Transportation device, processing system and material conveying method

Abstract

The invention provides a conveying device, a processing system and a material conveying method. The transporting device is used for transporting materials, the materials comprise a finished product material wound with a coiled material on a supporting shaft and the supporting shaft, and the transporting device comprises a vehicle body assembly; the bearing structure is arranged on the vehicle body assembly, the bearing structure is provided with bearing parts, the bearing parts are used for bearing the supporting shafts, the number of the bearing parts is at least two, the at least two bearing parts are arranged in a spaced mode, and the coiled materials wound on the supporting shafts are located between the two adjacent bearing parts; and each bearing part is arranged in a liftable manner, so that when each bearing part ascends to a preset height, the materials on the target equipment are borne or the materials on the bearing part are lifted to the target equipment. The problem that in the prior art, the conveying automation degree of glass fabric rolls is low is effectively solved.

Description

Technical Field

[0001] The present invention relates to the technical field of glass fiber textile automation, and in particular to a transportation device, a processing system and a material conveying method. Background Art

[0002] Currently, in the processing of glass fiber cloth rolls, the finished glass fiber cloth rolls processed by the production machines need to be transported to the storage end platform to store the finished glass fiber cloth rolls.

[0003] In the prior art, the transportation process of the finished fiberglass cloth roll mainly relies on the manual operation of the cloth transport vehicle by the staff, which has a very low degree of automation and is prone to the following problems:

[0004] Problem 1: The transportation of finished fiberglass cloth rolls between the production machine, the storage platform and the cloth transport vehicle relies on manual labor, which is labor-intensive and has low transportation efficiency;

[0005] Problem 2: The fiberglass cloth roll must not be squeezed or touched (touching will cause direct or indirect contamination on the surface of the fiberglass electronic cloth). The transportation method is cumbersome and requires high standards (i.e. the staff must lift the free space at both ends of the cloth roll for transportation), which further reduces the transportation efficiency.

[0006] Problem 3: There are many production machines on the production site. When a production machine is finished and the staff needs to transfer the finished fiberglass cloth roll, the staff often cannot go to work in time. At the same time, after completing the initial transfer of the finished fiberglass cloth roll, the staff's planning of the subsequent transportation route is not reasonable and efficient, which further reduces the transportation efficiency;

[0007] Question 4: The environmental noise at the cloth roll production site is loud and the working environment is poor. Workers are easily affected by the noise when operating the cloth transport vehicle, and are unable to accurately judge the on-site environmental conditions, which can easily lead to safety accidents. Summary of the invention

[0008] The main purpose of the present invention is to provide a transportation device, a processing system and a material conveying method to solve the problem of low degree of automation in the transportation of glass fiber cloth rolls in the prior art.

[0009] In order to achieve the above-mentioned purpose, according to one aspect of the present invention, there is provided a transport device for transporting materials, wherein the materials include finished materials with coils wound around a support shaft and a support shaft, and the transport device includes: a body assembly; a bearing structure, which is arranged on the body assembly, the bearing structure has a bearing portion, the bearing portion is used to bear the support shaft, there are at least two bearing portions, at least two bearing portions are arranged at intervals, and the coils wound around the support shaft are located between two adjacent bearing portions; wherein each bearing portion can be arranged to be raised and lowered, so that when each bearing portion rises to a preset height, the material on the target device can be received or the material on the bearing portion can be lifted to the target device.

[0010] Furthermore, the vehicle body assembly includes: a main structure; at least two enclosure structures, which are arranged on the main structure at intervals, and the at least two enclosure structures are arranged opposite to each other and form a accommodating space around the main structure; wherein the bearing structure can be movably arranged on the main structure and has a working position and a storage position, and when the bearing structure is in the working position, the bearing part and the material on the bearing part are located outside the accommodating space; when the bearing structure is in the storage position, the bearing part and the material on the bearing part are located inside the accommodating space.

[0011] Furthermore, the transport device also includes: a movable seat, which is slidably arranged on the main structure, and the bearing structure is arranged on the movable seat, so that the bearing structure can be driven to move between the working position and the storage position through the movable seat; a first driving structure, which is drivingly connected to the movable seat to drive the movable seat to slide.

[0012] Furthermore, the movable seat includes: a movable body, which is slidably arranged on the main structure, and the first driving structure is drivingly connected to the movable body; a supporting structure, which is arranged on the movable body and located on one side of the main structure; and a roller structure, which is arranged on the supporting structure, and the movable seat contacts the working surface through the roller structure.

[0013] Furthermore, the bearing part has a bearing recess, the inner wall shape of the bearing recess matches the outer peripheral surface shape of the support shaft, and the bearing structure also includes: a second driving structure, which is arranged on the movable seat and is connected to the bearing part for driving the bearing part to move up and down.

[0014] Furthermore, the vehicle body assembly also includes a third driving structure, which includes: a mounting bracket, which is arranged on the main structure; a roller member, which is rotatably arranged on the mounting bracket; and a first driving member, which is drivingly connected to the roller member, and the first driving member drives the roller member to rotate to drive the vehicle body assembly to move forward.

[0015] Furthermore, the mounting bracket includes a fixed part and a rotating part, the fixed part is arranged on the main structure, the roller member and the first driving member are both arranged on the rotating part, the rotating part is rotatably arranged on the fixed part, and the rotation axis of the rotating part and the rotation axis of the roller member are arranged at an angle, and the third driving structure also includes: a second driving member, which is connected to the rotating part through a transmission assembly, and the second driving member drives the roller member to rotate by driving the rotating part to adjust the travel direction of the vehicle body assembly.

[0016] Furthermore, the transport device also includes a control module arranged on the vehicle body assembly, and the vehicle body assembly also includes: an anti-collision detection device, which is connected to the control module and is used to detect the distance between the vehicle body assembly and the obstacle on the travel route of the vehicle body assembly, and the control module controls the travel direction and / or travel speed of the vehicle body assembly according to the detection value of the anti-collision detection device; and / or, an anti-collision structure, which is arranged on the main structure and / or the enclosure structure, and the anti-collision structure is used to buffer the impact process of the vehicle body assembly; and / or, a laser navigation device, which is connected to the control module and is used to detect the surrounding environment structure of the vehicle body assembly, and the control module controls the travel direction and / or travel speed of the vehicle body assembly according to the detection value of the laser navigation device to plan the travel route of the vehicle body assembly; and / or, the transport device also includes a wireless communication module, which is arranged on the vehicle body assembly and connected to the control module, and the wireless communication module is used to receive instructions, and the control module controls the travel direction and / or travel speed of the vehicle body assembly according to the instructions received by the wireless communication module; and / or, the control module controls the carrying part to perform lifting and lowering movements according to the instructions received by the wireless communication module.

