Steel coil feeding AGV and feeding method thereof

Abstract

The invention relates to the technical field of steel coil feeding equipment, in particular to a steel coil feeding AGV and a feeding method thereof.The steel coil feeding AGV comprises a locomotive body, a navigation mechanism used for guiding the locomotive body to run, a portal arranged on the locomotive body, a lifting mechanism and a clamping mechanism slidably arranged on the portal. The clamping mechanism comprises a supporting frame, two pallet forks and at least one push rod assembly. The supporting frame is slidably arranged on the door frame, and the lifting mechanism is connected with the supporting frame. The two forks are arranged at the lower end of the supporting frame at intervals. The lower end of the steel coil is placed on the two pallet forks, the steel coil transfer device can be suitable for carrying steel coils with different diameters, the side face of the steel coil is fixed through the push rod assembly, the push rod assembly can stretch and retract in the axis direction of the center line of the steel coil so as to adapt to the steel coils with different thicknesses, compatibility is high, adjustment is easy and convenient, the transfer efficiency is improved, and cost is saved.

Description

Technical Field

[0001] The present invention relates to the technical field of steel coil feeding equipment, and in particular to a steel coil feeding AGV and a feeding method thereof. Background Art

[0002] In the factory production process, the loading process of the steel coil uncoiler is usually carried out by using an overhead crane to lift the steel coils, in cooperation with multiple workers in the surrounding area. The transfer of steel coils between overhead cranes is carried out by ground panel trucks or forklifts. The problem with this approach is low work efficiency; the weight of the steel coil unit cargo is very large, and it is easy for the cargo to tip over, fall, injure people, and other safety accidents to occur during the transfer process, which poses a great safety hazard. Smart AGV (Automatic Guided Vehicle) is an unmanned transport vehicle, usually used for handling and transporting goods in factories, warehouses or logistics centers. They are equipped with various sensors, navigation systems and intelligent control systems to achieve autonomous navigation and path planning, and can perform tasks safely and efficiently in complex environments.

[0003] The existing AGV (guided vehicle) handling device lacks a device for lifting plug boards of different sizes during actual working processes, resulting in the need to equip the warehouse with a variety of handling devices of different sizes, which increases the transportation cost of the warehouse. Summary of the invention

[0004] In order to solve the technical defects mentioned in the above background technology, the purpose of the present invention is to provide a steel coil loading AGV and a loading method thereof.

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

[0006] A steel coil loading AGV, which includes a locomotive body, a navigation mechanism for guiding the operation of the locomotive body, a gantry arranged on the locomotive body, a lifting mechanism and a clamping mechanism slidably arranged on the gantry; the clamping mechanism includes a support frame, two groups of forks and at least one group of push rod assemblies; the support frame is slidably arranged on the gantry, and the lifting mechanism is connected to the support frame; the two groups of forks are spaced apart at the lower end of the support frame, and the push rod assembly is arranged on the support frame and located above between the two groups of forks; the push rod assembly is telescoped along the central axis of the steel coil to be in close contact with the side of the steel coil, and the two groups of forks are supported below the steel coil.

[0007] By adopting the above technical solution, the lower end of the steel coil is placed on two forks, and the side of the steel coil is fixed by a push rod assembly. The push rod assembly can telescope along the center axis direction of the steel coil to adapt to steel coils of different thicknesses. The two forks are arranged at intervals and can be suitable for transporting steel coils of different diameters. It has high compatibility and simple and convenient adjustment, which improves the efficiency of transportation and saves costs.

[0008] Furthermore, the push rod assembly includes a telescopic drive unit, a push rod, a guide rod and a baffle. The telescopic drive unit is fixed to the support frame, the telescopic drive unit is fixedly connected to one end of the push rod, and the other end of the push rod is fixed to one side of the baffle. One end of the guide rod is movably arranged on the support frame, the other end of the guide rod is fixedly connected to one side of the baffle, and the other side of the baffle is in contact with the side of the steel coil, which can adapt to steel coils of different thicknesses, improve compatibility, and save costs.

