Composite board roll material offline stacking automation equipment

Abstract

The invention discloses composite board roll material offline stacking automation equipment which comprises a winding machine, an automatic guide vehicle with a roll taking clamp, a formed roll material overturning structure, a conveyor, a stacking guide vehicle with a roll stacking clamp and a tray. The automatic guide vehicle with the roll taking clamp is used for clamping the formed roll material on the rolling machine, moving the formed roll material to the position where the formed roll material overturning structure is located and placing the formed roll material on the formed roll material overturning structure; the formed coil stock overturning structure is used for overturning the formed coil stock, and the formed coil stock is conveyed by the conveyor; and the stacking guide vehicle with the stacking clamp is used for taking down the formed coil stock from the conveyor and moving the formed coil stock to the tray for stacking. By implementing the equipment disclosed by the invention, the automation and intelligence level of the offline process of the composite board can be improved, the manual intervention is reduced, and the efficiency and the accuracy are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of wind turbine blade production, and particularly to an automatic equipment for the offline stacking of composite sheet coiled materials. Background Art

[0002] In the wind power industry, the size of wind turbine blades is usually between 40 meters and 90 meters. As the raw material for blade production, composite sheets need to be produced in whole lengths according to the length of the blades. For the convenience of transportation and storage, the composite sheets are usually wound into circular coiled materials by a coiling machine. However, at present, the offline process of coiled materials in most domestic composite sheet production workshops mainly relies on manual operation, usually by manual lifting or in combination with a robotic arm to complete the offline and stacking of coiled materials. A production workshop usually configures multiple production lines, and the coiled materials produced by different production lines have different specifications. Therefore, according to the requirements of the blade production process, these coiled materials of different specifications need to be classified, sorted and stacked.

[0003] This traditional manual operation method has multiple problems. First, the manual labor intensity is high, and long-term work is likely to lead to a decrease in efficiency and an increase in error rate. Second, manual operation is not only costly but also has low operation efficiency. Especially in a large-scale production environment, manual operation cannot meet the requirements of high-efficiency and precise production, resulting in low overall production efficiency and difficulty in achieving precise coiled material classification and stacking.

[0004] Therefore, it is necessary to design a new equipment to improve the automation and intelligence level of the composite sheet offline process, reduce manual intervention, and improve efficiency and accuracy. Summary of the Invention

[0005] The purpose of the present invention is to overcome the defects of the prior art and provide an automatic equipment for the offline stacking of composite sheet coiled materials.

[0006] To solve the above technical problems, the purpose of the present invention is achieved through the following technical solutions: providing an automatic equipment for the offline stacking of composite sheet coiled materials, including: a coiling machine, an automatic guided vehicle with a coil-taking fixture, a formed coil flipping structure, a conveyor, a coil-taking platform, a stacking guided vehicle with a stacking coil fixture, and a pallet. The coiling machine is used for placing formed coils; the automatic guided vehicle with a coil-taking fixture is used for clamping the formed coil on the coiling machine and moving it to the position where the formed coil flipping structure is located, and placing the formed coil on the formed coil flipping structure; the formed coil flipping structure is used for flipping the formed coil and transmitting it to the coil-taking platform by the conveyor; the stacking guided vehicle with a stacking coil fixture is used for taking the formed coil from the coil-taking platform and moving it to the pallet for stacking.

[0007] Its further technical solution is as follows: The automatic guided vehicle with a coil picking and clamping fixture includes a coil picking automatic guided vehicle and a coil picking fixture. The coil picking fixture includes: a bracket, a material picking structure, a load detection structure, and a driving structure; the material picking structure is assembled on one side of the bracket, the driving structure is assembled on the bracket, and the driving structure is connected to the material picking structure; the load detection structure is assembled on the material picking structure; the coil picking fixture includes: a first AGV body, a lifting mechanism, and a scissor lift mechanism. The lifting mechanism is assembled on the first AGV body, and the scissor lift mechanism is connected to the lifting mechanism; the bracket is connected to the scissor lift mechanism.

[0008] Its further technical solution is as follows: The material picking structure includes an upper material picking claw, a lower material picking claw, and a sliding assembly. The sliding assembly is connected to the bracket; the upper material picking claw and the lower material picking claw are respectively connected to the sliding assembly; the load detection structure is respectively assembled on the upper material picking claw and the lower material picking claw.

[0009] Its further technical solution is as follows: The load detection structure includes a first detection plate, a first elastic member, a first proximity switch, a first connecting rod, and a first housing. The first detection plate is connected above the first housing, and the first elastic member is inserted into the first housing; and the upper end of the first elastic member extends outside the first housing and is connected to the first detection plate; the first connecting rod passes through the first elastic member, and the upper end of the first connecting rod is connected to the first detection plate; the first proximity switch is located on one side of the first housing, and the first housing is assembled on the material picking structure.

[0010] Its further technical solution is as follows: The formed coil turning structure includes: a base, a conveying component, a turning component, and a guard plate component. The guard plate component is assembled on the conveying component, and the conveying component is connected to the turning component; the turning component is assembled on the base.

[0011] Its further technical solution is as follows: The turning component includes a turning power source and a turning push rod. The turning power source is assembled on the base, and the turning power source is connected to the turning push rod; the turning push rod is connected to the conveying component.

[0012] Its further technical solution is as follows: The stacking guided vehicle with a coil stacking and clamping fixture includes: a coil stacking fixture and a second AGV body. Among them, the coil stacking fixture includes a coil stacking and picking component, a coil stacking bracket, and a coil stacking driving component. The coil stacking and picking component is connected to the coil stacking driving component; the coil stacking driving component and the coil stacking and picking component are respectively assembled on the coil stacking bracket, and the coil stacking bracket is connected to the second AGV body.

[0013] Its further technical solution is as follows: The stacking and coiling material taking assembly includes a left stacking and coiling material taking claw, a right stacking and coiling material taking claw, and a stacking and coiling sliding assembly. The left stacking and coiling material taking claw and the right stacking and coiling material taking claw are respectively assembled on the stacking and coiling sliding assembly, and the stacking and coiling sliding assembly is connected to the stacking and coiling support.

[0014] Its further technical solution is as follows: The stacking and coiling driving assembly includes a stacking and coiling power source, a second speed reducer, a second coupling, a second lead screw fixing seat, a second lead screw, and a second connecting member. The left stacking and coiling material taking claw and the right stacking and coiling material taking claw are respectively connected to the second connecting member; the stacking and coiling power source is connected to the second speed reducer; the second speed reducer is connected to the second coupling; the second coupling is connected to the second lead screw; the second lead screw is connected to the stacking and coiling support through the second lead screw fixing seat; the second connecting member is connected to the second lead screw.

[0015] Its further technical solution is as follows: It further includes a stacking and coiling lifting assembly. The stacking and coiling support is connected to the stacking and coiling lifting assembly; the stacking and coiling lifting assembly is connected to the second AGV body.