[0017] According to another aspect of the present invention, a processing system is provided, including: material processing equipment, used to wind the coiled material on a support shaft to process it into a finished material; warehousing equipment, used to perform warehousing operations on the finished material; a cache device, used to cache the support shaft and the finished material; a transportation device, used to transport the support shaft and the finished material between the material processing equipment, the warehousing equipment, and the cache device; a charging device, used to charge the transportation device; a workbench, wirelessly connected to the transportation device, the material processing equipment and the warehousing equipment; wherein the transportation device is the above-mentioned transportation device.

[0018] According to another aspect of the present invention, a material transportation method is provided, and the material transportation method is applicable to the above-mentioned processing system, and the material transportation method comprises: obtaining the layout information of the processing system; the transportation device of the processing system goes to the cache device of the processing system to receive the support shaft according to the layout information; the working status of the material processing equipment of the processing system is obtained, and if the processing of the material processing equipment is completed, the transportation device carrying the support shaft is selected to start the material transportation task; wherein the material transportation task comprises: the selected transportation device goes to the material processing equipment where the processing is completed according to the layout information to transport the support shaft to the material processing equipment, and after the support shaft is transported to the material processing equipment, the selected transportation device receives the finished material on the material processing equipment, and transports the finished material to the cache device and / or the warehousing equipment of the processing system.

[0019] Furthermore, the method for selecting a transport device carrying a support shaft includes: obtaining position information of all transport devices carrying support shafts, and calculating the straight-line distance between the transport device carrying the support shaft and the material processing equipment after processing according to the layout information and position information of the processing system; wherein the transport device with the smallest straight-line distance is the selected transport device.

[0020] Furthermore, in the process of obtaining the working status of the material processing equipment, if multiple material processing equipment have completed processing, the processing completion time of each material processing equipment is obtained, and the selected transportation device performs the material transportation task in sequence according to the processing completion time of the multiple material processing equipment.

[0021] Furthermore, in the process of obtaining the working status of the material processing equipment, if the number of material processing equipment that has been processed within the preset time interval t is 0, the transport device carrying the support shaft goes to the charging device of the processing system for charging.

[0022] According to the technical solution of the present invention, the transport device is used to transport materials, and the materials include finished materials with coils wound on the support shaft and the support shaft. The bearing structure of the transport device is arranged on the vehicle body component, and the bearing structure has a bearing part, and the bearing part is used to bear the support shaft. There are at least two bearing parts, and at least two bearing parts are arranged at intervals, and the coils wound on the support shaft are located between two adjacent bearing parts. Among them, each bearing part can be arranged to be lifted and lowered, so that when each bearing part rises to a preset height, the material on the target device is received or the material on the bearing part is lifted to the target device. In this way, after the vehicle body component drives the bearing structure and the material on the bearing structure to move to the target device, the bearing structure can drive the material to rise through the lifting bearing part to transport the material to the target device or take the material on the target device through the bearing part that rises to the preset height, that is, the material conveying, loading and unloading actions are realized, thereby realizing the fully automated transportation of the material, thereby solving the problem of low degree of automation in the transportation of glass fiber cloth rolls in the prior art. At the same time, the load-bearing part in the present application is only used to support the support shaft (that is, the coil wound on the support shaft is located between two adjacent load-bearing parts) to avoid direct or indirect contamination of the coil caused by contact and compression between the load-bearing part and the coil, thereby improving the transportation reliability of the transportation device. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] The drawings constituting a part of the present application are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0024] Figure 1 It shows a schematic diagram of the three-dimensional structure when the bearing structure of the embodiment of the transport device according to the present invention is in the working position;

[0025] Figure 2 Shows Figure 1 A side view of the transport device in FIG.

[0026] Figure 3 Shows Figure 2 A schematic diagram of a three-dimensional structure of the transport device when the carrying structure is in the storage position;

[0027] Figure 4 Shows Figure 1 A schematic diagram of the physical structure of the third driving structure of the vehicle body assembly of the transport device;

[0028] Figure 5 A top view of an embodiment of a processing system according to the present invention is shown;

[0029] Figure 6 Shows Figure 5 A top view of a charging device of a processing system;

[0030] Figure 7 Shows Figure 5 A top view of the material processing equipment of the processing system;

[0031] Figure 8 A flow chart showing an embodiment of a material conveying method according to the present invention is shown.

[0032] The above drawings include the following reference numerals:

[0033] 1. Material; 101. Finished material; 102. Support shaft; 2. Material processing equipment; 3. Warehousing equipment; 4. Cache device; 5. Transport device; 6. Charging device; 61. Contact end;

[0034] 10. Car body assembly; 11. Main structure; 111. Electrical connection end; 12. Enclosure structure; 13. Accommodation space; 14. Anti-collision detection device; 15. Third driving structure; 151. Mounting bracket; 1511. Fixed part; 1512. Rotating part; 152. Roller member; 153. First driving member; 154. Second driving member; 155. Transmission assembly; 156. Steering wheel encoder; 157. Horizontal encoder;

[0035] 20. bearing structure; 21. bearing part; 211. bearing recess; 212. block body; 213. connecting plate; 22. second driving structure;

[0036] 30. Movable seat; 31. Movable body; 32. Support structure; 33. Roller structure. DETAILED DESCRIPTION

[0037] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application can be combined with each other. The present invention will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0038] It should be noted that, unless otherwise specified, all technical and scientific terms used in this application have the same meanings as commonly understood by ordinary technicians in the technical field to which this application belongs.

[0039] In order to solve the problem of low degree of automation in the transportation of glass fiber cloth rolls in the prior art, the present application provides a transportation device, a processing system and a material transportation method.

[0040] like Figures 1 to 4As shown, the transport device is used to transport material 1, and the material 1 includes a finished material 101 with a coil wound on a support shaft 102 and a support shaft 102. The transport device includes a vehicle body component 10 and a bearing structure 20. The bearing structure 20 is arranged on the vehicle body component 10. The bearing structure 20 has a bearing portion 21, and the bearing portion 21 is used to bear the support shaft 102. There are at least two bearing portions 21, and at least two bearing portions 21 are arranged at intervals. The coil wound on the support shaft 102 is located between two adjacent bearing portions 21. Among them, each bearing portion 21 can be arranged to be raised and lowered, so that when each bearing portion 21 rises to a preset height, the material 1 on the target device is received or the material 1 on the bearing portion 21 is lifted to the target device.