[0009] Furthermore, the push rod assembly also includes a limit sensor and a limit plate. The limit plate is arranged at the end of the guide rod away from the steel coil. The limit sensor is arranged on the support frame. The limit sensor is communicatively connected with the limit plate to improve safety performance.

[0010] Furthermore, the push rod assembly also includes a plurality of magnetic suction parts. Each baffle is provided with at least one magnetic suction part, and the structure is compact. The magnetic suction part is used to absorb the steel coil, improve the stability and safety of the steel coil during transportation, and thus improve the efficiency of transportation.

[0011] Furthermore, the push rod assembly also includes a plurality of distance sensors and a plurality of contact switches. A distance sensor is provided at the upper and lower ends of each baffle, and a contact switch is provided on the other side of each baffle, so as to improve the detection accuracy and ensure that the steel coil is located on the fork, so as to facilitate rapid loading.

[0012] Furthermore, the clamping mechanism also includes a support rod and a laser sensor. One end of the support rod is fixed to the support frame, and the other end of the support rod is fixed with the laser sensor, which is located above the steel coil. The laser sensor is used to calculate the center height of the steel coil and is suitable for steel coils of different diameters, so as to quickly and accurately locate the center height of the steel coil, so that the fork can quickly and accurately adjust the height of the steel coil to the height of the uncoiler.

[0013] Furthermore, the support frame includes a support frame, a plurality of driven wheels, a first guide rail and two second guide rails. The support frame is hollowed out to reduce deadweight and save costs. The support frame is open on the side facing the steel coil, which is convenient for installation and avoidance. Both ends of the support frame on the side away from the steel coil are provided with a plurality of driven wheels at intervals along the height direction, and the driven wheels are slidably arranged in the lifting groove of the corresponding door frame to reduce friction and improve lifting efficiency and stability. The first guide rail is fixedly connected to the upper end of the open side of the support frame, and both ends of the lower end of the open side of the support frame are provided with a second guide rail, and each second guide rail is correspondingly connected to a fork. The upper ends of the two forks are slidably arranged on the first guide rail. The lower end of each fork is slidably arranged on the corresponding second guide rail. The first guide rail and the two second guide rails can adjust the distance between the two forks, thereby improving compatibility, being suitable for carrying more types of goods, being convenient to adjust, easy to use, and saving costs.

[0014] A method for loading a steel coil loading AGV, comprising any of the steel coil loading AGVs described above, comprising:

[0015] Step S1, the control system receives the task and obtains the preset parameters, and the navigation mechanism guides the locomotive body to the storage area to load materials;

[0016] Step S2: The clamping mechanism places the steel coil in the storage area on the fork and obtains the center height of the steel coil;

[0017] Step S3, the navigation mechanism guides the locomotive body to move to the working area, and the lifting mechanism determines the lifting height of the steel coil according to the center height of the steel coil and the height of the uncoiler; the locomotive body moves forward to move the steel coil to the unloading position of the uncoiler, and the clamping mechanism releases the steel coil; the lifting mechanism drives the clamping mechanism to fall back, and the locomotive body exits the working area, and the loading is completed at one time.

[0018] Furthermore, in step S2, it also includes: the laser sensor obtains the height from the laser sensor to the upper surface of the steel coil, and the control system determines the center height of the steel coil based on the relative position relationship between the laser sensor and the two forks, the height from the laser sensor to the upper surface of the steel coil, and the surface height above the steel coil.

[0019] Furthermore, in step S3, it specifically includes:

[0020] Step S31: The navigation mechanism guides the locomotive body to move to the working area, and the lifting mechanism determines the lifting height of the steel coil according to the center height of the steel coil and the height of the uncoiler;

[0021] Step S32, the control system receives the permission signal sent by the uncoiler, the locomotive body moves forward to move the steel coil to the tightening position of the uncoiler; the tensioning assembly of the uncoiler is located in the inner hole of the steel coil and performs tightening operation;

[0022] Step S33, the control system obtains a signal allowing the uncoiler to leave after the tensioning is completed, and the clamping mechanism releases the steel coil, and the steel coil is fixed on the tensioning assembly;

[0023] Step S34: the lifting mechanism drives the clamping mechanism to fall back, and the locomotive body exits the working area, and the loading is completed at one time.

