeting the use requirements. For the first time, the automatic lifting truss, loading and unloading rollers, and AGV trolley docking method are used to realize automatic loading and unloading of the tray-pulled material basket, thereby improving work efficiency and transportation speed. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 A perspective view of the present invention;

[0029] Figure 2 It is a front view of the present invention;

[0030] Figure 3 A top view of the present invention;

[0031] Figure 4 This is a front view of the connection between the material frame and the lifting device of the present invention;

[0032] Figure 5 for Figure 4 Section view along line AA;

[0033] Figure 6 for Figure 5 A partial schematic diagram of point B;

[0034] Figure 7 for Figure 5 Sectional view along line CC;

[0035] Figure 8 One of the exploded views of the present invention;

[0036] Fig. 9 This is the second exploded view of the present invention;

[0037] Fig.10 It is a schematic diagram of the parts structure of the present invention;

[0038] Fig.11 It is a schematic diagram of the local structure of the present invention. DETAILED DESCRIPTION

[0039] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0040] See also Figure 1-Figure 11, an automatic loading and unloading basket system of an inverted disc pulling machine, comprising a transfer track mechanism 1, a material unloading device 3 and a material loading device 4 are arranged on one side of the transfer track mechanism 1, and an automatic lifting truss 2 is covered between the transfer track mechanism 1, the material unloading device 3 and the material loading device 4; a plurality of disc pulling trolleys 2000 are movably arranged on the transfer track mechanism 1, a lifting material frame 9 is installed on the disc pulling trolley 2000, a positioning device 1000 for positioning the disc pulling trolley 2000 is arranged on the transfer track mechanism 1, and an AGV intelligent trolley 100 is arranged on the unloading device 3 and the material loading device 4;

[0041] Three infrared receiving modules are arranged around the positioning device 1000;

[0042] Three infrared emission modules are arranged on the automatic lifting truss 2;

[0043] The three infrared receiving modules are respectively vertically aligned with the three infrared transmitting modules;

[0044] The three infrared receiving modules and the three infrared transmitting modules are communicatively connected to a comparison module;

[0045] The comparison module is communicatively connected to a control module, and the control module is communicatively connected to the transfer track mechanism 1;

[0046] The comparison module is used to detect whether the three groups of infrared receiving modules and the infrared transmitting modules are in a docking state:

[0047] The trigger value is preset in the control module as: "3";

[0048] Converting the disconnection conditions of the infrared receiving modules and the infrared transmitting modules of the three groups into disconnection values;

[0049] The comparison module receives the trigger value and the disconnection value;

[0050] The trigger value and the disconnection value are compared by a comparison module;

[0051] When the disconnection value is equal to the trigger value, the comparison module sends a signal to the control module, and the control module sends a command to the transfer track mechanism 1 to stop the transfer track mechanism 1 from pulling the trolley 2000.

[0052] When the disconnection value is less than the trigger value, the comparison module sends a signal to the control module, and the control module sends a command to the transfer track mechanism 1 to enable the transfer track mechanism 1 to continue to transport the disk-pulling trolley 2000.

[0053] When the pull-and-turn trolley 2000 blocks all the comparison modules and the control module is in a disconnected state, the pull-and-turn trolley 2000 and the automatic lifting truss 2 complete positioning.

[0054] The transfer track mechanism 1 is used to drive the tray-pulling trolley 2000 to move and realize the transfer of the spatial position;

[0055] When the tray-pulling trolley 2000 moves between the three groups of infrared receiving modules and infrared transmitting modules, the three groups of infrared receiving modules and infrared transmitting modules are blocked and disconnected;

[0056] When the pull-cart 2000 completely blocks the three groups of infrared receiving modules and infrared transmitting modules, the disconnection value is 3 at this time, and is the same as the trigger value, which proves that the pull-cart 2000 has completed positioning at this time, and the transfer track mechanism 1 is controlled by the control module to stop the movement of the pull-cart 2000;

[0057] On the contrary, when the pull-cart 2000 does not completely block the infrared receiving module and the infrared transmitting module, the disconnection value is 2, which is less than the trigger value, which proves that the pull-cart 2000 has not moved to the positioning position. At this time, the control module continues to control the transfer track mechanism 1 to drive the pull-cart 2000 to move.