[0041] The technical solution of this embodiment is applied, and the transport device is used to transport material 1, and material 1 includes finished material 101 with coiled material wound on support shaft 102 and support shaft 102. The carrying structure 20 of the transport device is arranged on the vehicle body component 10, and the carrying structure 20 has a carrying part 21, and the carrying part 21 is used to carry the support shaft 102. There are at least two carrying parts 21, and at least two carrying parts 21 are arranged at intervals, and the coiled material wound on the support shaft 102 is located between two adjacent carrying parts 21. Among them, each carrying part 21 can be arranged to be raised and lowered, so that when each carrying part 21 rises to a preset height, the material 1 on the target device is received or the material 1 on the carrying part 21 is lifted to the target device. In this way, after the vehicle body assembly 10 drives the bearing structure 20 and the material 1 on the bearing structure 20 to move to the target device, the bearing structure 20 can drive the material 1 to rise through the lifting bearing part 21 to transport the material 1 to the target device or pick up the material 1 on the target device through the bearing part 21 that rises to a preset height, that is, the material 1 is conveyed, loaded and unloaded, thereby realizing the fully automated transportation of the material, thereby solving the problem of low automation of the transportation of glass fiber cloth rolls in the prior art. At the same time, the bearing part 21 in this embodiment is only used to bear the support shaft 102 (that is, the coil wound on the support shaft 102 is located between two adjacent bearing parts 21), so as to avoid the bearing part 21 contacting and squeezing the coil to cause direct or indirect contamination of the coil, thereby improving the transportation reliability of the transportation device.

[0042] In this embodiment, there are two bearing parts 21, and the two bearing parts 21 are respectively used to bear the two ends of the support shaft 102 (for the finished material 101, the remaining space at the two ends of the support shaft 102 where the coil is not wound), so as to ensure that the bearing structure 20 can stably bear the support shaft 102 and the finished material 101.

[0043] In this embodiment, the coiled material is actually glass fiber cloth, which is wound around the support shaft 102 to form a finished product 101 .

[0044] It should be noted that the number of the bearing parts 21 is not limited thereto, and the number of the bearing parts 21 can be adjusted according to working conditions and usage requirements to increase the contact area between the bearing parts 21 and the support shaft 102 , thereby improving the bearing reliability of the bearing structure 20 .

[0045] like Figures 1 to 3 As shown, the vehicle body assembly 10 includes a main structure 11 and at least two enclosure structures 12, at least two enclosure structures 12 are arranged on the main structure 11 at intervals, at least two enclosure structures 12 are arranged opposite to each other and surround the main structure 11 to form a receiving space 13. Among them, the bearing structure 20 can be movably arranged on the main structure 11 and has a working position and a storage position. When the bearing structure 20 is in the working position, the bearing part 21 and the material 1 on the bearing part 21 are located outside the receiving space 13; when the bearing structure 20 is in the storage position, the bearing part 21 and the material 1 on the bearing part 21 are located inside the receiving space 13. In this way, during the movement of the vehicle body assembly 10, the bearing structure 20 can move to the storage position, and the material 1 located in the receiving space 13 is protected by the enclosure structure 12, so as to prevent the material 1 from interfering with and colliding with other structures on site during the movement of the vehicle body assembly 10, thereby causing damage to the coiled material or even causing the material 1 to fall off, further improving the transportation reliability of the transportation device. At the same time, when the body assembly 10 moves to the target equipment, the unloading and loading of the material 1 can be realized through the coordination between the movement of the supporting structure 20 (movement to the working position) and the lifting movement of the supporting part 21, and the mutual interference between the larger body assembly 10 and the target equipment can be avoided.

[0046] Specifically, due to the large size of the body component 10, it cannot move to the bottom of the material station of the target equipment (material processing equipment 2 and cache device 4). When the body component 10 moves to the target equipment, the supporting structure 20 can first move as a whole to the working position (the material 1 on the supporting structure 20 or the supporting part 21 is located below the material station of the target equipment), and then the supporting part 21 can be raised and lowered alone to receive the material 1 at the material station (that is, the supporting part 21 continues to rise until the material 1 at the material station is lifted to separate from the limiting part at the material working position, and the supporting structure 20 then moves as a whole to the storage position), or the supporting part 21 is raised to place the material 1 on the limiting part at the material station (that is, the supporting part 21 drives the support shaft 102 to rise to slightly above the limiting part, and then continues to drive the support shaft 102 to move toward the limiting part until the support shaft 102 is located above the limiting part, and then the supporting part 21 is lowered, and the support shaft 102 is placed on the limiting part at the material station of the target equipment).

[0047] In this embodiment, there are two enclosure structures 12 , and the two enclosure structures 12 are arranged opposite to each other on the main structure 11 .

[0048] Specifically, the main structure 11 and the enclosure structure 12 are both shell structures, both of which are hollow inside and have installation cavities for installing components used to realize the moving action of the vehicle body assembly 10.

[0049] Specifically, the main structure 11 is plate-shaped as a whole, and the enclosure structure 12 is columnar as a whole. The outer peripheral surface of the main structure 11 and the outer peripheral surface of the enclosure structure 12 away from the accommodating space 13 are provided with arc-shaped transition surfaces, so that the overall outer peripheral surface of the body assembly 10 has a smooth transition without sharp edges and corners, thereby improving the transportation safety of the transportation device and extending the service life of the transportation device.

[0050] In this embodiment, a control component is also provided on the upper surface of the enclosure structure 12 away from the main structure 11. The control component includes a button structure, a display screen structure, etc. The button structure is used to realize the overall switching and starting and stopping of the transportation device, and the display screen structure can display the transportation information of the transportation device (number of transportations, remaining number of tasks to be completed, remaining power and other related information) to facilitate the staff to quickly understand the transportation status of the transportation device.

[0051] like Figures 1 to 3 As shown, the transport device further includes a movable seat 30 and a first driving structure. The movable seat 30 is slidably disposed on the main structure 11, and the bearing structure 20 is disposed on the movable seat 30, so as to drive the bearing structure 20 to move between the working position and the storage position through the movable seat 30. The first driving structure is drivingly connected to the movable seat 30 to drive the movable seat 30 to slide. In this way, the above arrangement realizes the switching of the bearing structure 20 between the working position and the storage position through the sliding movement of the movable seat 30 on the one hand; on the other hand, the automatic movement of the bearing structure 20 is realized through the first driving structure, thereby improving the degree of automation of the transport device.