[0024] In summary, the beneficial effects of the present invention are:

[0025] The present invention places the lower end of the steel coil on two forks, and the side of the steel coil is fixed by a push rod assembly. The push rod assembly can telescopically move along the center axis direction of the steel coil to adapt to steel coils of different thicknesses. The two forks are arranged at intervals and can be suitable for transporting steel coils of different diameters. The compatibility is high, the adjustment is simple and convenient, the transportation efficiency is improved, and the cost is saved. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 It is a structural schematic diagram of an embodiment of the steel coil loading AGV of the present invention equipped with steel coils.

[0027] Figure 2 It is a structural schematic diagram of an embodiment of the steel coil loading AGV of the present invention.

[0028] Figure 3 It is a structural schematic diagram from another perspective of an embodiment of the steel coil loading AGV of the present invention.

[0029] Figure 4 It is a structural schematic diagram of an embodiment of the clamping mechanism of the steel coil feeding AGV of the present invention.

[0030] Figure 5 yes Figure 4 main view.

[0031] Figure 6 It is a structural schematic diagram of an embodiment of a push rod assembly of a steel coil loading AGV of the present invention.

[0032] Figure 7 It is a flow chart of an embodiment of a method for loading a steel coil loading AGV of the present invention.

[0033] Description of reference numerals in the figures:

[0034] 1. Steel coil feeding AGV; 2. Locomotive body; 3. Gantry; 4. Lifting mechanism; 5. Clamping mechanism; 51. Support frame; 511. Support frame; 512. Driven wheel; 513. First guide rail; 5131. Card slot; 514. Second guide rail; 52. Fork; 53. Push rod assembly; 531. Telescopic drive unit; 5311. Telescopic motor; 5312. Sprocket; 5313. Reducer; 5314. Chain belt; 532. Push rod; 533. Guide rod; 534. Baffle; 535. Limit sensor; 536. Limit plate; 537. Magnetic suction piece; 538. Distance sensor; 539. Distance sensor; 54. Support rod; 55. Laser sensor; 6. Steel coil. DETAILED DESCRIPTION

[0035] The following will be combined with the accompanying 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 belong to the scope of protection of the present invention.

[0036] Those skilled in the art should understand that, in the disclosure of the present invention, the terms "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicating the orientation or position relationship are based on the orientation or position relationship shown in the drawings, which 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 and operated in a specific orientation. Therefore, the above terms should not be understood as limiting the present invention.

[0037] In the description of the present invention, if there are words such as "several", it means one or more, "more" means two or more, "greater than", "less than", "exceed" etc. are understood as not including the number itself, and "above", "below", "within" etc. are understood as including the number itself. If there are descriptions of first, second, and third, they are only used to distinguish 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.

[0038] The following is combined with Figure 1-7 , the embodiments of the present invention are described in further detail.

[0039] A steel coil feeding AGV1, such as Figure 1 , Figure 2 , Figure 3As shown, it includes a locomotive body 2, a navigation mechanism for guiding the operation of the locomotive body 2, a gantry 3 arranged on the locomotive body 2, a lifting mechanism 4, and a clamping mechanism 5 slidably arranged on the gantry 3. The clamping mechanism 5 includes a support frame 51, two sets of forks 52 and at least one set of push rod assemblies 53. The support frame 51 is slidably arranged on the gantry 3, and the lifting mechanism 4 is connected to the support frame 51. The two sets of forks 52 are arranged at intervals at the lower end of the support frame 51, and the push rod assembly 53 is arranged on the support frame 51 and is located above the two sets of forks 52. The push rod assembly 53 is telescopic along the central axis of the steel coil 6 to be in close contact with the side of the steel coil 6, and the two sets of forks 52 are supported below the steel coil 6.

[0040] The lower end of the steel coil 6 is placed on two forks 52, and the side of the steel coil 6 is fixed by a push rod assembly 53. The push rod assembly 53 can telescopically move along the center axis direction of the steel coil 6 to adapt to steel coils 6 of different thicknesses. The two forks 52 are arranged at intervals and can be suitable for transporting steel coils 6 of different diameters. It has high compatibility and simple and convenient adjustment, which improves the efficiency of transportation and saves costs.