[0058] The automatic lifting truss 2 is provided with a lifting device 5 movably, the lifting device 5 is provided with a lifting mechanism, the lifting mechanism is provided with a positioning rotating shaft assembly 7, the lower end of the positioning rotating shaft assembly 7 is provided with a docking portion 8, the docking portion 8 is provided with a plurality of movable locking tongue structures 11, the docking portion 8 is provided with a synchronous control assembly 12 for synchronously controlling the opening or closing of the plurality of movable locking tongue structures 11, and the positioning rotating shaft assembly 7 is provided with an elastic structure 15 for hindering the rotation of the positioning rotating shaft assembly 7;

[0059] The lifting material frame 9 is provided with a docking hole 10 capable of cooperating with the docking portion 8, and the docking hole 10 is provided with a lock tongue hole 13 capable of cooperating with the plurality of movable lock tongue structures 11;

[0060] A self-aligning mechanism 14 is provided between the docking hole 10 and the docking portion 8;

[0061] After the docking portion 8 enters the docking hole 10 , the self-aligning mechanism 14 drives the movable lock tongue structure 11 to align with a corresponding lock tongue hole 13 .

[0062] This system lifts the automatically operated truss, which is placed across the coiling and pulling circulation track and the loading and unloading rollers to pick up and place the basket. The truss uses a full servo drive to achieve precise positioning of the hook, the material transport trolley of the inverted coiling machine is positioned using a positioning device, and the loading and unloading rollers are provided with positioning stops to achieve the positioning of the basket. At the same time, the loading and unloading rollers are interconnected with the automatically operated AGV smart car 100 to achieve the automated operation of the coiling and pulling basket.

[0063] The device is mainly composed of an automatic lifting truss 2, a material unloading device 3, a material loading device 4, an AGV intelligent vehicle 100 and a positioning device 1000.

[0064] When loading materials, the AGV smart car 100 transports the material basket from the upper process of the tray. The control of the AGV is controlled by the workshop 5G signal, identifying the material basket and the running route. At the same time, it is associated with the production and manufacturing system MES to display the material turnover status in real time, realizing intelligent material turnover and transporting the material basket to the loading roller. The loading roller automatically transports the material basket to the lifting position, and then the automatic lifting truss automatically lifts the material basket to the tray loading station. The left and right movement of the lifting truss is driven by a gear rack servo, and the operation of the upper and lower hooks is realized by a servo motor driving the drum wire rope, which has high control position accuracy and large load-bearing capacity.

[0065] When unloading, the automatic lifting truss first lifts the material basket from the disk-pulling circulating roller table, and then adds a positioning device composed of a cylinder, a slider, and a movable V-block to the trolley on the circulating roller table. The V-block is used to clamp the trolley to achieve precise positioning of the material basket, and then it is placed on the unloading roller table. The unloading roller table then runs to the AGV docking position, and then the AGV trolley carries the material basket to the material rack of the next process.

[0066] The whole system realizes automatic loading and unloading of the material basket.

[0067] The lifting device 5 is moved to the upper position of the lifting material frame 9, and the lifting mechanism is lowered. The lifting mechanism drives the docking part 8 to enter the docking hole 10. At this time, the robot can be used to clamp it, or the self-aligning mechanism 14 can drive the alignment rotating shaft assembly 7 to rotate the angle. During the rotation of the alignment rotating shaft assembly 7, the multiple active lock tongue structures 11 are driven to align with the multiple lock tongue holes 13 respectively;

[0068] At this time, the synchronous control component 12 is started, and the synchronous control component 12 drives the plurality of movable lock tongue structures 11 to be inserted into the lock tongue holes 13, so as to realize the connection between the lifting material frame 9 and the lifting device 5;

[0069] The elastic structure 15 is provided to effectively limit the circumferential rotation of the lifting material frame 9 during the movement, thereby improving the stability of the lifting;

[0070] The automatic lifting truss 2 of the present invention comprises a truss body 201 , on which a conveying track 202 is arranged.