[0052] In this embodiment, the driving form of the first driving structure is not limited. For example, a linear module or a driving cylinder can be used to directly drive the movable seat 30 to slide to drive the bearing structure 20 to move. A servo motor can also be used in conjunction with a screw nut mechanism to achieve the linear sliding movement of the movable seat 30.

[0053] Optionally, a guide rail slider structure is provided between the movable seat 30 and the main structure 11 to guide the movement direction of the movable seat 30 .

[0054] like Figures 1 to 3As shown, the movable seat 30 includes a movable body 31, a support structure 32 and a roller structure 33. The movable body 31 is slidably arranged on the main structure 11, and the first driving structure is drivingly connected to the movable body 31. The support structure 32 is arranged on the movable body 31 and is located on one side of the main structure 11. The roller structure 33 is arranged on the support structure 32, and the movable seat 30 contacts the working surface through the roller structure 33. In this way, by setting the support structure 32 and the roller structure 33, the gravity pressure exerted by the material 1 on the movable seat 30 can be further shared to the working surface (on the ground), so as to reduce the load of the main structure 11 and extend the service life of the transport device. At the same time, the roller structure 33 can play a role in reducing friction and ensure that the transport device can move smoothly.

[0055] In this embodiment, the movable body 31 is plate-shaped as a whole, and one of its plate surfaces is slidably disposed on the main structure 11. The support structure 32 is prism-shaped and is disposed on the plate surface of the movable body 31 facing the working surface. The two are designed in an L shape as a whole, and the roller structure 33 is disposed on the end surface of the support structure 32 facing the working surface.

[0056] Optionally, the roller structure 33 is a universal wheel.

[0057] like Figures 1 to 3 As shown, the bearing part 21 has a bearing recess 211, the inner wall shape of the bearing recess 211 matches the outer peripheral surface shape of the support shaft 102, and the bearing structure 20 also includes a second driving structure 22, which is arranged on the movable seat 30, and the second driving structure 22 is drivingly connected to the bearing part 21 to drive the bearing part 21 to perform lifting movement. In this way, the setting of the bearing recess 211 can increase the contact area between the bearing part 21 and the support shaft 102, so as to improve the bearing reliability of the bearing part 21. At the same time, the setting of the second driving structure 22 realizes the automatic lifting of the bearing part 21, further improving the automation degree of the transportation device.

[0058] In this embodiment, the second driving structure 22 is a driving cylinder, and the cylinder body thereof is disposed on the plate surface of the movable body 31 .

[0059] In this embodiment, the second driving structure 22 is a double-stroke driving cylinder, that is, the preset heights include a first preset height and a second preset height, and the second preset height is greater than the first preset height. When the finished material 101 is taken from the material processing equipment 2, since the limiting member of the material processing equipment 2 will fix the finished material 101, the second driving structure 22 will drive the finished material 101 to rise to the first preset height (the load-bearing part 21 is in contact with the support shaft 102 of the finished material 101). After information is transmitted to allow the limiting member of the material processing equipment 2 to release the finished material 101, it will further rise to the second preset height to lift the finished material 101 to be separated from the limiting member, and then take the material.

[0060] In this embodiment, the bearing portion 21 includes a block body 212 and a connecting plate 213. The block body 212 is a step structure, the bearing recess 211 is arranged on its upper surface, the lower surface of the block body 212 is arranged on one plate surface of the connecting plate 213, and the piston rod of the second driving structure 22 is connected to the other plate surface of the connecting plate 213.

[0061] In this embodiment, the inner wall of the bearing recess 211 is arc-shaped to match the outer circumferential surface of the cylindrical support shaft 102 .

[0062] It should be noted that the driving form of the second driving structure 22 is not limited thereto, and the lifting action can be realized by using a linear module, a servo motor screw nut mechanism cooperating with each other, a hydraulic arm, a fork and other structures.

[0063] In this embodiment, there are two movable seats 30 , two second driving structures 22 , and two bearing parts 21 . The two second driving structures 22 are arranged in a one-to-one correspondence with the two movable seats 30 , and the two bearing parts 21 are arranged in a one-to-one correspondence with the two second driving structures 22 .

[0064] It should be noted that the lifting and lowering movements of the two bearing parts 21 need to be highly consistent, that is, the lifting and lowering height error between the two bearing parts 21 needs to be within 2 mm to prevent the support shaft 102 on the bearing part 21 from being skewed and causing it to fall easily.

[0065] Optionally, a self-test sensor and an alarm structure may be further provided on the vehicle body assembly 10, such as using an infrared sensor to detect the lifting height of each load-bearing part 21, so that when the lifting height difference between two load-bearing parts 21 is greater than 2 mm, an alarm structure (such as a buzzer or an LED light) may be used to alert the staff that the second driving structure 22 of the current transport device needs to be repaired accordingly to reduce the lifting height difference between the two load-bearing parts 21.

[0066] like Figure 2 and Figure 4 As shown, the vehicle body assembly 10 further includes a third driving structure 15, which includes a mounting bracket 151, a roller member 152 and a first driving member 153. The mounting bracket 151 is disposed on the main structure 11. The roller member 152 is rotatably disposed on the mounting bracket 151. The first driving member 153 is drivingly connected to the roller member 152, and the first driving member 153 drives the vehicle body assembly 10 to move by driving the roller member 152 to rotate. In this way, the first driving member 153 can drive the vehicle body assembly 10 to move by driving the roller member 152 to rotate, thereby realizing the transportation action of the transportation device.

[0067] In this embodiment, the first driving member 153 is a servo motor.

[0068] like Figure 4 As shown, the mounting bracket 151 includes a fixed portion 1511 and a rotating portion 1512, the fixed portion 1511 is arranged on the main structure 11, the roller member 152 and the first driving member 153 are both arranged on the rotating portion 1512, the rotating portion 1512 is rotatably arranged on the fixed portion 1511, and the rotation axis of the rotating portion 1512 is arranged at an angle with the rotation axis of the roller member 152, and the third driving structure 15 also includes a second driving member 154, the second driving member 154 is connected to the rotating portion 1512 through a transmission assembly 155, and the second driving member 154 drives the roller member 152 to rotate by driving the rotating portion 1512 to adjust the travel direction of the vehicle body assembly 10. In this way, the above arrangement can adjust the travel direction of the roller member 152 by driving the first driving member 153 and the roller member 152 located on the rotating portion 1512 to rotate through the second driving member 154, thereby adjusting the travel direction of the vehicle body assembly 10.

[0069] In this embodiment, the rotation axis of the rotating portion 1512 and the rotation axis of the roller member 152 are perpendicular to each other.