[0041] In this embodiment, please refer to Figure 4 , Figure 5 The push rod assembly 53 includes a telescopic driving unit 531, a push rod 532, a guide rod 533 and a baffle 534. The telescopic driving unit 531 is fixed to the support frame 51, the telescopic driving unit 531 is fixedly connected to one end of the push rod 532, and the other end of the push rod 532 is fixed to one side of the baffle 534. One end of the guide rod 533 is movably arranged on the support frame 51, and the other end of the guide rod 533 is fixedly connected to one side of the baffle 534. The other side of the baffle 534 is in contact with the side of the steel coil 6, which can adapt to steel coils 6 of different thicknesses, improve compatibility, and save costs.

[0042] In some embodiments, please refer to Figure 6 The telescopic drive unit 531 includes a telescopic motor 5311, a main sprocket, a secondary sprocket 5312, a speed reducer 5313 and a chain belt 5314. The telescopic motor 5311 is fixed on the support frame 51, the main sprocket is fixedly connected to the output shaft of the telescopic motor 5311, the secondary sprocket 5312 is fixedly connected to the speed reducer 5313, the chain belt 5314 is meshedly connected to the main sprocket and the secondary sprocket 5312, and the speed reducer 5313 is fixedly connected to one end of the push rod 532 away from the baffle 534, so that the transmission is stable and the structure is compact. The main sprocket and the secondary sprocket 5312 are arranged up and down, and the diameter of the main sprocket is smaller than the diameter of the secondary sprocket 5312.

[0043] In order to limit the telescopic stroke of the push rod 532, the push rod assembly 53 further includes a limit sensor 535 and a limit plate 536. The limit plate 536 is arranged at the end of the guide rod 533 away from the steel coil 6. The limit sensor 535 is arranged on the support frame 51. The limit sensor 535 is connected to the limit plate 536 in communication to improve safety performance. Two limit sensors 535 can be provided, and the other limit sensor 535 can detect the position of the baffle 534.

[0044] In some embodiments, please refer to Figure 5 The push rod assembly 53 also includes a plurality of magnetic elements 537. Each baffle 534 is provided with at least one magnetic element 537, and the structure is compact. The magnetic element 537 is used to absorb the steel coil 6, improve the stability and safety of the steel coil 6 during transportation, and thus improve the efficiency of transportation. The magnetic element 537 is provided at the upper and lower ends of the baffle 534, and can magnetically fix the upper and lower sides of the steel coil 6 at the same time, thereby improving the adsorption force.

[0045] In some embodiments please refer to Figure 5 The push rod assembly 53 also includes a plurality of distance sensors 538 and a plurality of contact switches. A distance sensor 538 is provided at the upper and lower ends of each baffle 534, and a contact switch is provided on the other side of each baffle 534 to improve the detection accuracy and ensure that the steel coil 6 is located on the fork 52, so as to facilitate rapid loading. The distance sensor 538 can accurately measure the distance to the product.

[0046] Of course, a distance sensor 539 for long-distance measurement is also provided between the two sets of forks 52. The distance sensor 539 is used to roughly measure the distance from the product to the locomotive body 2 to improve the operation efficiency.

[0047] In some embodiments, please refer to Figure 4 The clamping mechanism 5 also includes a support rod 54 and a laser sensor 55. One end of the support rod 54 is fixed to the support frame 51, and the other end of the support rod 54 is fixed with a laser sensor 55. The laser sensor 55 is located above the steel coil 6. The laser sensor 55 is used to calculate the center height of the steel coil 6 and is suitable for steel coils 6 of different diameters, so as to quickly and accurately locate the center height of the steel coil 6, so that the fork 52 can quickly and accurately adjust the height of the steel coil 6 to the height of the uncoiler. Specifically, the laser sensor 55 can be set just above the two sets of forks 52, that is, just above the steel coil 6, so that the center height of the steel coil 6 can be fed back more accurately and quickly, with higher accuracy.