[0071] The unloading device 3 and the loading device 4 of the present invention are arranged below the conveying track 202 at intervals on the left and right;

[0072] The unloading device 3 includes an unloading roller table;

[0073] The feeding device 4 includes a feeding roller;

[0074] Auxiliary rollers are respectively arranged on both sides of the unloading roller and both sides of the loading roller, and an AGV intelligent vehicle 100 can be installed between the two auxiliary rollers.

[0075] The plane support elastic plate assembly 6 of the present invention comprises a plurality of guide sleeves 601 arranged on the lifting device 5, a telescopic shaft 602 is movably arranged in the guide sleeve 601, a limited position plane support plate 603 is connected between the lower ends of the plurality of telescopic shafts 602, and a spring structure 604 for keeping the limited position plane support plate 603 in a pressed state is arranged between the telescopic shaft 602 and the guide sleeve 601;

[0076] The limiting plane support plate 603, guide sleeve 601, telescopic shaft 602 and spring structure 604 of this device reduce the swing amplitude of the material frame. After the material basket is raised, it hits the limiting plane support plate 603. The height of the crane is adjusted according to needs. The higher it is raised, the more the spring structure 604 is compressed, the tighter the material basket is fixed, and the better the anti-swing effect. During the movement of the material basket, the spring structure 604 offsets the shaking and inertia force during the movement, thereby playing a role in precise positioning.

[0077] The aligning rotating shaft assembly 7 of the present invention includes a fixed sleeve 701 arranged on the lower end surface of the lifting device 5, an adjusting shaft 702 is sleeved in the fixed sleeve 701, a plane bearing 703 is fixedly installed in the fixed sleeve 701, and the plane bearing 703 is fixedly connected to the adjusting shaft 702.

[0078] The plurality of movable locking tongue structures 11 of the present invention are evenly distributed around the circumference of the central axis of the aligning rotating shaft assembly 7, and the number of the movable locking tongue structures 11 is four;

[0079] The movable locking tongue structure 11 comprises an arc-shaped guide groove 111 arranged on the upper end surface of the docking portion 8 , and an arc-shaped locking tongue 112 is movably arranged in the arc-shaped guide groove 111 .

[0080] The synchronous control component 12 of the present invention includes a passive gear 121 arranged on the docking portion 8, a plurality of eccentric hinge shafts 122 are evenly distributed on the upper end surface of the passive gear 121 around the central circumference of the passive gear 121, a driving hinge shaft 123 is arranged on the arc-shaped lock tongue 112, a synchronous connecting rod 124 is hinged between the eccentric hinge shaft 122 and a corresponding one of the driving hinge shafts 123, a motor seat 125 is arranged on the adjustment shaft 702, an active motor 126 is installed on the motor seat 125, a driving gear 127 is arranged at the output end of the active motor 126, and the driving gear 127 and the passive gear 121 are meshed for transmission.

[0081] The number of the locking bolt holes 13 of the present invention is four, and the four locking bolt holes 13 are evenly distributed around the central circumference of the docking hole 10, and the locking bolt holes 13 are arranged in an arc shape.

[0082] The self-aligning mechanism 14 of the present invention comprises a plurality of swinging guide wheels 141 disposed at the lower end of the docking portion 8, and a plurality of aligning guide inclined surfaces 142 are disposed on the surface of the docking hole 10;

[0083] When the swing guide wheel 141 descends, it will fall on the upper surface of the aligning guide inclined surface 142 , and the gradual descent will drive the docking portion 8 to rotate an angle, so that the arc-shaped lock tongue 112 is aligned with a corresponding lock tongue hole 13 .

[0084] The number of the swing guide wheels 141 is the same as the number of the alignment guide inclined surfaces 142 , and they are evenly distributed around the circumference of the axis of the adjustment shaft 702 .

[0085] The present invention has a top pressure surface 200 disposed on the straightening guide inclined surface 142, a pressure sensor 300 disposed on one side of the swing guide wheel 141, and also includes a control module disposed on the lifting device 5, the control module is communicatively connected to the pressure sensor 300 and the lifting mechanism;

[0086] When the pressure sensor 300 is in close contact with the top pressure surface 200 , it sends a signal to the control module, and the control module sends a command to the lifting mechanism to perform an upward lifting action.