[0016] The beneficial effects of the present invention compared with the prior art are as follows: By integrating a variety of automated devices, the present invention significantly improves the automation and intelligence level of the offline process. Specifically, it includes equipment such as a winding machine, an automatic guided vehicle with a coil taking fixture, a formed coil material flipping structure, a conveyor, a coil taking platform, a stacking guided vehicle with a stacking and coiling fixture, and a pallet. The formed coil material is clamped by the automatic guided vehicle with a coil taking fixture and precisely transferred to the formed coil material flipping structure, and then the flipped coil material is conveyed to the coil taking platform by the conveyor. Finally, the coil material is automatically stacked onto the pallet by the stacking guided vehicle with a stacking and coiling fixture; effectively reducing manual intervention, improving work efficiency and accuracy, reducing human operation errors, optimizing the logistics and stacking process in the composite board production workshop, and improving production efficiency and overall intelligence level.

[0017] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments. Description of the Drawings

[0018] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the description of the embodiments will be briefly introduced below. Obviously, the drawings in the following description are some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0019] Figure 1 It is a schematic three-dimensional structure diagram of an automated equipment for stacking and coiling the offline of composite board coils provided by an embodiment of the present invention; Figure 2Schematic layout diagram of an automatic equipment for stacking and discharging composite sheet coil materials provided by an embodiment of the present invention in a production line; Figure 3 Schematic three-dimensional structure diagram of an automatic guided vehicle with a coil-taking fixture provided by an embodiment of the present invention; Figure 4 Schematic side view structure diagram of an automatic guided vehicle with a coil-taking fixture provided by an embodiment of the present invention; Figure 5 Coil-taking schematic of an automatic guided vehicle with a coil-taking fixture provided by an embodiment of the present invention Figure 1 ; Figure 6 Coil-taking schematic of an automatic guided vehicle with a coil-taking fixture provided by an embodiment of the present invention Figure 2 ; Figure 7 Schematic three-dimensional structure diagram of a coil-taking fixture provided by an embodiment of the present invention; Figure 8 Exploded structure diagram of a coil-taking fixture provided by an embodiment of the present invention; Figure 9 Exploded structure diagram of a first load detection structure provided by an embodiment of the present invention; Figure 10 Schematic three-dimensional structure diagram of a formed coil material flipping structure provided by an embodiment of the present invention; Figure 11 Schematic side view structure diagram of a formed coil material flipping structure in a vertical state provided by an embodiment of the present invention; Figure 12 Schematic side view structure diagram of a formed coil material flipping structure in a horizontal state provided by an embodiment of the present invention; Figure 13 Schematic three-dimensional structure diagram of a stacking guided vehicle with a coil-stacking fixture provided by an embodiment of the present invention; Figure 14 Schematic side view structure diagram of a stacking guided vehicle with a coil-stacking fixture provided by an embodiment of the present invention; Figure 15 Schematic three-dimensional structure diagram of a coil-stacking fixture provided by an embodiment of the present invention; Figure 16 Structure diagram of a coil-stacking fixture provided by an embodiment of the present invention; Figure 17 Structure diagram of a second load detection component provided by an embodiment of the present invention; Figure 18 Schematic three-dimensional diagram of the stacking process of a stacking guided vehicle with a coil-stacking fixture provided by an embodiment of the present invention; Explanation of the markings in the figure: 1. Forming coiled material; 2. Rewinding machine; 10. Coil-taking fixture; 11. Upper material-taking claw; 12. Lower material-taking claw; 13. First load detection structure; 131. First detection plate; 132. First elastic member; 134. First proximity switch; 133. First connecting rod; 135. First housing; 14. Driving structure; 141. Driving motor; 142. Reducer; 143. Coupling; 144. Screw rod fixing seat; 145. Left-handed nut; 146. Screw rod; 147. Right-handed nut; 15. Camera device; 151. Camera; 152. Mounting seat; 153. Adjusting plate; 154. Second elastic member; 16. Bracket; 21. First AGV body; 22. Lifting mechanism; 221. Lifting power source; 222. First gantry; 23. Scissor lift mechanism; 231. Telescopic power source; 232. Sliding carriage; 233. Scissor lift arm; 24. First navigation module; 25. First obstacle avoidance radar; 30. Coil stacking fixture; 31. Left coil stacking material-taking claw; 32. Right coil stacking material-taking claw; 33. Load detection assembly; 331. Second detection plate; 332. Third elastic member; 334. Second proximity switch; 333. Second connecting rod; 335. Second housing; 34. Coil stacking driving assembly; 341. Coil stacking power source; 342. Second reducer; 343. Second coupling; 344. Second screw rod fixing seat; 345. Second left-handed nut; 346. Second screw rod; 347. Second right-handed nut; 35. Flange; 36. Coil stacking bracket; 37. Coil stacking sliding assembly; 41. Second AGV body; 42. Coil stacking lifting assembly; 421. Second lifting power source; 422. Second gantry; 423. Second lifting frame; 424. Second fork frame; 425. Connecting fixture; 43. Second navigation module; 44. Single steering wheel; 45. Second obstacle avoidance radar; 50. Pallet; 61. Base; 62. Conveying assembly; 621. Conveying frame; 622. Roller conveyor line; 63. Flipping assembly; 631. Flipping power source; 632. Flipping push rod; 64. Guard plate assembly; 641. Guard plate; 642. Flap power assembly; 643. Connecting frame; 65. Discharge platform; 100. Automatic guided vehicle with coil-taking fixture; 110. Forming coiled material flipping structure; 120. Conveyor; 130. Coil-taking platform; 140. Stacking guided vehicle with coil stacking fixture. Detailed implementation manners

[0020] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are some, but not all, of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0021] It should be understood that when used in this specification and the appended claims, the terms "comprising" and "including" indicate the presence of the described features, wholes, steps, operations, elements, and / or components, but do not preclude the presence or addition of one or more other features, wholes, steps, operations, elements, components, and / or their combinations.

[0022] It should also be understood that the terminology used in this specification of the present invention is for the purpose of describing particular embodiments only and is not intended to limit the present invention. As used in this specification of the present invention and the appended claims, unless the context clearly dictates otherwise, the singular forms "a", "an", and "the" are intended to include the plural forms.

[0023] It should be further understood that the term "and / or" used in this specification of the present invention and the appended claims refers to any combination and all possible combinations of one or more of the associated listed items, and includes these combinations.

[0024] In the wind power industry, composite sheets are used in the production of blades. However, the current offline winding and stacking in the production workshop mainly rely on manual operation, resulting in high labor intensity, low efficiency, high cost, and it is difficult to achieve precise classification and stacking, unable to meet the high-efficiency requirements of large-scale production.

[0025] For this reason, the embodiments of the present invention provide an automated device for offline winding and stacking of composite sheets, which realizes improving the automation and intelligent level of the offline process of composite sheets, reducing manual intervention, and enhancing efficiency and accuracy.