[0070] In this embodiment, the fixing portion 1511 is plate-shaped as a whole and is fastened to the main structure 11 by fasteners. There is a certain installation gap between the fixing portion 1511 and the main structure 11, and the installation gap is used to install the transmission assembly 155.

[0071] In this embodiment, the second driving member 154 is a servo motor, which is arranged on a plate surface of the fixed part 1511 away from the main structure 11. The transmission assembly 155 includes multiple gear parts. The driving wheels among the multiple gear parts are sleeved on the driving shaft of the second driving member 154, and the driven wheels among the multiple gear parts are rotatably arranged on the fixed part 1511 and connected to the rotating part 1512 to drive the rotating part 1512 to rotate.

[0072] In this embodiment, the rotating portion 1512 is a bracket-shaped structure for installing the roller member 152 .

[0073] In this embodiment, the third driving structure 15 also includes a steering wheel encoder 156 and a horizontal encoder 157. The steering wheel encoder 156 is arranged on the fixed part 1511 and a gear meshing with the transmission assembly 155 is sleeved on its detection end. The horizontal encoder 157 is arranged on the rotating part 1512 and a detection end thereof rotates synchronously with the roller member 152, and then the axial rotation state and the deflection angle of the roller member 152 are respectively detected by the steering wheel encoder 156 and the horizontal encoder 157.

[0074] In this embodiment, the transportation device further includes a control module disposed on the vehicle body assembly 10 .

[0075] In this embodiment, the vehicle body assembly 10 further includes an anti-collision detection device 14, which is connected to the control module and is used to detect the distance between the vehicle body assembly 10 and an obstacle on the travel route of the vehicle body assembly 10, and the control module controls the travel direction and / or travel speed of the vehicle body assembly 10 according to the detection value of the anti-collision detection device 14. In this way, the above arrangement can prevent the vehicle body assembly 10 from being damaged or even overturned due to a collision during the travel of the vehicle body assembly 10, further improving the transportation stability of the transport device.

[0076] Optionally, the anti-collision detection device 14 is a distance sensor.

[0077] Specifically, the steering wheel encoder 156, the horizontal encoder 157, the first driving member 153 and the second driving member 154 are all connected to the control module. The control module will adjust the rotation speed of the first driving member 153 according to the detection value of the anti-collision detection device 14, and the horizontal encoder 157 will feedback the actual rotation speed of the roller member 152 to the control module in real time to ensure that the roller member 152 can be accurately and stably adjusted to the preset value, thereby further improving the transportation reliability of the transportation device.

[0078] Optionally, the first driving member 153 and the second driving member 154 are both servo motors.

[0079] Specifically, when an obstacle is detected on the path of the vehicle body assembly 10, the vehicle body assembly 10 will slow down and stop. When the obstacle is removed, the vehicle body assembly 10 automatically resumes driving. The anti-collision detection device 14 presets three detection ranges of different distances and sizes, namely, the deceleration zone detection range, the parking zone detection range and the emergency stop zone detection range. The deceleration zone detection range is larger than the parking zone detection range, and the parking zone detection range is larger than the emergency stop zone detection range. When an obstacle is detected in the deceleration zone detection range, the travel speed of the vehicle body assembly 10 is reduced, and when an obstacle is detected in the parking zone detection range, the travel speed of the vehicle body assembly 10 is gradually decelerated to zero, and when an obstacle is detected in the emergency stop zone detection range, the brake structure of the vehicle body assembly 10 is locked, and the vehicle body assembly 10 is completely decelerated to zero. In this way, the above-mentioned setting ensures that the vehicle body assembly 10 is decelerated in an orderly and gradual manner to prevent the material 1 from falling off the bearing structure 20 under the action of inertia, and also ensures that there will be no collision between the vehicle body assembly 10 and the obstacle, further improving the transportation reliability of the transportation device.

[0080] In this embodiment, the vehicle body assembly 10 further includes an anti-collision structure, which is arranged on the main structure 11 and / or the enclosure structure 12, and is used to buffer the collision process of the vehicle body assembly 10. In this way, the arrangement of the anti-collision structure can further play a foolproof and protective role, so as to provide a bottom-line protection for the collision or accidental collision when the anti-collision detection device 14 has a detection error.

[0081] In this embodiment, the anti-collision structure is a bumper structure, which is arranged on the outer peripheral surface of the main structure 11.

[0082] In this embodiment, the vehicle body assembly 10 further includes a laser navigation device, which is connected to the control module and is used to detect the surrounding structure of the vehicle body assembly 10. The control module controls the travel direction and / or travel speed of the vehicle body assembly 10 according to the detection value of the laser navigation device to plan the travel route of the vehicle body assembly 10. In this way, the laser navigation device can detect and plan a reasonable travel route for the transport device in the early stage of the transport device, so as to ensure that the travel route of the transport device is more reasonable and improve the transport efficiency of the transport device.

[0083] Optionally, the laser navigation device is a reflectorless laser navigation device, which does not require an additional reflector. The laser beam emitted by the reflectorless laser navigation device will be reflected when encountering an obstacle. It constructs a map of the surrounding environment by analyzing information such as the time, intensity, and angle of the reflected laser signal, and combines its own motion model and sensor data to continuously update the estimated position, plan the route, and achieve precise navigation.

[0084] Specifically, by setting up a laser navigation device to plan the route, the mutual interference problem caused by the simultaneous operation of multiple transportation devices can be avoided. That is, the laser navigation device can estimate and plan the route within a larger range to ensure that multiple transportation devices travel in staggered manner.

[0085] Specifically, the control module will control the rotation speed and direction of the first driving member 153 and the second driving member 154 according to the planned route, and the steering wheel encoder 156 and the horizontal encoder 157 will provide real-time feedback on the actual rotation speed, direction and deflection angle of the roller member 152 to ensure that the roller member 152 can be accurately and stably adjusted to the preset value, thereby ensuring that the transportation device can accurately move to the target equipment according to the planned route.

[0086] In this embodiment, the transport device further includes a wireless communication module, which is disposed on the vehicle body component 10 and connected to the control module. The wireless communication module is used to receive instructions, and the control module controls the travel direction and / or travel speed of the vehicle body component 10 according to the instructions received by the wireless communication module; and / or the control module controls the carrying part 21 to perform lifting and lowering movements according to the instructions received by the wireless communication module. In this way, the above arrangement realizes the remote control function of the transport device, so as to realize the remote control of the transport device.

[0087] In this embodiment, the wireless communication module, the laser navigation device and the control module are integrated inside the main structure 11 and the enclosure structure 12 .