[0087] ‌Inertial force swing will occur during the lifting process

[0088] Too fast lifting speed: In lifting and hoisting operations, if the lifting speed is too fast, the object will be difficult to control due to inertia. When the hoisted object moves quickly, its internal inertia force will increase, causing the object to shake violently when it stops or changes direction. Load change: Sudden changes in load are also an important cause of inertia problems. During the lifting process, if the load suddenly increases or decreases, the inertia force inside the object will change accordingly, causing the object to shake unstably, especially when working at high altitudes, sudden changes in load may cause serious safety accidents. Improper operation: Improper operation is also an important factor leading to inertia problems. If the operator does not perform the lifting operation in accordance with the prescribed procedures, or is careless during the lifting process, such as suddenly changing the direction or speed of the object, it may cause the object to lose control due to inertia. Equipment characteristics: In the process of moving to stopping and stopping to moving, the equipment will sway due to inertia. Although modern cranes are usually equipped with anti-sway devices, large shaking will still occur if they are not operated properly. ‌ Friction‌: Friction is also an important factor in the operation of the crane. For example, the friction between the wire rope and the drum, the friction between the crane chassis, etc. will cause the equipment to swing in the air. ‌ Methods to reduce or eliminate inertial force swing include: ‌ Control the hoisting speed‌: Keep the hoisting speed stable and avoid too fast or too slow speed changes. ‌ Standard operation‌: Operators should receive professional training and strictly abide by the operating procedures to avoid sudden changes in the direction or speed of the object. ‌ Reasonable selection of sling length and tie-down method‌: Ensure that the sling length is appropriate and the tie-down is correct to avoid swinging caused by improper rigging and tie-down. ‌ Reduce friction‌: Regularly lubricate and maintain the crane to reduce the impact of friction on the lifting process.

[0089] AGV smart car is an unmanned short-distance transportation tool that can operate autonomously through automatic navigation technology and complete various handling tasks without human intervention. 12. AGV smart car interacts with the environment in real time through built-in navigation system and sensors, avoids obstacles, and ensures the safe and efficient completion of transportation tasks. Main functions and application scenarios;

[0090] AGV is a robot that can automatically navigate and transport items. It can drive autonomously on a predetermined path through a built-in navigation system and sensors, and complete the transportation of items according to the set tasks. When using an AGV, you need to understand its operation method and safety precautions. The following will introduce the operation method and safety precautions of the AGV in detail.

[0091] System startup: Before starting the AGV intelligent control vehicle, make sure that the power and energy required by the vehicle have been connected, and start the vehicle system. You can start the entire AGV intelligent control vehicle or start each AGV intelligent control vehicle individually, depending on your needs.

[0092] Setting the path: The AGV intelligent control vehicle can set the path, which can be set in advance or in real time. To set the path in advance, the map and path need to be entered into the system in advance, and then run according to the set path; to set the path in real time, the path can be specified during operation as needed.

[0093] Loading / unloading: AGV intelligent control vehicles can also perform loading and unloading tasks. Cargo operations can be performed through automatic loading and unloading equipment or robotic arms.

[0094] Changing lanes and avoiding obstacles: When the AGV intelligent control vehicle encounters an obstacle or needs to change lanes during driving, it must be able to automatically identify and make driving adjustments. The system will plan the best route to avoid obstacles or change lanes based on the set path.

[0095] How to operate the AGV intelligent control vehicle:

[0096] 1. Make sure the AGV intelligent control vehicle has sufficient power: Before operating the AGV intelligent control vehicle, make sure it has sufficient power to avoid insufficient power during operation and causing it to malfunction.

[0097] 2. Set the operation path: The AGV intelligent control vehicle can navigate autonomously on the set path, so the path needs to be set before operation. You can set navigation points or specific markers in advance so that the AGV intelligent control vehicle can accurately identify the path.