[0026] Specifically, the above-mentioned automated device for offline winding and stacking of composite sheets realizes an efficient automated production process through multiple automated modules and an intelligent control system. First, the device automatically completes steps such as clamping, flipping, and conveying of the wound material through parts such as the winding machine 2, the automatic guided vehicle, and the formed wound material flipping structure 110, reducing manual intervention. In particular, the automatic guided vehicle 100 with a winding material clamping fixture and the stacking guided vehicle can accurately transport the wound material to the designated position and complete the stacking process through the stacking fixture, ensuring the accuracy and consistency of the stacking. At the same time, the first load detection structure 13 and various driving devices in the device ensure the precise control and stable operation of the wound material. Through these automated links, the overall production efficiency is improved, operation errors are reduced, and a relatively high intelligent level is achieved, significantly improving the accuracy and efficiency of the production process.

[0027] In order to better understand the above technical solution, the above technical solution will be described in detail below in conjunction with the drawings of the specification and specific embodiments.

[0028] Please refer to Figure 1, An automatic equipment for stacking the offline coiled material of composite plates, comprising: a coiler 2, an automatic guided vehicle 100 with a coil-taking fixture, a formed coil flipping structure 110, a conveyor 120, a coil-taking platform 130, a stacking guided vehicle 140 with a stacking coil fixture, and a pallet 50. The coiler 2 is used for placing the formed coil 1; the automatic guided vehicle 100 with a coil-taking fixture is used for clamping the formed coil 1 on the coiler 2 and moving it to the position where the formed coil flipping structure 110 is located, and placing the formed coil 1 on the formed coil flipping structure 110; the formed coil flipping structure 110 is used for flipping the formed coil 1 and transmitting it to the coil-taking platform 130 by the conveyor 120; the stacking guided vehicle 140 with a stacking coil fixture is used for taking the formed coil 1 from the coil-taking platform 130 and moving it to the pallet 50 for stacking.

[0029] In this embodiment, the automatic guided vehicle 100 with a coil-taking fixture is responsible for clamping the formed coil 1 from the coiler 2 and transporting it to the formed coil flipping structure 110; the formed coil flipping structure 110 flips the coil from the vertical state to the horizontal direction; the conveyor 120 transports the flipped coil to the coil-taking platform 130. The coil-taking platform 130 provides a coil receiving position for the stacking guided vehicle 140 with a stacking coil fixture. The stacking guided vehicle 140 with a stacking coil fixture is responsible for stacking the coil to the designated storage position.

[0030] By improving the automation, intelligence and accuracy of the offline production of composite plates, it solves the problems in the prior art such as relying on manual operation, low efficiency, insufficient accuracy and high human resource cost. Specifically, the present invention provides a coil-taking, transporting and stacking functional equipment, application method and system for composite plates, which are specially applied to the production of composite plates, aiming to optimize and improve the production efficiency and management level.

[0031] The application object is mainly the wind power industry. In the composite plate production workshop, the coiling process of composite plates is completed automatically and intelligently. The working process of the system is as follows: the automatic guided vehicle 100 with a coil-taking fixture clamps the formed coil 1 from the coiler 2 of the composite plate production line, transports it to the formed coil flipping structure 110, the formed coil flipping structure 110 flips the coil by 90°, and then transports the coil to the coil-taking platform 130 through the conveyor 120. The stacking guided vehicle 140 with a stacking coil fixture goes to the coil-taking platform 130 to take the coil and stack it. The system also integrates a warehouse management system (WMS), a warehouse control system (WCS), and a production management system (MES). Through production information and manual PDA order placement, the automatic coiling of the composite plate production line is realized, and the coils are classified, sorted and stacked according to the production information.

[0032] The invention solves many problems in the traditional manual unwinding operation: long hours of manual work may lead to reduced efficiency and increased errors; the labor cost in a large-scale production environment is high, and the overall operation efficiency is low. Through the invention, the unwinding process of the composite sheet workshop is automated and intelligent, which greatly improves production efficiency and reduces labor costs.

[0033] The layout of the equipment in this embodiment on the entire production line is as follows: Figure 2 As shown, the docking station of the stacking guide vehicle 140 with the stacking clamp is used for the stacking AGV for stacking the formed coil 1, and is used for the AGV charging area and the stacking inventory area and control center for the formed coil 1. The specific process is as follows: The automatic guided vehicle 100 with a coiling clamp is dispatched to the coiler 2 station; the coil is manually bundled and tied to confirm whether the coiling conditions are met; the automatic guided vehicle 100 with a coiling clamp checks whether the coiling conditions are met, and if so, the coil is clamped; if not, it waits. After the automatic guided vehicle 100 with a coiling clamp clamps the coil, it is transported to the forming coil turning structure 110 for unloading.

[0034] The forming coil turning structure 110 turns the coil from a vertical state to a horizontal state, and the conveyor 120 transfers the turned coil to the coil taking-up station 130 .

[0035] The stacking guide vehicle 140 with the coil stacking clamp is on standby to manually confirm whether the stacking conditions are met; if the conditions are met, the stacking guide vehicle 140 with the coil stacking clamp transports the coil to the designated stacking position.

[0036] After each link is completed, the system will receive relevant operation feedback to ensure the completion of the next volume task.

[0037] The automatic guided vehicle 100 with a coil-taking clamp first receives the task, goes to the winder 2 to pick up the coil, and then moves it to the forming coil turning structure 110; the forming coil turning structure 110 turns the coil 90° and transmits it to the coil-taking platform 130 through the conveyor 120; after receiving the information, the stacking guide vehicle 140 with the coil stacking clamp confirms the stacking conditions and completes the stacking operation.

[0038] The automatic guided vehicle 100 with a coiling fixture performs the coiling operation by determining whether the coiling conditions are met, and feedback is given to the system after completion. The forming coil turning structure 110 turns the coil to the horizontal direction, and the conveyor 120 completes the coil transfer. The stacking guide vehicle 140 with a coil stacking fixture stacks the coil to the designated storage area according to the system instructions.

[0039] Through this process, the system can efficiently complete the tasks of coil unloading, handling and stacking, ensuring the automated and intelligent operation of the entire production process.

[0040] Please refer to Figures 3 to 7 As shown in Figures 3 to 7 , the automatic guided vehicle 100 with a coil-taking fixture includes a coil-taking automatic guided vehicle and a coil-taking fixture 10. The coil-taking fixture 10 includes: a bracket 16, a material-taking structure, a first load detection structure 13, and a driving structure 14; the material-taking structure is assembled on one side of the bracket 16, the driving structure 14 is assembled on the bracket 16, and the driving structure 14 is connected to the material-taking structure; the first load detection structure 13 is assembled on the material-taking structure. The coil-taking automatic guided vehicle includes: a first AGV body 21, a lifting mechanism 22, and a scissor lift mechanism 23. The lifting mechanism 22 is assembled on the first AGV body 21, and the scissor lift mechanism 23 is connected to the lifting mechanism 22. The bracket 16 is connected to the scissor lift mechanism 23.

[0041] In this embodiment, the bracket 16 is the support structure of the entire coil-taking fixture 10, which provides fixation and support for each component of the fixture. The structural design of the bracket 16 needs to ensure the stability of the fixture during operation, capable of withstanding a certain weight and force for efficient coil loading and unloading operations.