[0048] In some embodiments, please refer to Figure 4 , Figure 5The support frame 51 includes a support frame 511, a plurality of driven wheels 512, a first guide rail 513 and two second guide rails 514. The support frame 511 is hollowed out to reduce deadweight and save costs. The support frame 511 is open on the side facing the steel coil 6, which is convenient for installation and avoidance. Both ends of the support frame 511 on the side away from the steel coil 6 are provided with a plurality of driven wheels 512 at intervals along the height direction, and the driven wheels 512 are slidably arranged in the lifting groove of the corresponding door frame 3 to reduce friction and improve the lifting efficiency and stability. The first guide rail 513 is fixedly connected to the upper end of the open side of the support frame 511, and both ends of the lower end of the open side of the support frame 511 are provided with a second guide rail 514, and each second guide rail 514 is correspondingly connected to a fork 52. The upper ends of the two forks 52 are slidably arranged on the first guide rail 513. The lower end of each fork 52 is slidably arranged on the corresponding second guide rail 514. The first guide rail 513 and the two second guide rails 514 can adjust the distance between the two forks 52, thereby improving compatibility and being suitable for carrying more types of goods. The adjustment is convenient, the use is convenient, and the cost is saved.

[0049] A plurality of U-shaped slots 5131 are provided at intervals along the length direction of the first guide rail 513, and the upper end of the fork 52 is provided with a barbed mounting portion, which is mounted on the first guide rail 513. A block matching the slots 5131 is provided on the inner side of the mounting portion to prevent the fork 52 from swinging or sliding. In order to further improve the stability of the installation of the fork 52, the fork 52 adjusted in position can be fixedly connected to the first guide rail 513 by bolts.

[0050] After the control system on the locomotive body 2 receives the work task, the navigation mechanism receives the navigation path from the storage area to the production line. The navigation mechanism guides the locomotive body 2 to move to the corresponding storage area to pick up the goods according to the acquired track number information. The distance sensor 539 and the distance sensor 538 obtain the location of the locomotive body 2 in real time, so as to accurately move to the designated location of the storage area. According to the size information of the steel coil 6, the telescopic drive unit 531 extends the push rod 532 to a set distance, so that the distance from the side where the baffle 534 is in contact with the side of the steel coil 6 to the far end of the fork 52 is exactly equal to the thickness of the steel coil 6. The locomotive body 2 sends the fork 52 to the bottom of the steel coil 6. When the side of the steel coil 6 is in close contact with the baffle 534, the contact switch on the baffle 534 is triggered, and the locomotive body 2 stops moving forward. The lifting mechanism 4 drives the support frame 51 to rise and lifts the steel coil 6 to leave the material platform. Then, the locomotive body 2 retreats, and then transports the steel coil 6 on the fork 52 to the corresponding work area according to the route information provided by the navigation mechanism. During transportation, the laser sensor 55 detects its height to the upper surface of the steel coil 6 to determine the center height of the steel coil 6, so as to accurately align the center of the steel coil 6 with the tensioning assembly of the uncoiler.

[0051] After arriving at the working area, the locomotive body 2 is located at the corresponding uncoiler. The lifting mechanism 4 lifts the steel coil 6 to the same height as the tensioning assembly. The uncoiler detects whether there is a steel coil 6 on the fork 52 and whether the tensioning assembly is reduced. Then, the uncoiler sends a signal of entry permission to the control system of the locomotive body 2. After receiving the signal of entry permission, the locomotive body 2 drives the steel coil 6 to move toward the uncoiler, so that the tensioning mechanism is located in the inner hole of the steel coil 6, and the locomotive body 2 stops moving. The tensioning assembly is opened and tightened in the inner hole of the steel coil 6. After the uncoiler detects that the tensioning assembly is tightened, the uncoiler sends a tightened signal to the control system of the locomotive body 2, and the lifting mechanism 4 drives the support frame 51 and the fork 52 thereon to descend, so that the fork 52 is separated from the steel coil 6. Then, the locomotive body 2 retreats a certain distance, and then the fork 52 is completely lowered to the initial position. The locomotive body 2 retreats to the designated position and waits for the next material transfer.