[0098] 3. Set the task goal: The AGV intelligent control vehicle can carry out the work of transporting items according to the task goal. Before operation, it is necessary to set the task goal according to specific needs, including the starting point, end point, number and weight of the transported items, etc.

[0099] 4. Start the AGV intelligent control vehicle: After confirming the path and setting the task target, you can start the AGV intelligent control vehicle. Generally, you can start it by pressing a button or remote control, or you can control it in conjunction with other devices.

[0100] 5. Monitor the running status: During the operation of the AGV intelligent control vehicle, its running status needs to be monitored in real time. The location, speed, status of the transported items and other information of the AGV intelligent control vehicle can be understood through the monitoring interface or sensor data, so as to make timely adjustments and interventions.

[0101] 6. End the task and stop the AGV intelligent control vehicle: When the AGV intelligent control vehicle completes the task, you can end the task and stop its operation through a button or remote control. At the same time, you can also temporarily interrupt the operation through the emergency stop button to ensure safety.

[0102] 1. Safety protection measures: When operating the AGV intelligent control vehicle, ensure the safety of the surrounding environment and take protective measures. Physical restrictions such as safety signs and safety railings can be set up to prevent unnecessary people and objects from entering the operating area.

[0103] 2. Keep personnel away from the operating area: When the AGV intelligent control vehicle is running, ensure that there are no other personnel in the on-site area. Personnel should keep a certain distance and should not intervene at will to avoid personal injury.

[0104] 3. Maintain the equipment in good condition: Regularly check the equipment and parts of the AGV intelligent control vehicle to ensure that they are intact. If any fault or abnormality is found, repair and replace it in time to ensure its normal operation and safety.

[0105] 4. Emergency stop button: An emergency stop button should be set near the operating area and kept unobstructed so that the operation of the AGV intelligent control vehicle can be stopped in time in an emergency.

[0106] 5. Provide emergency plans: formulate emergency plans and safety operation specifications, and formulate corresponding response measures for possible abnormal situations and accidents to ensure the safety of personnel.

[0107] 6. Regularly train operators: Train operators on operating methods, safety precautions, emergency response, etc., to improve their professional skills and safety awareness. Summary:

[0108] The operation method and safety precautions of AGV intelligent control vehicles need to be reasonably planned and operated from aspects such as power, path setting, task objectives, start and stop. At the same time, attention should be paid to safety measures such as safety protection measures, personnel distance, equipment maintenance and emergency stop buttons to ensure the safety of the operation process and the smooth completion of the task. Regular training and provision of emergency plans are also important means to ensure operational safety.

[0109] ‌ Material handling‌: AGV smart cars can carry different loads and realize automatic handling of materials between different workstations, warehouses, and production lines, greatly reducing the workload of manual handling and improving work efficiency‌. ‌ Automatic navigation‌: Through various navigation methods such as magnetic sensing, laser sensing, and visual sensing, AGV smart cars can accurately follow the preset route to avoid the errors and uncertainties of manual driving‌. ‌ Path planning‌: According to task requirements and real-time traffic conditions, AGV smart cars can automatically plan the optimal path and make dynamic adjustments to ensure smooth transportation‌. ‌ Remote control and task scheduling‌: Through the communication system and other devices to interact, remote control and task scheduling are realized. Operators can remotely monitor the operating status of AGV cars and assign and adjust tasks as needed‌. ‌ Safety protection‌: It has intelligent traffic management, safety and collision avoidance, multi-level warning, emergency braking, fault reporting and other functions, and can play a unique role in occasions that are not suitable for human work‌. Application fields and technical featuresAGV smart cars are widely used in many fields: ‌ Warehousing industry‌: Automatically transport goods in the warehouse, realize the fully automated process from warehousing to outbound, and improve warehouse operation efficiency‌. ‌ Manufacturing industry‌: Automatically transport materials between production lines to ensure the continuity and efficiency of production lines and improve production efficiency‌. ‌ E-commerce and logistics‌: Automatically pick, transport and manage goods on shelves in e-commerce warehouses, optimize inventory layout, and increase order processing speed‌. ‌ Special industries‌: Such as tobacco, medicine, food, chemicals, etc., are valued for their cleanliness, safety, and no emission pollution. ‌ Hazardous places‌: Such as military, steel mills, nuclear power plants, etc., to reduce labor intensity.

