Steel coil loading AGV and loading method thereof

Abstract

The present application relates to steel coil feeding equipment technical field, especially to a kind of steel coil feeding AGV and its feeding method, steel coil feeding AGV includes locomotive body, navigation mechanism for guiding locomotive body operation, portal is set on locomotive body, lifting mechanism and clamping mechanism are slidably arranged on portal.The clamping mechanism includes support frame, two groups of forks and at least one group of push rod assembly.Support frame is slidably arranged on portal, and lifting mechanism is connected with support frame.Two groups of forks are spaced apart and arranged at the lower end of support frame.The lower end of steel coil is placed on two groups of forks, which can be suitable for carrying steel coils of different diameters, and the side of the steel coil is fixed by the push rod assembly.The push rod assembly can be extended and retracted along the centerline axis direction of the steel coil to adapt to steel coils of different thicknesses, has high compatibility, is simple and convenient to adjust, improves the transfer efficiency and saves cost.

Description

Technical Field

[0001] This invention relates to the field of steel coil feeding equipment technology, and in particular to a steel coil feeding AGV and its feeding method. Background Technology

[0002] In factory production, the loading of steel coils onto uncoilers is typically done using overhead cranes, with multiple workers assisting. Transferring steel coils between overhead cranes is done via floor carts or forklifts. The problems with this approach are low efficiency; the heavy weight of each steel coil makes the transfer process prone to tipping, falling, and injuries, posing significant safety hazards. Intelligent AGVs (Automated Guided Vehicles) are driverless material handling vehicles commonly used in factories, warehouses, and logistics centers for transporting goods. Equipped with various sensors, navigation systems, and intelligent control systems, they achieve autonomous navigation and path planning, enabling them to perform tasks safely and efficiently in complex environments.

[0003] Existing AGV (Guided Automated Vehicle) handling devices lack the means to lift pallets of different sizes during actual operation, resulting in the need to equip warehouses with various handling devices of different sizes, which increases the transfer costs of warehousing. Summary of the Invention

[0004] In order to address the technical deficiencies mentioned in the background art, the purpose of this invention is to provide a steel coil feeding AGV and its feeding method.

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

[0006] A steel coil loading AGV includes a vehicle body, a navigation mechanism for guiding the vehicle body, a gantry mounted on the vehicle body, a lifting mechanism, and a clamping mechanism slidably mounted on the gantry. The clamping mechanism includes a support frame, two sets of forks, and at least one set of push rod assemblies. The support frame is slidably mounted on the gantry, and the lifting mechanism is connected to the support frame. The two sets of forks are spaced apart at the lower end of the support frame, and the push rod assembly is mounted on the support frame and located above the two sets of forks. The push rod assembly extends and retracts along the central axis of the steel coil to fit tightly against the side of the steel coil, and the two sets 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 extend and retract along the centerline of the steel coil to adapt to steel coils of different thicknesses. The two forks are spaced apart, which can be used to handle steel coils of different diameters. It has high compatibility, is simple and convenient to adjust, improves the efficiency of transfer, 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, and one end of the push rod is fixedly connected to the telescopic drive unit. The other end of the push rod is fixed to one side of the baffle. One end of the guide rod is movably mounted on the support frame, and the other end of the guide rod is fixedly connected to one side of the baffle. The other side of the baffle fits against the side of the steel coil, which can accommodate steel coils of different thicknesses, improving compatibility and saving costs.

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

[0010] Furthermore, the pusher assembly also includes multiple magnetic suction elements. Each baffle is equipped with at least one magnetic suction element, resulting in a compact structure. The magnetic suction elements are used to attract the steel coil, improving the stability and safety of the steel coil during transportation, thereby increasing the efficiency of the transfer.

[0011] Furthermore, the push rod assembly also includes multiple distance sensors and multiple contact switches. A distance sensor is installed at both the upper and lower ends of each baffle, and a contact switch is installed on the other side of each baffle, improving detection accuracy and ensuring the steel coil is positioned on the forks for easy and 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 to the laser sensor. The laser sensor is located above the steel coil and is used to calculate the center height of the steel coil. It is applicable to steel coils of different diameters, thereby quickly and accurately positioning the center height of the steel coil so that the forks can quickly and accurately adjust the height of the steel coil to correspond with the height of the uncoiler.