[0088] In this embodiment, the transport device is driven by electricity as a whole, the battery module is integrated in the main structure 11, and the electrical connection end 111 (charging end) of the battery module is exposed outside the main structure 11 to facilitate charging of the transport device.

[0089] like Figures 5 to 7 As shown, this embodiment also provides a processing system, which includes a material processing device 2, a storage device 3, a buffer device 4, a transport device 5, a charging device 6 and a workbench, wherein the material processing device 2 is used to wind the coil on the support shaft 102 to form a finished material 101. The storage device 3 is used to perform storage operations on the finished material 101. The buffer device 4 is used to buffer the support shaft 102 and the finished material 101. The transport device 5 is used to transport the support shaft 102 and the finished material 101 between the material processing equipment 2, the storage device 3 and the buffer device 4. The charging device 6 is used to charge the transport device 5. The workbench is wirelessly connected to the transport device 5, the material processing equipment 2 and the storage device 3. Among them, the transport device 5 is the above-mentioned transport device.

[0090] like Figure 7 As shown, the material processing equipment 2 is a winding machine, which can wind the glass fiber cloth on the support shaft 102 to form a finished material 101.

[0091] Optionally, the buffer device 4 is a frame structure, which can support, fix and buffer the support shaft 102 and the finished material 101.

[0092] Optionally, the warehousing device 3 is a three-dimensional warehouse management device.

[0093] like Figure 6 As shown, the charging device 6 is provided with a contact terminal 61 . After the transport device 5 is docked, the contact terminal 61 can be extended and abutted against the electrical connection terminal 111 of the transport device 5 , thereby realizing the charging operation of the transport device 5 .

[0094] Specifically, the workbench can collect the processing status of multiple material processing equipment 2, transmit information and issue instructions with the transportation device 5, record the processing quantity and transportation quantity of the finished material 101 of each material processing equipment 2 and other information, realize the overall scheduling of the processing system, and facilitate the staff to count (such as overall production capacity), query and trace the operating status of the processing system.

[0095] Specifically, the workbench wirelessly connected to the transport device 5 can also transmit real-time information to the transport device 5, that is, the workbench can send the specific location information of the target equipment to the transport device 5, and the range environment information detected by the laser navigation device of the transport device 5 can be transmitted to the workbench in real time. Then, the workbench searches the production site map and finally obtains the optimal path and sends it to the transport device 5, while simultaneously monitoring the operating status of the transport device 5 to provide the transport device 5 with accurate, stable and reliable path navigation.

[0096] Specifically, the workbench is also wirelessly connected to the material processing equipment 2 and the warehousing equipment 3 to complete the information transfer transmission between the transportation device 5 and the target equipment, ensuring the transportation of the finished material 101 and the information transmission of the finished material 101.

[0097] In this embodiment, the process of the transport device receiving the finished material 101 is as follows:

[0098] After the transport device moves to the material processing equipment 2, the bearing structure 20 moves to the working position (i.e., below the material station of the material processing equipment 2) to start pre-lifting the cloth roll (finished material 101). When the bearing portion 21 is lifted to a first preset height (the bearing portion 21 is in contact with the support shaft 102, which can be determined by the movement stroke of the bearing portion 21, or a pressure sensor can be set in the bearing recess 211 to determine whether the bearing portion 21 has reached the first preset height by the detection value of the pressure sensor), the pre-lifting is completed, and the transport device 5 sends a pre-lifting completion signal to the workbench (wireless connection), and the workbench sends a signal to the material processing equipment 2. Equipment 2 issues a control command, the material processing equipment 2 opens the machine curling chuck (limiting part) and sends a chuck opening completion signal to the workbench (wireless connection), and at the same time sends the material information of the finished material 101 (such as specifications, dimensions, numbers, etc.) to the workbench. After receiving the signal, the workbench binds the material information of the finished material 101 to the transportation device 5, and sends a chuck opening signal to the transportation device 5. The bearing part 21 continues to rise to the second preset height, and the finished material 101 is completely separated from the machine curling chuck and no longer interferes. The bearing structure 20 moves to the storage position at this time, and the material picking process of the finished material 101 is completed.

[0099] Specifically, the unloading process of the finished material 101 (i.e. placing the finished material 101 on the cache device 4 or the warehousing equipment 3) is similar to the above process, but there is no need to perform a two-stage stroke operation, i.e., the supporting part 21 needs to first lift the finished material 101 to a second preset height, and then drive the finished material 101 to move to the working position (i.e., above the supporting part of the cache device 4 and above the supporting part of the warehousing equipment 3) through the supporting structure 20. Finally, the supporting part 21 descends, the finished material 101 is placed at the corresponding position, the supporting structure 20 moves to the storage position, and the unloading is completed.

[0100] It should be noted that the process of taking the support shaft 102 (taking the support shaft 102 from the buffer device 4) and unloading the support shaft 102 (placing the support shaft 102 on the material processing equipment 2) is similar to the process of taking and unloading the finished material 101, but there is no need to perform a two-stage stroke operation, which will not be elaborated here. It should be noted that when the support shaft 102 is loaded onto the material processing equipment 2, information transmission is required to ensure that its limit member (machine curling chuck) is in the open state.

[0101] like Figure 8 As shown, this embodiment further provides a material transportation method, which is applicable to the above-mentioned processing system, and the material transportation method includes:

[0102] Obtaining layout information of the processing system;

[0103] The transport device 5 of the processing system goes to the buffer device 4 of the processing system according to the layout information to receive the support shaft 102;

[0104] Obtain the working status of the material processing equipment 2 of the processing system. If the material processing equipment 2 has completed processing, select the transport device 5 carrying the support shaft 102 to start the material transportation task;

[0105] Among them, the material transportation task includes: the selected transportation device goes to the material processing equipment 2 where the processing is completed according to the layout information to transport the support shaft 102 to the material processing equipment 2. After the support shaft 102 is transported to the material processing equipment 2, the selected transportation device takes the finished material 101 on the material processing equipment 2 and transports the finished material 101 to the cache device 4 and / or the warehousing equipment 3 of the processing system.

[0106] Specifically, the workbench issues instructions to the transport device 5 using the above-mentioned material transport method to implement the material transport operation of the transport device 5 .

[0107] Specifically, the layout information of the processing system includes the position coordinate information of the material processing equipment 2, the storage equipment 3, the buffer device 4, the transportation device 5 and the charging device 6 in the production site.

[0108] Specifically, the workbench will issue a material-picking instruction for the support shaft 102 to the transport device 5 and provide the position information of the cache device 4 that caches the support shaft 102, and the transport device 5 will go to the corresponding position to pick up the support shaft 102 (empty shaft).