[0042] The material-taking structure is the most crucial part of the coil-taking fixture 10, which includes an upper material-taking claw 11 and a lower material-taking claw 12. The upper material-taking claw 11 and the lower material-taking claw 12 are installed on one side of the bracket 16, usually connected to the bracket 16 through linear guide rails and sliders, so that clamping and releasing actions can be completed under the action of the driving structure 14. By controlling the opening and retraction of the upper and lower material-taking claws 12, the material-taking structure can clamp or release the coil, thereby realizing the grasping and releasing of the coil.

[0043] In the material-taking structure, the upper material-taking claw 11 and the lower material-taking claw 12 are respectively connected to a left-handed nut 145 and a right-handed nut 147. Under the action of the driving motor 141, through the forward and reverse rotation of the lead screw 146, the material-taking claws are driven to open and retract synchronously. This can ensure that the fixture can effectively clamp the coil and complete the material-taking operation.

[0044] The first load detection structure 13 is used to detect whether the material-taking claws have correctly clamped the coil. This structure is completed by a compression spring and a first detection plate 131 connected to the material-taking claws. When the material-taking claws clamp the coil, the coil will compress the spring, causing the first detection plate 131 to move and trigger the first proximity switch 134, generating a signal to confirm that the coil has been clamped. Conversely, when the material-taking claws are released, the spring will rebound, the first detection plate 131 will return to its original position, and the first proximity switch 134 will disconnect the signal to confirm that the coil has been released.

[0045] The driving structure 14 is the power source of the entire coil picking fixture 10. It mainly consists of a driving motor 141, a speed reducer 142, a coupling 143, a lead screw 146, etc. The driving motor 141 drives the speed reducer 142, which in turn drives the rotation of the lead screw 146. The lead screw 146 is connected to the left-handed nut 145 and the right-handed nut 147 of the material picking claw. The rotation of the lead screw 146 drives the opening and closing movement of the material picking claw, thereby realizing the clamping and releasing of the coil material.

[0046] The driving motor 141 drives the lead screw 146 to rotate forward and backward, driving the material picking claw to open and retract synchronously. This action can be adjusted as needed to adapt to coil materials of different specifications. Through the spring and the first detection plate 131 of the first load detection structure 13, the fixture can monitor in real time whether the coil material is correctly clamped and ensure that the fixture does not release the coil material during handling. The synchronous action of the upper material picking claw 11 and the lower material picking claw 12 ensures that the fixture can stably grasp and release the coil material without damaging the coil material.

[0047] The camera device 15 determines in real time whether the docking position of the coil picking fixture 10 is accurate by scanning the QR code. This enables the fixture to accurately dock with the coil material, ensuring the accuracy of the operation.

[0048] In summary, the design concept of the coil picking fixture 10 is to realize the automatic unloading and handling of the coil material during the production process of composite boards by integrating the driving structure 14, the material picking structure, the first load detection structure 13, and the camera 151 positioning system, which can improve production efficiency and reduce the complexity and risk of manual operation.

[0049] In one embodiment, please refer to Figure 8 , the above-mentioned material picking structure includes an upper material picking claw 11, a lower material picking claw 12, and a sliding assembly. The sliding assembly is connected to the bracket 16; the upper material picking claw 11 and the lower material picking claw 12 are respectively connected to the sliding assembly; the first load detection structure 13 is respectively assembled on the upper material picking claw 11 and the lower material picking claw 12.

[0050] In this embodiment, the functions of the upper material picking claw 11 and the lower material picking claw 12 are to clamp or pick and place the coil material to be processed.

[0051] In one embodiment, an upper baffle extends upward from the outer end of the upper material picking claw 11, and a lower baffle extends downward from the outer end of the lower material picking claw 12. The upper baffle and the lower baffle can block the formed coil material 1.

[0052] The sliding assembly is connected to the bracket 16. The function of the sliding assembly is to support the sliding movement of the upper material picking claw 11 and the lower material picking claw 12 in the vertical direction or other directions, ensuring the smooth progress of the material picking process.

[0053] These claws are also equipped with a first load detection structure 13, which can detect whether the coil has been clamped to ensure the normal operation of the fixture.

[0054] In one embodiment, please refer to Figure 8 , the above-mentioned sliding assembly includes a slide rail and a slider. The slide rail is connected to the bracket 16; the slider is slidably connected to the slide rail; the upper material taking claw 11 and the lower material taking claw 12 are respectively connected to the slider.

[0055] In this embodiment, the slide rail is fixed to the bracket 16 to provide a sliding path.

[0056] The slider is slidably connected to the slide rail and can freely slide on the slide rail along a specific track. The upper material taking claw 11 and the lower material taking claw 12 are respectively connected to the slider, and the movement of the slider is used to adjust the height or position of the material taking claw, so as to achieve the purpose of material taking.

[0057] In one embodiment, please refer to Figures 8 to 9 , the above-mentioned first load detection structure 13 includes a first detection plate 131, a first elastic member 132, a first proximity switch 134, a first connecting rod 133, and a first housing 135. The first detection plate 131 is connected above the first housing 135. The first elastic member 132 is inserted into the first housing 135; and the upper end of the first elastic member 132 extends outside the first housing 135 and is connected to the first detection plate 131. The first connecting rod 133 passes through the first elastic member 132, and the upper end of the first connecting rod 133 is connected to the first detection plate 131. The first proximity switch 134 is located on one side of the first housing 135, and the first housing 135 is assembled on the material taking structure.

[0058] In one embodiment, please refer to Figure 9 , the above-mentioned first elastic member 132 includes a spring.

[0059] In this embodiment, the design purpose of the first load detection structure 13 is to detect whether the coil or the article has been clamped, so as to ensure that the material taking fixture can accurately judge whether the material has been grasped during the material taking operation. The first detection plate 131 is one of the key components of the first load detection structure 13. Its main function is to contact the coil and judge whether the article has been clamped by the change of its position or state. The first detection plate 131 is usually installed above the first housing 135 so as to directly contact the material. The first detection plate 131 can be offset according to the weight or position change of the coil and transmit a signal to the first proximity switch 134.

[0060] When the material is clamped, the position of the first detection plate 131 will change, triggering the first proximity switch 134, and the system can judge whether the material has been clamped.

[0061] The first elastic member 132 is a spring installed between the first detection plate 131 and the first housing 135, which serves to provide a restoring force. When the first detection plate 131 is displaced due to the contact of the material, the first elastic member 132 will provide an elastic force to restore the first detection plate 131 to its original position. The spring can ensure that the first detection plate 131 is always in its initial state when there is no material. When the material is clamped, the first detection plate 131 can be offset, thereby triggering a corresponding detection signal.

[0062] The function of the first elastic member 132 is to enable the first detection plate 131 to respond flexibly when the material is clamped and return to its original position after the material is taken away, so as to ensure the accuracy and stability of each detection.