[0052] Please refer to Figure 7 A method for loading a steel coil loading AGV1 includes any of the above steel coil loading AGV1, which includes:

[0053] Step S1, the control system receives the task and obtains the preset parameters, and the navigation mechanism guides the locomotive body 2 to the storage area to load materials;

[0054] Step S2: The clamping mechanism 5 places the steel coil 6 in the storage area on the fork 52 to obtain the center height of the steel coil 6;

[0055] Step S3, the navigation mechanism guides the locomotive body 2 to move to the working area, and the lifting mechanism 4 determines the lifting height of the steel coil 6 according to the center height of the steel coil 6 and the height of the uncoiler; the locomotive body 2 moves forward to move the steel coil 6 to the unloading position of the uncoiler, and the clamping mechanism 5 releases the steel coil 6; the lifting mechanism 4 drives the clamping mechanism 5 to fall back, and the locomotive body 2 withdraws from the working area, and the loading is completed at one time.

[0056] In some embodiments, step S2 also includes: the laser sensor 55 obtains the surface height above the steel coil 6, and the control system removes the center height of the steel coil 6 based on the relative position relationship between the laser sensor 55 and the two forks 52 and the surface height above the steel coil 6.

[0057] The step S1 is described in detail below.

[0058] Step S11, after receiving the transfer task in the storage area, the types of parameters preset in the control system include the diameter of the steel coil 6, the thickness of the steel coil 6, the storage lane number, the production line number, the navigation path and the height of the uncoiler. Among them, the control system can calculate the length of the baffle 534 extending according to the thickness of the steel coil 6. The control system determines the center height of the steel coil 6 according to the diameter of the steel coil 6 and the subsequent laser sensor 55 measuring its height to the upper surface of the steel coil 6. The locomotive body 2 can correctly navigate to the material platform in the storage area to pick up the goods according to the storage lane number. The locomotive body 2 can accurately transport the steel coil 6 to the corresponding position of the production line according to the production line number. The navigation mechanism can accurately guide the locomotive body 2 to move to the pickup and delivery positions according to the navigation path. The control system can obtain the lifting height of the steel coil 6 according to the height of the uncoiler, so that the inner hole center of the steel coil 6 is accurately aligned with the tensioning assembly of the uncoiler.

[0059] Step S12: The navigation mechanism obtains the navigation path, and controls the locomotive body 2 to move to the storage track number where the steel coil 6 needs to be transferred according to the navigation path.

[0060] The following is a detailed description of step S2.

[0061] Step S21, the distance measuring sensor 538 measures the distance from the locomotive body 2 to the steel coil 6, and stops moving forward after reaching the set position;

[0062] Step S22, the telescopic driving unit 531 drives the push rod 532 to drive the baffle 534 to extend toward the steel coil 6 by a specified length; wherein the specified length is determined according to the thickness of the steel coil 6, and the extended specified length is different for different thicknesses;

[0063] Step S23, the lifting mechanism 4 drives the support frame 51 and the fork 52 thereon to drop to a certain height;

[0064] Step S24, the locomotive body 2 moves toward the steel coil 6, so that the baffle 534 is close to the steel coil 6, until the side of the baffle 534 is in close contact with the side of the steel coil 6 to trigger the contact switch, and the locomotive body 2 stops moving; wherein, only one of the contact switches on the baffle 534 needs to be triggered to stop the locomotive body 2 from moving;

[0065] Step S25, the lifting mechanism 4 drives the cargo fork 52 and the steel coil 6 thereon to lift to a set height; the locomotive body 2 retreats and moves toward the corresponding production line number according to the navigation path;

[0066] Step S26. During transportation, the laser sensor 55 measures the height to the upper surface of the steel coil 6. The laser sensor 55 obtains the height of the upper surface of the steel coil 6. The control system determines the center height of the steel coil 6 based on the relative position relationship between the laser sensor 55 and the two forks 52, the height from the laser sensor 55 to the upper surface of the steel coil 6, and the surface height above the steel coil 6. This facilitates determining the height of the lifted steel coil 6 to correspond to the uncoiler, is applicable to steel coils 6 of various sizes, and improves compatibility and transportation efficiency.