[0013] Furthermore, the support frame includes a support frame, multiple driven wheels, a first guide rail, and two second guide rails. The support frame is hollowed out to reduce its weight and save costs. The side of the support frame facing the steel coil is open, facilitating installation and avoiding misalignment. Multiple driven wheels are spaced along the height direction at both ends of the side of the support frame away from the steel coil. These driven wheels slide within the corresponding lifting slots of the gantry, reducing friction and improving lifting efficiency and stability. The first guide rail is fixedly connected to the upper end of the open side of the support frame, and a second guide rail is provided at both ends of the lower end of the open side of the support frame. Each second guide rail is connected to one of the forks. The upper ends of both forks slide on the first guide rail, and the lower ends of each fork slide on the corresponding second guide rail. The first guide rail and the two second guide rails allow adjustment of the distance between the two forks, thereby improving compatibility, making it suitable for handling more types of goods, and offering convenient adjustment, ease of use, and cost savings.

[0014] A method for feeding steel coils using an AGV, comprising any of the steel coil feeding AGVs described above, wherein:

[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 for loading.

[0016] Step S2: The clamping mechanism places the steel coils in the warehouse area onto the forks and obtains the center height of the steel coils;

[0017] Step S3: The navigation mechanism guides the locomotive body to move to the working area. The lifting mechanism determines the lifting height of the steel coil based on 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, completing the loading in one operation.

[0018] Furthermore, in step S2, the method further includes: the laser sensor acquiring its height above the upper surface of the steel coil, and the control system determining the center height of the steel coil based on the relative positional relationship between the laser sensor and the two forks, the height of the laser sensor above the upper surface of the steel coil, and the surface height above the steel coil.

[0019] Furthermore, step S3 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 based on the center height of the steel coil and the height of the uncoiler.

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

[0022] Step S33: The control system obtains a signal indicating that the uncoiling machine is allowed to leave after tensioning is completed, 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, completing the loading in one go.

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

[0025] This invention involves placing the lower end of a steel coil on two forks, with the sides of the coil secured by a push rod assembly. The push rod assembly can extend and retract along the centerline of the steel coil to accommodate coils of different thicknesses. The two forks are spaced apart, making it suitable for handling steel coils of different diameters. It offers high compatibility, simple and convenient adjustment, improved transfer efficiency, and cost savings. Attached Figure Description

[0026] Figure 1 This is a schematic diagram of an embodiment of the steel coil feeding AGV of the present invention, which is equipped with a steel coil.

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

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

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

[0030] Figure 5 yes Figure 4 The main view.

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

[0032] Figure 7 This is a flowchart of an embodiment of the steel coil feeding AGV feeding method of the present invention.

[0033] Explanation of the reference numerals in the figure:

[0034] 1. Steel coil loading 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. Slot; 514. Second guide rail; 52. Forks; 53. Push rod assembly; 531. Telescopic drive unit; 5311. Telescopic motor; 5312. Driven sprocket; 5313. Reducer; 5314. Chain belt; 532. Push rod; 533. Guide rod; 534. Baffle; 535. Limit sensor; 536. Limit plate; 537. Magnetic suction component; 538. Distance sensor; 539. Distance sensor; 54. Support rod; 55. Laser sensor; 6. Steel coil. Detailed Implementation

[0035] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention are within the scope of protection of the present invention.

[0036] Those skilled in the art should understand that, in the disclosure of this invention, the terms "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, the above terms should not be construed as limiting this invention.

[0037] In the description of this invention, the use of terms such as "a number" means one or more, with "more than" meaning two or more. Terms like "greater than," "less than," and "exceeding" are understood to exclude the stated number, while terms like "above," "below," and "within" are understood to include the stated number. The use of terms like "first," "second," and "third" is merely for distinguishing technical features and should not be construed as indicating or implying relative importance, the number of indicated technical features, or the sequential relationship between indicated technical features.

[0038] The following is in conjunction with the appendix Figure 1-7 The embodiments of the present invention will be described in further detail below.

[0039] A type of AGV1 for loading steel coils, such as Figure 1 , Figure 2 , Figure 3As shown, it includes a locomotive body 2, a navigation mechanism for guiding the locomotive body 2, a gantry 3 mounted on the locomotive body 2, a lifting mechanism 4, and a clamping mechanism 5 slidably mounted 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 mounted on the gantry 3, and the lifting mechanism 4 is connected to the support frame 51. The two sets of forks 52 are spaced apart at the lower end of the support frame 51, and the push rod assembly 53 is mounted on the support frame 51 and located above the two sets of forks 52. The push rod assembly 53 extends and retracts along the central axis of the steel coil 6 to fit tightly against 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. The side of the steel coil 6 is fixed by a push rod assembly 53. The push rod assembly 53 can extend and retract along the centerline of the steel coil 6 to accommodate steel coils of different thicknesses. The two forks 52 are spaced apart, which can be used to handle steel coils 6 of different diameters. It has high compatibility, is easy and convenient to adjust, improves the efficiency of transfer, and saves costs.