[0110] The development of AGV can be traced back to the 1940s to 1960s, which was an important stage in the development of social production towards mass production, standardization and automation. AGV was born in this context, aiming to reduce labor intensity, improve production efficiency and product quality. After many technological innovations, AGV has developed from the initial simple traction type to a modern equipment with multiple guiding and handling methods.

[0111] Copper tube processing is a metal processing method that cuts, flanging, and welding copper tubes to meet the needs of various shapes and functions. Copper tubes have good electrical and thermal conductivity and are moderately priced, so they are widely used in construction, aerospace, automotive and other fields. Specific content of copper tube processing Surface treatment: including rust removal, grinding, spraying, etc. to ensure the quality and appearance of copper tubes. Cutting and forming: The copper tube is cut into the required shape by drilling, pliers, etc., or processed into shapes with different bending angles by curling and bending. Welding: Welding is carried out by oxidation welding, gas shielded welding, etc. to ensure the sealing and stability of the copper tube. Application fields of copper tube processing Construction field: used for building water pipes, gas pipelines, floor heating, etc., with good corrosion resistance and thermal conductivity. Aerospace field: used to make aircraft engine radiators, heat pipes and other components, with excellent thermal conductivity and mechanical properties. Automobile field: used for automobile braking systems, cooling systems, exhaust systems and other components, with good corrosion resistance and strength. Process flow of copper tube processing ‌ Material preparation and pretreatment ‌: Select high-quality pure copper raw materials, cut and clean them, and remove the oxide scale and oil stains on the surface. ‌ Melting and casting ‌: Heat the raw copper to a molten state, remove oxides and impurities, obtain pure copper liquid, and then pour it into the mold for continuous casting. ‌ Forming and processing ‌: Through hot rolling, extrusion, drawing and other processes, copper tubes with a certain wall thickness and diameter are formed. ‌ Finishing and surface treatment ‌: Including cutting heads, cutting tails, straightening, pickling, polishing and other steps to remove surface oxide scale and dirt. ‌ Welding and connection ‌: Welding is carried out by gas welding, electric welding or silver welding. ‌ Quality inspection and packaging ‌: The processed copper tubes are inspected for quality and packaged after ensuring that they meet the requirements for use.

[0112] ‌ The storage method of copper tubes mainly includes steps such as cleaning, drying, packaging and storage. The specific steps are as follows: ‌ Cleaning ‌: After taking the copper tube out of the air conditioner, use detergent or special cleaning agent to clean it, and then wash it with water to ensure that the surface is smooth. Use a clean dry towel to dry the moisture and place it in a ventilated and dry place to dry. ‌ Drying ‌: If there is moisture on the surface of the copper tube, you can use a fan to dry it. This process takes a long time, and it is recommended to be no less than half an hour. ‌ Packaging ‌: Put the dry and clean copper tube into a fresh-keeping bag or a sealed bag, and make sure the bag mouth is tightly sealed to reduce the chance of air or water vapor. ‌ Storage ‌: Copper tubes should be stored in a dry, oxygen-free environment and avoid direct sunlight. The storage environment temperature should be kept at room temperature to avoid contact with high humidity environments or corrosive items. ‌ Precautions for copper tube storage ‌ include: If the removed copper tube cannot be cleaned and packaged immediately, it should be placed as soon as possible to avoid oxygen and moisture in the air from damaging the copper tube. During storage, avoid contact with acidic, alkaline, toxic, sticky or flammable substances, as these chemicals will damage the copper tube and reduce its thermal and electrical conductivity. When storing, the date and model should be marked to avoid the copper tube being expired or confused with other models. 1. Through the above steps and precautions, you can ensure that the copper tube remains dry and clean during storage, extend its service life and maintain good performance.