[0067] Step S3 is described in detail below.

[0068] Step S31, the navigation mechanism guides the locomotive body to move to the production line number corresponding to the work area, the lifting mechanism 4 determines the lifting height of the steel coil 6 according to the center height of the steel coil 6 and the height of the uncoiler, and the lifting mechanism 4 lifts the steel coil 6 to the lifting height;

[0069] Step S32, the uncoiler detects the steel coil 6 on the fork 52 to determine whether there is a steel coil 6 on the fork 52, and synchronously, the uncoiler obtains whether the tensioning component is in a reduced state. If it is detected that there is a steel coil 6 on the fork 52 and the tensioning component is in a reduced state, the uncoiler sends a signal to the control system to allow material storage. The control system receives the permission signal sent by the uncoiler, and the locomotive body 2 moves forward to move the steel coil 6 to the tightening position of the uncoiler; the tensioning component of the uncoiler is located in the inner hole of the steel coil 6 and tightens; if the uncoiler detects that there is no steel coil 6 on the fork 52 or the tensioning component is in an open state, the control system sends an alarm;

[0070] Step S33, after the tensioning assembly is opened, the uncoiler sends a signal to the control system to allow it to leave; the control system obtains the signal of permission to leave after the uncoiler is tightened, the telescopic drive unit 531 drives the push rod 532 to drive the baffle 534 to retract, and the lifting mechanism 4 drives the support frame 51 and the fork 52 to fall, so that the fork 52 and the baffle 534 release the steel coil 6, and the steel coil 6 is fixed on the tensioning assembly;

[0071] Step S34, the locomotive body 2 retreats a certain distance, the lifting mechanism 4 drives the clamping mechanism 5 to fall back to the initial state, the locomotive body 2 exits the working area, the loading task is completed once, and waits for the next side to transfer materials.

[0072] The embodiments of this specific implementation are all preferred embodiments of the present application, and are not intended to limit the protection scope of the present application. The same components are represented by the same figure marks. Therefore, any equivalent changes made based on the structure, shape, and principle of the present application should be included in the protection scope of the present application.

Claims

1. A steel coil feeding AGV, characterized in that: The invention comprises a locomotive body (2), a navigation mechanism for guiding the operation of the locomotive body (2), a gantry (3) arranged on the locomotive body (2), a lifting mechanism (4) and a clamping mechanism (5) slidably arranged on the gantry (3); the clamping mechanism (5) comprises a support frame (51), two sets of forks (52) and at least one set of push rod assemblies (53); the support frame (51) is slidably arranged on the gantry (3), and the lifting mechanism (4) is connected to the support frame (51); the two sets of forks (52) are arranged at intervals at the lower end of the support frame (51), and the push rod assembly (53) is arranged on the support frame (51) and is located above the two sets of forks (52); the push rod assembly (53) is telescopic along the central axis of the steel coil (6) to be in close contact with the side of the steel coil (6), and the two sets of forks (52) are supported below the steel coil (6).

2. The steel coil loading AGV according to claim 1, characterized in that: The push rod assembly (53) comprises a telescopic drive unit (531), a push rod (532), a guide rod (533) and a baffle (534); the telescopic drive unit (531) is fixed on the support frame (51), the telescopic drive unit (531) is fixedly connected to one end of the push rod (532), and the other end of the push rod (532) is fixed to one side of the baffle (534); one end of the guide rod (533) is movably arranged on the support frame (51), the other end of the guide rod (533) is fixedly connected to one side of the baffle (534), and the other side of the baffle (534) is in contact with the side of the steel coil (6).

3. The steel coil loading AGV according to claim 2, characterized in that: The push rod assembly (53) also includes a limit sensor (535) and a limit plate (536), wherein the limit plate (536) is arranged at the end of the guide rod (533) away from the steel coil (6), and the limit sensor (535) is arranged on the support frame (51), and the limit sensor (535) is communicatively connected with the limit plate (536).