[0041] In this embodiment, please refer to Figure 4 , Figure 5 The push rod assembly 53 includes a telescopic drive unit 531, a push rod 532, a guide rod 533, and a baffle 534. The telescopic drive unit 531 is fixed to the support frame 51, and one end of the telescopic drive unit 531 is fixedly connected to one end of the push rod 532. 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 mounted 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 fits against the side of the steel coil 6, which can accommodate 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 driven sprocket 5312, a reducer 5313, and a chain belt 5314. The telescopic motor 5311 is fixed to the support frame 51. The main sprocket is fixedly connected to the output shaft of the telescopic motor 5311. The driven sprocket 5312 is fixedly connected to the reducer 5313. The chain belt 5314 is meshed with the main sprocket and the driven sprocket 5312. The reducer 5313 is fixedly connected to the end of the push rod 532 away from the baffle 534. The transmission is stable and the structure is compact. The main sprocket and the driven sprocket 5312 are arranged vertically, and the diameter of the main sprocket is smaller than the diameter of the driven sprocket 5312.

[0043] To limit the extension and retraction stroke of the push rod 532, the push rod assembly 53 also includes a limit sensor 535 and a limit piece 536. The limit piece 536 is located at the end of the guide rod 533 away from the steel coil 6. The limit sensor 535 is mounted on the support frame 51 and is communicatively connected to the limit piece 536 to improve safety performance. Two limit sensors 535 can be provided; the other limit sensor 535 can detect the position of the baffle 534.

[0044] In some embodiments, please refer to Figure 5 The pusher assembly 53 also includes multiple magnetic suction elements 537. Each baffle 534 has at least one magnetic suction element 537, resulting in a compact structure. The magnetic suction elements 537 are used to attract the steel coil 6, improving the stability and safety of the steel coil 6 during transportation, thereby increasing the efficiency of the transfer. Specifically, the magnetic suction elements 537 are located at the upper and lower ends of the baffle 534, allowing for simultaneous magnetic attraction and fixation of the upper and lower sides of the steel coil 6, thus enhancing the attraction force.

[0045] In some embodiments, please refer to Figure 5 The push rod assembly 53 also includes multiple distance sensors 538 and multiple contact switches. A distance sensor 538 is installed at both the upper and lower ends of each baffle 534, and a contact switch is installed on the other side of each baffle 534, improving detection accuracy and ensuring that the steel coil 6 is positioned on the forks 52 for rapid loading. The distance sensors 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. This distance sensor 539 is used to roughly measure the distance from the product to the locomotive body 2, thereby improving the efficiency of operation.

[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 to the laser sensor 55. The laser sensor 55 is located above the steel coil 6 and is used to calculate the center height of the steel coil 6. It is applicable to steel coils 6 of different diameters, thereby quickly and accurately positioning the center height of the steel coil 6 so that the forks 52 can quickly and accurately adjust the height of the steel coil 6 to correspond with the height of the uncoiler. Specifically, the laser sensor 55 can be set directly above the two sets of forks 52, that is, directly above the steel coil 6, which can more accurately and quickly provide feedback on the center height of the steel coil 6, with higher accuracy.

[0048] In some embodiments, please refer to Figure 4 , Figure 5The support frame 51 includes a support frame 511, multiple driven wheels 512, a first guide rail 513, and two second guide rails 514. The support frame 511 is hollowed out to reduce its weight and save costs. The side of the support frame 511 facing the steel coil 6 is open, facilitating installation and positioning. Multiple driven wheels 512 are spaced apart along the height direction at both ends of the side of the support frame 511 away from the steel coil 6. The driven wheels 512 slide within the corresponding lifting slots of the gantry 3, reducing friction and improving 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. A second guide rail 514 is provided at both ends of the lower end of the open side of the support frame 511, and each second guide rail 514 is connected to a corresponding fork 52. The upper ends of both forks 52 are slidably mounted on the first guide rail 513. The lower ends of each fork 52 are slidably mounted 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, making it suitable for handling more types of goods, and offering convenient adjustment, ease of use, and cost savings.

[0049] Multiple U-shaped slots 5131 are spaced apart along the length of the first guide rail 513. The upper end of the fork 52 is configured as a hook-shaped mounting part, which is engaged with the first guide rail 513. Furthermore, the inner side of the mounting part is provided with a locking block that mates with the slots 5131, preventing the fork 52 from swinging or sliding. To further improve the stability of the fork 52 installation, the adjusted fork 52 can be fixedly connected to the first guide rail 513 using bolts.