[0063] The first proximity switch 134 is a sensing component in the first load detection structure 13. It is located on one side of the first housing 135 and is used to detect the position change of the first detection plate 131. The first proximity switch 134 can sense the offset or contact state of the first detection plate 131. When the first detection plate 131 changes due to the contact of the material, the first proximity switch 134 will send a signal to feedback to the control system whether the material is clamped.

[0064] The first proximity switch 134 is responsible for real-time monitoring of the position change of the first detection plate 131. It will send a signal when the first detection plate 131 is offset, thereby judging whether the material has been clamped. Through this signal, the system can judge whether the material taking process is proceeding smoothly.

[0065] The first connecting rod 133 is used to connect the first elastic member 132 and the first detection plate 131. It penetrates through the spring and links the first detection plate 131 with other components (such as the driving structure 14). The function of the first connecting rod 133 is to transmit the elastic force of the first elastic member 132 to the first detection plate 131 and transmit the movement of the first detection plate 131 to the first proximity switch 134. Its design ensures a tight connection between the first detection plate 131 and the spring, ensuring the normal operation of the system during the material clamping process.

[0066] The first connecting rod 133 is connected to the first detection plate 131 through the spring, ensuring that the elastic force of the spring can effectively act on the first detection plate 131, and at the same time transmitting the movement of the first detection plate 131 to the first proximity switch 134 to help complete the monitoring of the material taking process.

[0067] The first housing 135 serves as the external framework of the first load detection structure 13, mainly playing a role in support and protection. All components are assembled inside the first housing 135. The first housing 135 not only provides support for these components but also ensures their stability during use and avoids the influence of external factors on their performance.

[0068] The function of the first housing 135 is to provide a stable structure to accommodate and protect internal components such as the first detection plate 131, the spring, and the first proximity switch 134, ensuring that they can accurately and stably perform the cargo detection task.

[0069] The first detection plate 131 is installed above the first housing 135 to ensure direct contact with the item to be detected. The first elastic member 132 is inserted into the first housing 135, and its upper end extends outside the first housing 135 and is connected to the first detection plate 131, serving to restore the position of the first detection plate 131. The first connecting rod 133 passes through the spring, and its upper end is connected to the first detection plate 131 to ensure that the elastic force of the spring can be transmitted to the first detection plate 131. The first proximity switch 134 is installed on one side of the first housing 135 and is responsible for monitoring the position change of the first detection plate 131 in real time.

[0070] The first cargo detection structure 13 of this embodiment is ingeniously designed by combining components such as the spring, the first detection plate 131, the first connecting rod 133, and the first proximity switch 134. Through the elastic force provided by the spring, it ensures the flexible response and recovery ability of the first detection plate 131 during the item clamping process. The first proximity switch 134 can timely feedback whether the item has been clamped, helping the entire system to work efficiently and accurately. The first housing 135 serves to support, protect, and stabilize the components, ensuring the long-term stable operation of the system.

[0071] The first cargo detection structure 13 is respectively fixed on the upper material taking claw 11 and the lower material taking claw 12, and opens with the movement of the material taking claw. When it contacts the coiled material, the first detection plate 131 moves by compressing the spring. The first detection plate 131 triggers the first proximity switch 134 to determine whether the coiled material is clamped in place; when the material taking claw retracts, the spring rebounds and the first detection plate 131 moves back to its original position, and the first proximity switch 134 disconnects the signal.

[0072] In one embodiment, please refer to Figure 8 , the above-mentioned driving structure 14 includes a driving motor 141, a speed reducer 142, a coupling 143, a lead screw fixing seat 144, a lead screw 146, and a connecting member; the upper material taking claw 11 and the lower material taking claw 12 are respectively connected to the connecting member. The driving motor 141 is connected to the speed reducer 142, the speed reducer 142 is connected to the lead screw 146 through the coupling 143, both ends of the lead screw 146 are connected to the lead screw fixing seat 144, and the lead screw fixing seat 144 is fixed to the bracket 16, and the connecting member is connected to the lead screw 146.

[0073] In one embodiment, please refer to Figure 5 , the above-mentioned connecting member includes a left-handed nut 145 and a right-handed nut 147; the upper material taking claw 11 is connected to the left-handed nut 145, and the lower material taking claw 12 is connected to the right-handed nut 147.

[0074] In this embodiment, the design of the driving structure 14 and the material taking claws is mainly to achieve automated material taking operations, ensuring that materials can be efficiently and accurately clamped and moved.

[0075] The driving motor 141 is the core component of the entire driving system, responsible for providing the power source. It usually converts electrical energy into mechanical energy to drive the movement of other components. The rotation of the motor is adjusted to the required speed and torque through the action of the speed reducer 142 for other components of the driving system.

[0076] The function of the speed reducer 142 is to convert the high-speed rotation output by the driving motor 141 into a lower speed suitable for actual operation while increasing the output torque. The speed reducer 142 is connected to the driving motor 141 and transmits the movement to the lead screw 146 through the coupling 143.

[0077] The coupling 143 serves to connect the speed reducer 142 and the lead screw 146, ensuring the power transmission between the two. The coupling 143 can effectively transmit torque and allow for a certain degree of error adjustment in the system, thus avoiding damage caused by installation deviation or shaft misalignment problems.

[0078] The lead screw 146 is one of the core components of the driving system. It converts rotational motion into linear motion. Both ends of the lead screw 146 are fixed on the lead screw fixing seat 144. The rotation of the lead screw 146 drives the material taking claws connected to it to move up and down. By rotating the lead screw 146, the system can achieve precise adjustment of the upper material taking claw 11 and the lower material taking claw 12.

[0079] The lead screw fixing seat 144 is used to fix the lead screw 146, ensuring the stability of the lead screw 146 during movement. Both ends of the lead screw 146 are connected to the lead screw fixing seat 144, and the lead screw fixing seat 144 is then fixed to the bracket 16, providing a stable support for the entire driving system.

[0080] The connecting piece is for the part connecting the lead screw 146 and the material taking claws. Through the connecting piece, the linear motion of the lead screw 146 can directly affect the actions of the upper material taking claw 11 and the lower material taking claw 12, thus realizing the clamping and placement of materials.

[0081] The material taking claws include an upper material taking claw 11 and a lower material taking claw 12, which are respectively connected to the lead screw 146 through connecting pieces and cooperate with different nuts.

[0082] The upper material grabbing claw 11 is responsible for grabbing the upper part of the material to ensure accurate clamping of the material. It is connected to the lead screw 146 through a left-handed nut 145. The rotation of the lead screw 146 pushes the left-handed nut 145 to move, thereby driving the up-and-down movement of the upper material grabbing claw 11. When the left-handed nut 145 moves in a certain direction under the rotation drive of the lead screw 146, the upper material grabbing claw 11 will also move accordingly to complete the clamping or placing task.

[0083] The lower material grabbing claw 12 is responsible for grabbing the lower part of the material, opposite to the upper material grabbing claw 11. It is connected to the lead screw 146 through a right-handed nut 147. The rotation of the lead screw 146 causes the right-handed nut 147 to move on the lead screw 146, thereby driving the up-and-down movement of the lower material grabbing claw 12. Similar to the upper material grabbing claw 11, when the right-handed nut 147 rotates along the lead screw 146, the lower material grabbing claw 12 will also move accordingly to complete the material picking and placing operation.