4. The steel coil loading AGV according to claim 2, characterized in that: The push rod assembly (53) further comprises a plurality of magnetic attracting members (537), and at least one magnetic attracting member (537) is disposed on each of the baffles (534). The magnetic attracting members (537) are used to attract the steel coil (6).

5. The steel coil loading AGV according to claim 2, characterized in that: The push rod assembly (53) further comprises a plurality of distance measuring sensors (538) and a plurality of contact switches; a distance measuring sensor (538) is provided at the upper and lower ends of each baffle (534), and a contact switch is provided on the other side of each baffle (534).

6. The steel coil loading AGV according to claim 1, characterized in that: The clamping mechanism (5) further comprises a support rod (54) and a laser sensor (55); one end of the support rod (54) is fixed to the support frame (51), and the other end of the support rod (54) is fixed with the laser sensor (55); the laser sensor (55) is located above the steel coil (6), and the laser sensor (55) is used to calculate the center height of the steel coil (6).

7. The steel coil loading AGV according to claim 1, characterized in that: The support frame (51) comprises a support frame (511), a plurality of driven wheels (512), a first guide rail (513) and two second guide rails (514); the support frame (511) is hollowed out, and the side of the support frame (511) facing the steel coil (6) is open; both ends of the support frame (511) facing away from the steel coil (6) are provided with a plurality of driven wheels (512) at intervals along the height direction, and the driven wheels (512) are slidably arranged in the lifting grooves of the corresponding door frames (3) The first guide rail (513) is fixedly connected to the upper end of the open side of the support frame (511), and the two ends of the lower end of the open side of the support frame (511) are each provided with a second guide rail (514), and each second guide rail (514) is correspondingly connected to a fork (52); the upper ends of the two forks (52) are slidably arranged on the first guide rail (513); the lower end of each fork (52) is slidably arranged on the corresponding second guide rail (514).

8. A method for loading a steel coil loading AGV, comprising the steel coil loading AGV according to any one of claims 1 to 7, characterized in that: include: Step S1, the control system receives the task and obtains the preset parameters, and the navigation mechanism guides the locomotive body (2) to the storage area for loading; Step S2: The clamping mechanism (5) places the steel coil (6) in the storage area on the fork (52) to obtain the center height of the steel coil (6); Step S3: The navigation mechanism guides the vehicle body (2) to move to the working area, and the lifting mechanism (4) determines the lifting height of the steel coil (6) according to the center height of the steel coil (6) and the height of the uncoiler; the vehicle body (2) moves forward to move the steel coil (6) to the unloading position of the uncoiler, and the clamping mechanism (5) releases the steel coil (6); the lifting mechanism (4) drives the clamping mechanism (5) to fall back, and the vehicle body (2) exits the working area, and the loading is completed at one time.

9. The method for feeding steel coils to AGV according to claim 8, characterized in that: In step S2, it also includes: the laser sensor (55) obtains its height to the upper surface of the steel coil (6), and the control system determines the center height of the steel coil (6) based on the relative position relationship between the laser sensor (55) and the two forks (52), the height from the laser sensor (55) to the upper surface of the steel coil (6), and the surface height above the steel coil (6).

10. The material distribution method of the steel coil feeding AGV according to claim 8, characterized in that: In step S3, it specifically includes: Step S31: The navigation mechanism guides the locomotive body (2) to move to the working area, and the lifting mechanism (4) determines the lifting height of the steel coil (6) according to the center height of the steel coil (6) and the height of the uncoiler; Step S32, the control system receives a permission signal from the uncoiler, the locomotive body (2) moves forward to move the steel coil (6) to the tightening position of the uncoiler; the tensioning assembly of the uncoiler is located in the inner hole of the steel coil (6) and performs a tightening operation; Step S33, the control system obtains a signal allowing the uncoiler to leave after tensioning is completed, the clamping mechanism (5) releases the steel coil (6), and the steel coil (6) is fixed on the tensioning assembly; Step S34: the lifting mechanism (4) drives the clamping mechanism (5) to fall back, and the locomotive body (2) exits the working area, and the loading is completed at one time.

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