[0113] ‌Lifting truss‌ refers to industrial equipment used for lifting and moving objects. It is usually welded from steel and has a frame structure. The main components of the lifting truss include main pipes, inclined pipes and auxiliary pipes, which can make full use of the strength of the material and are particularly suitable for load-bearing structures with large spans. Types of lifting trusses Lifting trusses can be divided into many types according to their uses and structures: ‌Beam crane truss‌: One of the most common lifting equipment, it has a simple structure and is easy to install and maintain. It is suitable for lifting operations of large buildings and steel structures. ‌ Truss crane‌: It has an adjustable height function and is often used for cargo handling in high-altitude places such as factories and warehouses. ‌Lifting platform crane truss‌: It is height-adjustable through hydraulic lifting and is suitable for decoration and maintenance operations inside high-rise buildings;

[0114] The above shows and describes the basic principles and main features of the present invention and the advantages of the present invention. It should be understood by those skilled in the art that the present invention is not limited to the above embodiments. The above embodiments and descriptions are only for explaining the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, which fall within the scope of the present invention to be protected. The scope of protection of the present invention is defined by the attached claims and their equivalents.

Claims

1. An automatic loading and unloading basket system for an inverted disc pulling machine, characterized in that: The invention comprises a transfer track mechanism (1), a material unloading device (3) and a material loading device (4) being arranged on one side of the transfer track mechanism (1), and an automatic lifting truss (2) covering the transfer track mechanism (1), the material unloading device (3) and the material loading device (4); a plurality of pull-and-turn trolleys (2000) are movably arranged on the transfer track mechanism (1), a material lifting frame (9) is installed on the pull-and-turn trolleys (2000), a positioning device (1000) for positioning the pull-and-turn trolleys (2000) is arranged on the transfer track mechanism (1), and an AGV intelligent trolley (100) is arranged on the unloading device (3) and the material loading device (4); Three infrared receiving modules are arranged around the positioning device (1000); Three infrared emission modules are arranged on the automatic lifting truss (2); The three infrared receiving modules are respectively vertically aligned with the three infrared transmitting modules; The three infrared receiving modules and the three infrared transmitting modules are communicatively connected to a comparison module; The comparison module is communicatively connected to a control module, and the control module is communicatively connected to the transfer track mechanism (1); The comparison module is used to detect whether the three groups of infrared receiving modules and the infrared transmitting modules are in a docking state: The trigger value preset in the control module is: "3"; Converting the disconnection conditions of the infrared receiving modules and the infrared transmitting modules of the three groups into disconnection values; The comparison module receives the trigger value and the disconnection value; The trigger value and the disconnection value are compared by a comparison module; When the disconnection value is equal to the trigger value, the comparison module sends a signal to the control module, and the control module sends a command to the transfer track mechanism (1) to make the transfer track mechanism (1) stop the conveyor plate from pulling the trolley (2000); When the disconnection value is less than the trigger value, the comparison module sends a signal to the control module, and the control module sends a command to the transfer track mechanism (1) to make the transfer track mechanism (1) continue to transfer the disk pulling trolley (2000); It also includes a lifting device (5) movably arranged on the automatic lifting truss (2), a lifting mechanism arranged on the lifting device (5), an alignment rotating shaft assembly (7) arranged on the lifting mechanism, a docking portion (8) arranged at the lower end of the alignment rotating shaft assembly (7), a plurality of movable locking tongue structures (11) arranged on the docking portion (8), a synchronous control assembly (12) for synchronously controlling the opening or closing of the plurality of movable locking tongue structures (11) arranged on the docking portion (8), and an elastic structure (15) for preventing the rotation of the alignment rotating shaft assembly (7) arranged inside the alignment rotating shaft assembly (7); The lifting material frame (9) is provided with a docking hole (10) capable of cooperating with the docking portion (8), and the docking hole (10) is provided with a locking tongue hole (13) capable of cooperating with the plurality of movable locking tongue structures (11); A self-aligning mechanism (14) is provided between the docking hole (10) and the docking portion (8); After the docking portion (8) enters the docking hole (10), the self-aligning mechanism (14) drives the movable lock tongue structure (11) to align with a corresponding lock tongue hole (13); The plurality of movable locking tongue structures (11) are evenly distributed around the circumference of the central axis of the aligning rotating shaft assembly (7), and the number of the movable locking tongue structures (11) is four; The movable locking tongue structure (11) comprises an arc-shaped guide groove (111) arranged on the upper end surface of the docking portion (8), and an arc-shaped locking tongue (112) is movably arranged in the arc-shaped guide groove (111).