[0050] After receiving the work task, the control system on the locomotive body 2 receives the navigation path from the warehouse to the production line. The navigation mechanism guides the locomotive body 2 to the corresponding warehouse location for retrieving goods according to the acquired track number information. Distance sensor 539 and rangefinder 538 acquire the real-time position of the locomotive body 2, facilitating accurate movement to the designated location in the warehouse. Based on the dimensions of the steel coil 6, the telescopic drive unit 531 extends the push rod 532 a set distance, ensuring that the distance from the side of the baffle 534 that 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 delivers the fork 52 under 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, lifting the steel coil 6 to detach it from the material platform. Then, the locomotive body 2 reverses, transporting 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 above the upper surface of the steel coil 6 to determine the center height of the steel coil 6, which facilitates accurate alignment of the center of the steel coil 6 with the tensioning assembly of the uncoiler.

[0051] Upon arrival at the work area, the locomotive body 2 is positioned at the corresponding uncoiler. The lifting mechanism 4 raises the steel coil 6 to the same height as the tensioning assembly. The uncoiler detects whether there is a steel coil 6 on the forks 52 and whether the tensioning assembly has been reduced. Then, the uncoiler sends a signal to the control system of the locomotive body 2, allowing entry. After receiving the signal, the locomotive body 2 drives the steel coil 6 towards the uncoiler, positioning the tensioning assembly within the inner hole of the steel coil 6, and the locomotive body 2 stops moving. The tensioning assembly opens and tightens within the inner hole of the steel coil 6. After detecting the tensioning assembly tightening, the uncoiler sends a signal to the control system of the locomotive body 2 indicating that it has tightened. The lifting mechanism 4 then lowers the support frame 51 and its forks 52, separating the forks 52 from the steel coil 6. Next, the locomotive body 2 retreats a certain distance and then lowers the forks 52 completely to the initial position. The locomotive body 2 then retreats to the designated position, awaiting the next material transfer.

[0052] Please refer to Figure 7 A method for feeding a steel coil feeding AGV1, comprising any of the above-mentioned steel coil feeding AGV1, including:

[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 for loading.

[0054] Step S2: The clamping mechanism 5 places the steel coil 6 in the warehouse area onto the fork 52 and obtains 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. The lifting mechanism 4 determines the lifting height of the steel coil 6 based on 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. 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 exits the working area, completing the loading in one go.

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

[0057] The following is a detailed explanation of step S1.

[0058] Step S11: After receiving the transfer task from the warehouse area, the control system presets parameters including the diameter of the steel coil 6, the thickness of the steel coil 6, the storage track number, the production line number, the navigation path, and the height of the uncoiler. The control system calculates the extension length of the baffle 534 based on the thickness of the steel coil 6. The control system determines the center height of the steel coil 6 based on its diameter and the height measured by the laser sensor 55 from its upper surface. The locomotive body 2 can correctly navigate to the material platform in the warehouse area to retrieve the goods according to the storage track number. The locomotive body 2 can accurately transport the steel coil 6 to the corresponding position on the production line according to the production line number. The navigation mechanism can accurately guide the locomotive body 2 to the retrieval and placement positions according to the navigation path. The control system can obtain the lifting height of the steel coil 6 based on the height of the uncoiler, ensuring accurate alignment between the center of the inner hole of the steel coil 6 and the tensioning component 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 of the steel coil 6 to be transferred according to the navigation path.

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

[0061] Step S21: The distance 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 drive unit 531 drives the push rod 532 to cause the baffle 534 to extend a specified length in the direction of the steel coil 6; wherein, the specified length is determined according to the thickness of the steel coil 6, and the specified extension length is different for different thicknesses;

[0063] Step S23: The lifting mechanism 4 drives the support frame 51 and the forks 52 on it to fall 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, so that the contact switch is triggered 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 forks 52 and the steel coils 6 on them to rise to a set height; the locomotive body 2 moves backward and moves towards the corresponding production line number according to the navigation path;

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

[0067] The following is a detailed explanation of step S3.

[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 based on the center height of the steel coil 6 and the height of the uncoiler. The lifting mechanism 4 then lifts the steel coil 6 to the lifting height.

[0069] Step S32: The uncoiler detects the steel coils 6 on the forks 52 to determine whether there are steel coils 6 on the forks 52. Simultaneously, the uncoiler detects whether the tensioning component is in a retracted state. If it detects that there are steel coils 6 on the forks 52 and the tensioning component is in a retracted state, the uncoiler sends a signal to the control system to allow material storage. Upon receiving the signal from the uncoiler, the control system moves the locomotive body 2 forward, moving the steel coils 6 to the tensioning position of the uncoiler. The tensioning component of the uncoiler is located in the inner hole of the steel coils 6 and performs tensioning operations. If the uncoiler detects that there are no steel coils 6 on the forks 52 or that the tensioning component is in an open state, the control system issues an alarm.