[0109] Specifically, after the workbench obtains the completion of processing of a certain material processing equipment 2, it will simultaneously retrieve the position information of the material processing equipment 2 and issue a material transportation task instruction to the transportation device 5, and simultaneously provide the position information (and generate and record the task number, task starting point and task end point of the material transportation task), and the transportation device 5 will go to the corresponding position of the loading support shaft 102 and receive the finished material 101 on the material processing equipment 2.

[0110] Specifically, after the finished material 101 is received, the workbench will synchronously obtain the actual working condition information of the warehousing equipment 3, and selectively issue warehousing operation instructions according to the existence of empty cargo spaces in the warehousing equipment 3. That is, if there is an empty cargo space in the current warehousing equipment 3, the finished material 101 can be directly put into storage, and the transportation device 5 can transport the finished material 101 to the warehousing equipment 3. If there is no empty cargo space, the transportation device 5 will transport the finished material 101 to the cache device 4 for caching to wait for the generation of an empty cargo space.

[0111] Optionally, the interface types of the material processing equipment 2, the warehousing equipment 3 and the workbench may be WebService / WFC / WebApi, etc.

[0112] In this embodiment, the method for selecting the transport device 5 carrying the support shaft 102 includes: obtaining the position information of all the transport devices 5 carrying the support shaft 102, and calculating the straight-line distance between the transport device 5 carrying the support shaft 102 and the material processing equipment 2 that has completed the processing according to the layout information and position information of the processing system. Among them, the transport device 5 with the smallest straight-line distance is the selected transport device. In this way, the above setting ensures that the straight-line distance between the selected transport device and the material processing equipment 2 that has completed the material processing is the shortest, so as to improve the material transportation speed of the transport device 5.

[0113] Specifically, the transport device 5 that goes to the buffer device 4 to receive the support shaft 102 also selects the transport device 5 that has the shortest straight-line distance to the buffer device 4 where the support shaft 102 is cached to receive the support shaft 102 .

[0114] In this embodiment, in the process of obtaining the working status of the material processing equipment 2, if multiple material processing equipment 2 have completed processing, the processing completion time of each material processing equipment 2 is obtained, and the selected transportation device performs the material transportation task in sequence according to the processing completion time of the multiple material processing equipment 2. In this way, the above setting ensures that the finished material 101 on the material processing equipment 2 that has completed material processing can be transported to the next station at the fastest speed, thereby ensuring that the material processing equipment 2 can start the next material processing task as soon as possible, thereby improving the processing efficiency of the processing system as a whole.

[0115] It should be noted that multiple transportation devices 5 can also be set up in the processing system. When there are multiple transportation devices 5, the workbench will synchronously call up multiple transportation devices 5 according to the processing completion time sequence of the multiple material processing equipment 2 to go to the loading support shaft 102 of each material processing equipment 2 and receive the finished material 101.

[0116] Specifically, the staff can also issue a compulsory execution instruction to the transport device 5 through the workbench, so that the transport device 5 goes to the designated material processing equipment 2 to transport materials. When the finished material 101 on the material processing equipment 2 is completed, it will automatically return to the original state to transport the material 1.

[0117] In this embodiment, in the process of obtaining the working status of the material processing equipment 2, if the number of material processing equipment 2 that has been processed within the preset time interval t is 0, the transport device 5 carrying the support shaft 102 goes to the charging device 6 of the processing system for charging. In this way, the above setting realizes the intelligent power management of the transport device 5, ensures that the transport device 5 can be charged in real time during the working interval, avoids the shutdown problem caused by charging, and further improves the processing efficiency of the processing system.

[0118] Optionally, the preset time t satisfies: 10min≤t≤20min.

[0119] In this embodiment, the preset time t is 10 minutes.

[0120] Specifically, the preset time t can be adjusted accordingly according to the actual production efficiency to meet the overall production rhythm requirements of the processing system.

[0121] Specifically, on this basis, the transport device 5 is also provided with a minimum power warning value, that is, the console will also obtain the real-time power of the transport device 5. When the power value is lower than the minimum power warning value, the console will send out an alarm signal to remind the staff that the transport device 5 needs to be forcibly charged. When the power value of the transport device 5 is greater than the preset power value, it will automatically enter the working mode and start transporting material 1.

[0122] From the above description, it can be seen that the above embodiments of the present invention achieve the following technical effects:

[0123] The transport device is used to transport materials, and the materials include finished materials with coils wound on a support shaft and a support shaft. The bearing structure of the transport device is arranged on a vehicle body component, and the bearing structure has a bearing part, and the bearing part is used to bear the support shaft. There are at least two bearing parts, and at least two bearing parts are arranged at intervals, and the coils wound on the support shaft are located between two adjacent bearing parts. Among them, each bearing part can be arranged to be lifted and lowered, so that when each bearing part rises to a preset height, the material on the target device can be received or the material on the bearing part can be lifted to the target device. In this way, after the vehicle body component drives the bearing structure and the material on the bearing structure to move to the target device, the bearing structure can drive the material to rise through the lifting bearing part to transport the material to the target device or take the material on the target device through the bearing part that rises to the preset height, that is, the material conveying, loading and unloading actions are realized, thereby realizing the fully automated transportation of materials, thereby solving the problem of low degree of automation in the transportation of glass fiber cloth rolls in the prior art. At the same time, the load-bearing part in the present application is only used to support the support shaft (that is, the coil wound on the support shaft is located between two adjacent load-bearing parts) to avoid direct or indirect contamination of the coil caused by contact and compression between the load-bearing part and the coil, thereby improving the transportation reliability of the transportation device.

[0124] Obviously, the above-described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0125] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, it indicates the presence of features, steps, operations, devices, components and / or combinations thereof.

[0126] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the numbers used in this way can be interchanged where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein.

[0127] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A transport device for transporting a material (1), wherein the material (1) comprises a finished material (101) on which a coil is wound and a support shaft (102), characterized in that: The transport device comprises: Vehicle body assembly (10); A bearing structure (20) is arranged on the vehicle body assembly (10), the bearing structure (20) has a bearing portion (21), the bearing portion (21) is used to bear the support shaft (102), there are at least two bearing portions (21), at least two bearing portions (21) are arranged at intervals, and the coiled material wound around the support shaft (102) is located between two adjacent bearing portions (21); Each of the carrying parts (21) can be arranged to be raised and lowered, so that when each of the carrying parts (21) rises to a preset height, the material (1) on the target device can be received or the material (1) on the carrying part (21) can be lifted onto the target device.