[0084] The designs of the left-handed nut 145 and the right-handed nut 147 are to ensure that the upper material grabbing claw 11 and the lower material grabbing claw 12 can move synchronously and in opposite directions, thereby realizing the clamping operation. By using the left-handed and right-handed nuts 147 respectively, when the left-handed nut 145 moves along the lead screw 146, the upper material grabbing claw 11 rises; while the right-handed nut 147 drives the lower material grabbing claw 12 to descend, and vice versa. This reverse movement ensures that the material can be accurately clamped and moved.

[0085] The drive motor 141 starts to operate. After being decelerated by the speed reducer 142, it drives the coupling 143 to rotate. The coupling 143 transmits the power to the lead screw 146, and the lead screw 146 starts to rotate. The rotating lead screw 146 drives the left-handed nut 145 and the right-handed nut 147 to move along its axis. The left-handed nut 145 drives the upper material grabbing claw 11 to move up and down, and the right-handed nut 147 drives the lower material grabbing claw 12 to move up and down. The up-and-down movement of the upper material grabbing claw 11 and the lower material grabbing claw 12 completes the clamping and releasing operations of the material.

[0086] In this embodiment, the lead screw 146 is, but not limited to, a ball screw.

[0087] The drive structure 14 in this embodiment adopts a design that combines a motor, a speed reducer 142, a lead screw 146, and a nut system, ensuring that the material grabbing claws can move accurately and synchronously, thereby efficiently completing the clamping and releasing tasks of the material. Through the design of the left-handed and right-handed nuts 147, the system realizes the reverse synchronous movement of the upper and lower material grabbing claws 12, improving the accuracy and efficiency of the operation.

[0088] In one embodiment, please refer to Figures 7 to 8 , the above-mentioned take-up fixture 10 further includes a camera device 15, and the camera device 15 is assembled on the bracket 16.

[0089] In one embodiment, please refer to Figure 8, the above-mentioned camera device 15 includes a camera 151 and a mounting base 152; the mounting base 152 is connected to the bracket 16; the camera 151 is connected to the mounting base 152.

[0090] In one embodiment, please refer to Figure 8 , the above-mentioned camera device 15 further includes an adjustment plate 153 and a second elastic member 154; one end of the second elastic member 154 is connected to the mounting base 152; the other end of the second elastic member 154 is connected to the adjustment plate 153; the camera 151 is assembled on the adjustment plate 153.

[0091] In this embodiment, the camera 151 is the core component of the system, responsible for scanning the QR code of the target object and acquiring image information. In this embodiment, the camera 151 is mainly used to identify the QR code on the coil-taking device, and further determine whether the coil-taking fixture 10 is docked to the correct position.

[0092] The mounting base 152 is used to firmly connect the camera 151 to the bracket 16. It provides a fixed structure to ensure that the camera 151 remains stable during operation, avoiding inaccurate images caused by vibration or improper operation. The connection between the mounting base 152 and the bracket 16 ensures that the camera 151 can operate at a specific position.

[0093] The adjustment plate 153 allows the camera 151 to be finely adjusted to ensure that the camera 151 can be adjusted to the best viewing angle for scanning. The design of the adjustment plate 153 enables the user to easily adjust the position and angle of the camera 151, thereby ensuring higher accuracy when scanning the QR code.

[0094] One end of the second elastic member 154 (usually a spring or other flexible material) is connected to the mounting base 152, and the other end is connected to the adjustment plate 153. Its function is to provide elastic support for fine adjustment, enabling the adjustment plate 153 to be adjusted slightly without using tools. This elastic support can ensure that the camera 151 always remains in the best position, while avoiding position deviation caused by misoperation or environmental factors.

[0095] The installation and adjustment of the camera device 15 are very important parts of the entire system. The operation of the camera device 15 depends on its ability to accurately dock and scan the target object. The camera 151 is fixed on the mounting base 152 through connection structures such as screws or clamps. The function of the mounting base 152 is to fix the camera 151 on the bracket 16 to ensure its stable position.

[0096] The mounting base 152 is connected to the bracket 16 through an appropriate structure (such as threaded connection or card slot). The bracket 16 is the framework of the coil-taking fixture 10, and the stability of the bracket 16 ensures that the camera 151 can perform scanning operations accurately and stably.

[0097] Of course, in another embodiment, one end of the second elastic member 154 is connected to the mounting seat 152, and the other end is connected to the adjusting plate 153. This enables the adjusting plate 153 to be adjusted flexibly. The fine-tuning function of the adjusting plate 153 allows the user to adjust the angle of the camera 151 as needed to ensure that it can always scan the QR code and obtain a clear image.

[0098] The camera 151 is fixed by the adjusting plate 153. The design of the adjusting plate 153 provides sufficient flexibility, enabling the camera 151 to be accurately positioned and adjusted according to different operating environments.

[0099] The core function of the camera device 15 is to determine the docking position of the coil-taking fixture 10 by scanning the QR code. Its working principle is as follows: The camera 151 obtains relevant information by scanning the QR code on the coil-taking device. The QR code may contain data such as position information, material type, operating status, etc. The camera 151 decodes the QR code and transmits the recognition result to the control system.

[0100] Based on the QR code image captured by the camera 151, the system determines whether the coil-taking fixture 10 is docked to the correct position. If the QR code information indicates that the docking position of the fixture and the device is inaccurate, the system can adjust the position of the fixture through a feedback mechanism.

[0101] If the system detects that the position of the coil-taking fixture 10 is inaccurate, the camera 151 will, based on the image information it obtains, adjust the angle and position of the camera 151 in real time to obtain a more accurate QR code image, thereby completing the correction of the docking position.

[0102] The adjusting plate 153 provides the fine-tuning function of the camera 151 in this process. If the position of the QR code is not ideal, the adjusting plate 153 can adjust the angle of the camera 151 so that the camera 151 can scan a clearer and more accurate QR code image.

[0103] The second elastic member 154 provides elastic support for the camera 151 and the adjusting plate 153, ensuring the accuracy and stability during the adjustment process. The elastic member allows the camera 151 to be fine-tuned within a certain range to adapt to different scanning requirements.

[0104] The precise scanning ability of the camera 151 ensures the accurate interpretation of the QR code, guaranteeing the precise judgment of the docking position of the coil-taking fixture 10. The design of the adjusting plate 153 and the second elastic member 154 enables the camera 151 to be flexibly adjusted. Whether in the vertical or horizontal direction, it can ensure that the scanning angle and position reach the optimal state. Through the stable connection of the mounting seat 152 and the bracket 16, the camera device 15 remains stable during operation, is not easily interfered by the external environment, and guarantees the high efficiency of the vision guidance system. The fine adjustment of the adjusting plate 153 and the support of the second elastic member 154 make the adjustment process very simple, without the need for additional tools, greatly improving the convenience of use.