[0070] Step S33: After the tensioning assembly is fully tensioned, the uncoiler sends a signal to the control system allowing it to leave. The control system receives the signal that the uncoiler has completed tensioning and is allowed to leave. The telescopic drive unit 531 drives the push rod 532 to retract the baffle 534, 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 moves back 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, one loading task is completed, and it waits for the next side to transfer materials.

[0072] The embodiments described in this specific implementation are preferred embodiments of this application and are not intended to limit the scope of protection of this application. Identical components are represented by the same reference numerals. Therefore, all equivalent changes made to the structure, shape, and principle of this application should be covered within the scope of protection of this application.

Claims

1. A steel coil loading AGV, characterized in that, The system includes a locomotive body (2), a navigation mechanism for guiding the locomotive body (2) to run, a gantry (3) mounted on the locomotive body (2), a lifting mechanism (4), and a clamping mechanism (5) slidably mounted 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 mounted on the gantry (3), and the lifting mechanism (4) is connected to the support frame (51). The two sets of forks (52) are spaced apart at the lower end of the support frame (51), and the push rod assembly (53) is mounted on the support frame (51) and located above the two sets of forks (52). The push rod assembly (53) extends and retracts along the central axis of the steel coil (6) to fit tightly against the side of the steel coil (6), and the two sets of forks (52) are supported below the steel coil (6). 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 to the laser sensor (55). The laser sensor (55) is located above the steel coil (6) and is used to calculate the center height of the steel coil (6). The support frame (51) includes a support frame (511), multiple driven wheels (512), a first guide rail (513), and two second guide rails (514). The support frame (511) is hollowed out, with the side of the support frame (511) facing the steel coil (6) open. Multiple driven wheels (512) are spaced apart along the height direction at both ends of the side of the support frame (511) away from the steel coil (6). The driven wheels (512) are slidably disposed in the lifting grooves of the corresponding gantry (3). The first guide rail (513) is fixedly connected to the upper end of the open side of the support frame (511). A second guide rail (514) is provided at both ends of the lower end of the open side of the support frame (511). Each second guide rail (514) is connected to a fork (52). The upper ends of the two forks (52) are slidably disposed on the first guide rail (513). The lower end of each fork (52) is slidably disposed on the corresponding second guide rail (514).

2. The steel coil feeding AGV according to claim 1, characterized in that, The push rod assembly (53) includes 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), and one end of the telescopic drive unit (531) is fixedly connected to one end of the push rod (532). 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 disposed 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).

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

4. The steel coil feeding AGV according to claim 2, characterized in that, The push rod assembly (53) also includes a plurality of magnetic attractors (537), and each of the baffles (534) is provided with at least one magnetic attractor (537), which is used to attract the steel coil (6).

5. The steel coil feeding AGV according to claim 2, characterized in that, The push rod assembly (53) also includes multiple distance sensors (538) and multiple contact switches; each of the upper and lower ends of each baffle (534) is provided with a distance sensor (538), and the other side of each baffle (534) is provided with a contact switch.

6. A method for feeding steel coils using an AGV, comprising the steel coil feeding AGV as described in any one of claims 1-5, characterized in that, include: Step S1: The control system receives the task and obtains the preset parameters. 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 warehouse area onto the forks (52) to obtain the center height of the steel coil (6); Step S3: The navigation mechanism guides the locomotive body (2) to move to the working 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. The locomotive body (2) moves forward to move the steel coil (6) to the unloading position of the uncoiler. The clamping mechanism (5) releases the steel coil (6). The lifting mechanism (4) drives the clamping mechanism (5) to fall back. The locomotive body (2) exits the working area, and the loading is completed in one go.

7. The feeding method of the steel coil feeding AGV according to claim 6, characterized in that, In step S2, the system further 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 positional relationship between the laser sensor (55) and the two forks (52), the height of the laser sensor (55) to the upper surface of the steel coil (6), and the surface height above the steel coil (6).

8. The feeding method of the steel coil feeding AGV according to claim 6, characterized in that, Step S3 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 the permission signal from the uncoiler, and the locomotive body (2) moves forward to move the steel coil (6) to the tensioning position of the uncoiler; the tensioning component of the uncoiler is located in the inner hole of the steel coil (6) and performs tensioning operation. Step S33: The control system obtains a signal indicating that the uncoiling machine is allowed to leave after tensioning is completed, and 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, completing the loading in one go.

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