2. The transport device according to claim 1, characterized in that: The vehicle body assembly (10) comprises: Main structure (11); At least two enclosure structures (12) are arranged at intervals on the main structure (11); the at least two enclosure structures (12) are arranged opposite to each other and surround the main structure (11) to form a receiving space (13); The bearing structure (20) is movably arranged on the main structure (11) and has a working position and a storage position. When the bearing structure (20) is in the working position, the bearing part (21) and the material (1) on the bearing part (21) are located outside the storage space (13); when the bearing structure (20) is in the storage position, the bearing part (21) and the material (1) on the bearing part (21) are located inside the storage space (13).

3. The transport device according to claim 2, characterized in that: The transport device also includes: A movable seat (30) is slidably arranged on the main structure (11), and the bearing structure (20) is arranged on the movable seat (30), so that the bearing structure (20) is driven by the movable seat (30) to move between the working position and the storage position; The first driving structure is drivingly connected to the movable seat (30) so as to drive the movable seat (30) to slide.

4. The transport device according to claim 3, characterized in that: The movable seat (30) comprises: A movable body (31) is slidably disposed on the main structure (11), and the first driving structure is drivingly connected to the movable body (31); A support structure (32) is arranged on the movable body (31) and is located on one side of the main structure (11); A roller structure (33) is arranged on the support structure (32), and the movable seat (30) contacts the working surface through the roller structure (33).

5. The transport device according to claim 3 or 4, characterized in that: The bearing portion (21) has a bearing recess (211), the inner wall shape of the bearing recess (211) matches the outer peripheral surface shape of the support shaft (102), and the bearing structure (20) further comprises: The second driving structure (22) is arranged on the movable seat (30), and the second driving structure (22) is drivingly connected to the bearing part (21) so as to drive the bearing part (21) to move up and down.

6. The transport device according to claim 2, characterized in that: The vehicle body assembly (10) further comprises a third driving structure (15), wherein the third driving structure (15) comprises: A mounting bracket (151) is arranged on the main structure (11); A roller member (152) rotatably disposed on the mounting bracket (151); The first driving member (153) is drivingly connected to the roller member (152), and the first driving member (153) drives the roller member (152) to rotate, thereby driving the vehicle body assembly (10) to move forward.

7. The transport device according to claim 6, characterized in that The mounting bracket (151) comprises a fixed portion (1511) and a rotating portion (1512), the fixed portion (1511) being arranged on the main structure (11), the roller member (152) and the first driving member (153) being arranged on the rotating portion (1512), the rotating portion (1512) being rotatably arranged on the fixed portion (1511), the rotating axis of the rotating portion (1512) being arranged at an angle to the rotating axis of the roller member (152), and the third driving structure (15) further comprising: The second driving member (154) is connected to the rotating part (1512) via a transmission assembly (155). The second driving member (154) drives the rotating part (1512) to drive the roller member (152) to rotate, so as to adjust the travel direction of the vehicle body assembly (10).

8. The transport device according to claim 2, characterized in that: The transport device further comprises a control module arranged on the vehicle body component (10), and the vehicle body component (10) further comprises: an anti-collision detection device (14) connected to the control module and used to detect the distance between the vehicle body component (10) and an obstacle located on the travel route of the vehicle body component (10), the control module controlling the travel direction and / or travel speed of the vehicle body component (10) according to the detection value of the anti-collision detection device (14); and / or, an anti-collision structure, arranged on the main structure (11) and / or the enclosure structure (12), the anti-collision structure being used to buffer the collision process of the vehicle body component (10); and / or, a laser navigation device connected to the control module and used to detect the surrounding environment structure of the vehicle body component (10), the control module controlling the travel direction and / or travel speed of the vehicle body component (10) according to the detection value of the laser navigation device to plan the travel route of the vehicle body component (10); and / or, The transport device further comprises a wireless communication module, the wireless communication module being arranged on the vehicle body component (10) and connected to the control module, the wireless communication module being used to receive instructions, the control module controlling the travel direction and / or travel speed of the vehicle body component (10) according to the instructions received by the wireless communication module; and / or the control module controlling the lifting and lowering movement of the carrying part (21) according to the instructions received by the wireless communication module.

9. A processing system, characterized in that: include: Material processing equipment (2) for winding the coiled material on a support shaft (102) to form a finished material (101); A storage device (3) for storing the finished material (101); A buffer device (4) for buffering the support shaft (102) and the finished material (101); A transport device (5) for transporting the support shaft (102) and the finished material (101) between the material processing equipment (2), the storage equipment (3), and the buffer device (4); A charging device (6) for charging the transport device (5); A workbench, which is wirelessly connected to the transport device (5), the material processing equipment (2) and the storage equipment (3); Wherein, the transport device (5) is the transport device according to any one of claims 1 to 8.

10. A material transportation method, characterized in that: The material transportation method is applicable to the processing system in claim 9, and the material transportation method comprises: Obtaining layout information of the processing system; The transport device (5) of the processing system goes to the buffer device (4) of the processing system according to the layout information to receive the support shaft (102); Obtaining the working status of the material processing equipment (2) of the processing system, and if the material processing equipment (2) has completed processing, selecting the transport device (5) carrying the support shaft (102) to start the material transport task; Among them, the material transportation task includes: the selected transportation device goes to the material processing equipment (2) where the processing is completed according to the layout information to transport the support shaft (102) to the material processing equipment (2); after the support shaft (102) is transported to the material processing equipment (2), the selected transportation device receives the finished material (101) on the material processing equipment (2), and transports the finished material (101) to the cache device (4) and / or the warehousing equipment (3) of the processing system.

11. The material transportation method according to claim 10, characterized in that: The method of selecting a transport device (5) carrying the support shaft (102) comprises: Obtaining the position information of all the transport devices (5) carrying the support shaft (102), and calculating the straight-line distance between all the transport devices (5) carrying the support shaft (102) and the material processing equipment (2) that has completed processing based on the layout information of the processing system and the position information; Among them, the transport device (5) with the smallest straight-line distance is the selected transport device.

12. The material transportation method according to claim 10, characterized in that: In the process of obtaining the working status of the material processing equipment (2), if multiple material processing equipment (2) have completed processing, the processing completion time of each material processing equipment (2) is obtained, and the selected transportation device performs the material transportation task in sequence according to the processing completion time of the multiple material processing equipment (2).

13. The material transportation method according to claim 10, characterized in that: In the process of obtaining the working status of the material processing equipment (2), if the number of material processing equipment (2) that has completed processing within a preset time interval t is 0, the transportation device (5) carrying the support shaft (102) goes to the charging device (6) of the processing system for charging.

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