[0105] In this embodiment, through reasonable design, the camera device 15 enables the coil-taking fixture 10 to accurately judge the docking position. The camera 151 obtains data by scanning the QR code and, combined with the fine adjustment function of the adjusting plate 153 and the second elastic member 154, ensures the stability and high efficiency of the vision system. These designs enhance the automation, precision, and flexibility of the entire coil-taking fixture 10, improving the working efficiency and accuracy of the system.

[0106] The above-mentioned coil-taking fixture 10 realizes the efficient automation of coil taking through the coordinated work of the bracket 16, the material-taking structure, the first load detection structure 13, and the driving structure 14. The material-taking structure is assembled on one side of the bracket 16, the driving structure 14 is connected to the material-taking structure, and the first load detection structure 13 is assembled on the material-taking structure, which can accurately identify the coil and quickly take it out through the driving structure 14, reducing the manual operation time and human errors. At the same time, it ensures the accuracy and consistency of the coil-taking process, greatly improving the production efficiency.

[0107] In one embodiment, the above-mentioned first AGV body 21 includes a dual-steering-wheel-driven AGV.

[0108] The first AGV body 21 is the core part of the entire automatic guided vehicle and has a dual-steering-wheel drive system, which is convenient for precise control of the direction. Through the dual-steering-wheel drive, the AGV can perform various complex motion modes, including: Forward and backward: The traditional forward and backward movements; Lateral movement and diagonal movement: enabling the first AGV body 21 to move flexibly in a narrow space; Spinning walk: allowing the first AGV body 21 to rotate in place to adapt to complex environments or adjust the direction.

[0109] The lifting mechanism 22 is an important part of the coil-taking automatic guided vehicle and is responsible for realizing the up and down lifting operation of the coil. The lifting mechanism 22 includes: The main function of the lifting mechanism 22 is to lift the coil to the required height to ensure that the coil can be smoothly loaded or unloaded onto the first AGV body 21; The scissor lift mechanism 23 is another important part of the coil picking automatic guided vehicle, responsible for providing the functions of gripping and transporting the coils. Through the action of the telescopic oil cylinder, the scissor lift mechanism 23 can adjust the length of the fork arms back and forth, achieving precise gripping and transportation of the coils.

[0110] The design of the entire coil picking automatic guided vehicle system is highly integrated, with a high degree of automation and intelligence. The first AGV body 21 uses laser navigation and the first obstacle avoidance radar 25 to ensure safe driving in complex environments. The lifting mechanism 22 and the scissor lift mechanism 23 are used in combination to achieve precise gripping, lifting, and transportation of the coils. The combination of the design of the coil picking fixture 10 and the scissor lift mechanism 23 ensures that the coils are not easily slipped or damaged during transportation, thus greatly improving the efficiency and safety of the production line.

[0111] This design not only realizes fully automated handling operations, but also can reduce manual operations, improve production efficiency, and ensure the accuracy and safety of operations at the same time.

[0112] In one embodiment, please refer to Figure 3 , the first obstacle avoidance radar 25 is assembled on the outer periphery of the above-mentioned first AGV body 21. Specifically, the first obstacle avoidance radar 25 is set at the corners of the four directions of the first AGV body 21. This design aims to enhance the autonomous navigation and obstacle avoidance capabilities of the AGV. The first obstacle avoidance radar 25 is located outside the first AGV body 21. Through lidar or other types of sensors, it can scan the environment around the AGV in real time and detect the presence of obstacles. For example, the radar can detect information such as the position, shape, and distance of an object and feed the data back to the control system of the AGV. This enables the AGV to flexibly avoid obstacles in a complex working environment, thus ensuring that no collision or accident occurs during transportation.

[0113] In one embodiment, please refer to Figure 3 , the above-mentioned lifting mechanism 22 includes a lifting power source 221 and a first gantry 222. The lifting power source 221 is connected to the first gantry 222, and the first gantry 222 is assembled on the first AGV body 21.

[0114] The lifting mechanism 22 includes a lifting power source 221 and a first gantry 222. The lifting power source 221 generally refers to a component that provides power, such as a hydraulic cylinder or an electric motor. The first gantry 222 is a frame structure that supports the entire lifting mechanism 22. These two parts are connected together and assembled onto the first AGV body 21 to ensure that the lifting mechanism 22 can adjust its height and position when needed. The first gantry 222 can achieve lifting actions through the drive of the lifting power source 221, ensuring that the coil can be conveniently lifted from the ground to the load platform of the AGV or lowered.

[0115] In one embodiment, please refer to Figure 3 , the above-mentioned lifting power source 221 includes but is not limited to a lifting oil cylinder.

[0116] The power of the lifting mechanism 22 is provided by a hydraulic system. The oil cylinder provides the lifting force through the compression and release of hydraulic oil. The lifting oil cylinder can precisely control the lifting speed and strength, ensure a smooth lifting process, and can withstand material loads of different weights. Using an oil cylinder to drive the lifting system is a common design in industrial automation, especially suitable for occasions that require large loads and high stability.

[0117] In one embodiment, please refer to Figure 3 , the above-mentioned scissor mechanism 23 includes a telescopic power source 231, a sliding structure, and scissor arms 233. Both sides of the sliding structure are installed inside the first gantry 222, and the sliding structure is connected to the lifting power source 221; the sliding structure is connected to the lifting power source 221; one end of the scissor arm 233 is used as a fixed end, and the other end of the scissor arm 233 is used as a moving end. The sliding structure is connected to the fixed end of the scissor arm 233; the sliding structure is connected to the telescopic power source 231; the moving end of the scissor arm 233 is connected to the bracket 16.

[0118] In this embodiment, the telescopic power source 231 is a core component of the scissor mechanism 23, responsible for providing power to make the scissor arms 233 telescopic. This power source is usually a hydraulic cylinder, an electric motor, or a pneumatic device, etc., for driving the scissor arms 233 to expand and contract in the vertical direction. The telescopic power source 231 is connected to the sliding structure, and by controlling the action of the telescopic power source 231, the lifting and telescoping of the scissor arms 233 are realized.

[0119] The sliding structure is another key component in the scissor mechanism 23. It is installed inside the first gantry 222 and is usually designed as a structure that can slide along the rails or channels inside the first gantry 222. Both sides of the sliding structure are fixed inside the first gantry 222 through appropriate supports, which can ensure its smooth movement inside the first gantry 222. The role of the sliding structure is to carry and guide the movement of the scissor arms 233 to ensure its stability during the lifting process.

[0120] In this design, one end of the scissor arm 233 is used as a fixed end and is connected to the lifting power source 221 through the sliding structure. The other end of the scissor arm 233 is used to cooperate with the coil-taking fixture 10 to support the item to be carried, ensuring that the item can be stably grasped during the lifting process. The scissor arm 233 and the sliding structure achieve movement through precise connection, enabling it to move in the vertical direction to adapt to items of different heights.