2. The automatic loading and unloading basket system of an inverted disk pulling machine according to claim 1 is characterized in that: It also includes a plane supporting elastic plate assembly (6) arranged on the lifting device (5); The automatic lifting truss (2) comprises a truss body (201), and a conveying track (202) is arranged on the truss body (201).

3. The automatic loading and unloading basket system of an inverted disk pulling machine according to claim 2 is characterized in that: The unloading device (3) and the loading device (4) are arranged below the conveying track (202) at intervals on the left and right; The unloading device (3) comprises an unloading roller; The feeding device (4) comprises a feeding roller; Auxiliary rollers are respectively arranged on both sides of the unloading roller and on both sides of the loading roller, and the AGV intelligent vehicle (100) is arranged between the two auxiliary rollers.

4. The automatic loading and unloading basket system of an inverted disk pulling machine according to claim 3 is characterized in that: The plane support elastic plate assembly (6) comprises a plurality of guide sleeves (601) arranged on the lifting device (5), a telescopic shaft (602) being movably arranged in the guide sleeve (601) so as to move up and down, a limited position plane support plate (603) being connected between the lower ends of the plurality of telescopic shafts (602), and a spring structure (604) for maintaining the limited position plane support plate (603) in a pressed down state being arranged between the telescopic shaft (602) and the guide sleeve (601).

5. The automatic loading and unloading basket system of an inverted disk pulling machine according to claim 4 is characterized in that: The aligning rotating shaft assembly (7) comprises a fixed shaft sleeve (701) arranged on the lower end surface of the lifting device (5), an adjusting shaft (702) is sleeved inside the fixed shaft sleeve (701), a plane bearing (703) is fixedly installed inside the fixed shaft sleeve (701), and the plane bearing (703) is fixedly connected to the adjusting shaft (702), and the elastic structure (15) is arranged between the adjusting shaft (702) and the fixed shaft sleeve (701).

6. The automatic loading and unloading basket system of an inverted disk pulling machine according to claim 5, characterized in that: The synchronous control component (12) comprises a passive gear (121) arranged on the docking portion (8); a plurality of eccentric hinge shafts (122) are evenly distributed on the upper end surface of the passive gear (121) around the central circumference of the passive gear (121); a driving hinge shaft (123) is arranged on the arc-shaped lock tongue (112); a synchronous connecting rod (124) is hinged between the eccentric hinge shaft (122) and a corresponding one of the driving hinge shafts (123); a motor seat (125) is arranged on the adjustment shaft (702); an active motor (126) is mounted on the motor seat (125); an active gear (127) is arranged at the output end of the active motor (126); the active gear (127) and the passive gear (121) are meshed for transmission; The number of the locking tongue holes (13) is four, and the four locking tongue holes (13) are evenly distributed around the central circumference of the docking hole (10), and the locking tongue holes (13) are arranged in an arc shape.

7. The automatic loading and unloading basket system of an inverted disk pulling machine according to claim 6, characterized in that: The self-aligning mechanism (14) comprises a plurality of swing guide wheels (141) arranged at the lower end of the docking portion (8), and a plurality of aligning guide inclined surfaces (142) are arranged on the surface of the docking hole (10); The number of the swing guide wheels (141) is the same as the number of the aligning guide inclined surfaces (142), and they are evenly distributed around the circumference of the axis of the adjustment shaft (702).

8. The automatic loading and unloading basket system of an inverted disk pulling machine according to claim 7, characterized in that: A top pressure surface (200) is provided on the straightening guide inclined surface (142), a pressure sensor (300) is provided on one side of the swing guide wheel (141), and a control module is provided on the lifting device (5), wherein the control module is communicatively connected to the pressure sensor (300) and the lifting mechanism; When the pressure sensor (300) is in close contact with the top pressure surface (200), a signal is sent to the control module, and the control module sends a command to the lifting mechanism to perform an upward lifting action.

Images