[0121] The sliding structure is connected to the lifting power source 221, enabling the lifting power source 221 to drive the movement of the sliding structure. During the lifting process, the action of the lifting power source 221 directly affects the movement of the sliding structure, thereby indirectly controlling the lifting of the scissor arms 233. The movement of the sliding structure closely cooperates with the lifting of the scissor arms 233 to ensure the stability of the arms when carrying items.

[0122] In addition to being connected to the lifting power source 221, the sliding structure is also connected to the telescopic power source 231. The telescopic power source 231 further adjusts the telescopic position of the scissor arms 233 by driving the sliding structure, so as to be able to adapt to items of different sizes and heights. This connection ensures that the scissor arms 233 can adjust their lengths and heights as needed, enabling them to carry items of different sizes.

[0123] The lifting power source 221 controls the movement of the sliding structure, enabling the scissor arms 233 to lift and lower vertically, facilitating the lifting or lowering of items from the ground or other platforms. Through the telescopic power source 231, the sliding structure can adjust the length of the scissor arms 233 to adapt to items of different sizes. The telescopic power source 231 and the sliding structure work together to ensure the precise movement of the scissor arms 233. The stability of the sliding structure is crucial for the precise control of the scissor mechanism 23. The track or groove design provided inside the first gantry 222 ensures that the sliding structure can slide smoothly, avoiding movement instability caused by friction or deviation.

[0124] The scissor mechanism 23 realizes the lifting and telescopic functions of items through the coordinated cooperation of the carefully designed telescopic power source 231, the sliding structure, and the scissor arms 233. The design of the sliding structure enables the scissor arms 233 to lift and lower smoothly in the vertical direction, and adjusts the length of the scissor arms 233 through the drive of the telescopic power source 231 to adapt to items of different sizes. This structural design ensures that the AGV can accurately and efficiently complete tasks in automated handling.

[0125] In one embodiment, please refer to Figure 3 , the above-mentioned sliding structure includes a carriage 232.

[0126] In this embodiment, the carriage 232 is used to support and guide the movement of the scissor arms 233. The carriage 232 can slide in the track or channel inside the first gantry 222. Through the action of the carriage 232, the scissor arms 233 can remain stable during the lifting process and avoid unnecessary wear or movement instability caused by friction or other factors.

[0127] In one embodiment, please refer to Figure 3 , there is a groove provided inside the above-mentioned first gantry 222, and the carriage 232 is placed inside the groove.

[0128] In this embodiment, a groove is provided inside the first gantry 222, and the carriage 232 is placed inside the groove. This design ensures that the carriage 232 remains stable and smooth during movement. The groove provides a fixed track in which the carriage 232 can slide freely, reducing the deviation and instability during the movement of the scissor arms 233. This design can improve the accuracy and durability of the scissor mechanism 23, ensuring no displacement or collision during the lifting and grasping processes.

[0129] In one embodiment, refer to Figure 3 , the above-mentioned also includes a first navigation module 24, and the first navigation module 24 is installed on the lifting mechanism 22.

[0130] In this embodiment, the first navigation module 24 is used to provide positioning and path planning functions to ensure the precise travel of the AGV in a complex environment. The first navigation module 24 installed on the lifting mechanism 22 can cooperate with other control systems of the AGV to make real-time adjustments and optimize the path during the lifting action and movement.

[0131] In one embodiment, refer to Figure 3 , the above-mentioned first navigation module 24 is installed on the top of the first gantry 222. This choice of location helps ensure that the first navigation module 24 can obtain a wide field of view. Generally, the top position is beneficial to increasing the detection range of radar or laser devices and avoiding being blocked by other devices or obstacles. The top position can enhance the positioning accuracy and reaction speed of the first navigation module 24, especially in the face of a complex working environment, effectively improving the adaptability of the AGV.

[0132] The above-mentioned coil-taking automatic guided vehicle realizes the automatic handling of coils through the cooperation of the lifting mechanism 22 and the scissor mechanism 23. The lifting mechanism 22 is assembled on the first AGV body 21, and the scissor mechanism 23 is connected to the lifting mechanism 22, which can precisely adjust the height and extension of the fork arms, enabling the AGV to automatically transport and place coils; this design effectively improves production efficiency, reduces manual intervention, lowers labor costs, and at the same time ensures the accuracy and safety of the handling process.

[0133] Refer to Figure 5 and Figure 6, based on the coordinated work of the first AGV body 21, the lifting mechanism 22 and the scissor fork mechanism 23. The first AGV body 21 adjusts the height through the lifting mechanism 22, and cooperates with the scissor fork mechanism 23 and the coiling fixture 10 to grab and carry materials. The coiling automatic guided vehicle moves the coiling fixture 10 to the winder 2, and uses the driving structure 14 to make the upper and lower material claws 11 and 12 operate accurately under the action of the sliding assembly. The upper and lower material claws 11 and 12 are inserted into the inner hole of the formed coil 1 and spread out, and they are completely in contact with the inner hole wall to ensure that the formed coil 1 is accurately grabbed at different heights. The first cargo detection structure 13 monitors in real time whether the cargo is loaded correctly through the cooperation of the elastic member and the first proximity switch 134.

[0134] Through the coordinated work of the camera device 15, the sliding assembly and the driving structure 14, the coil-taking automatic guided vehicle can achieve accurate material positioning and grasping. The camera device 15 assists the system in acquiring real-time image data to provide support for positioning and judgment during the material taking process. At the same time, the cooperation between the sliding assembly and the material taking claw ensures that the clamp can flexibly adjust its position during dynamic movement to ensure stable grasping of the target material. The collaboration between the scissor fork mechanism 23 and the lifting mechanism 22 allows the system to be highly adapted to the working environment, thereby improving the adaptability and efficiency of the overall operation.

[0135] The above-mentioned automatic guided vehicle 100 with a coil-taking clamp realizes efficient coil material removal and automatic handling functions by setting up a coil-taking automatic guided vehicle and a coil-taking clamp 10. The bracket 16, the material-taking structure, the drive structure 14 and the first cargo detection structure 13 of the coil-taking clamp 10 work together to ensure accurate and reliable material removal. The cooperation of the lifting mechanism 22 and the scissor fork mechanism 23 enables the AGV to accurately adjust the height and position during dynamic movement, thereby greatly improving the efficiency of coil material removal, reducing manual operation time, and effectively avoiding human errors. Automated handling further reduces the labor cost in the production process and ensures efficient, safe and consistent production operations.

[0136] In one embodiment, see Figure 10 The formed coil turning structure 110 includes: a base 61, a conveying assembly 62, a turning assembly 63 and a guard plate assembly 64, the guard plate assembly 64 is assembled on the conveying assembly 62, the conveying assembly 62 is connected to the turning assembly 63; the turning assembly 63 is assembled on the base 61.

[0137] In this embodiment, the base 61 is the basic support part of the entire flip structure, and all other components are assembled and fixed on the base 61 to ensure the stable operation of the entire system. The base 61 provides the necessary support for the flip component 63, so that the flip function can be reliably performed.

[0138] The conveying component 62 is a key part in the material conveying process, usually including a conveying frame 621 and a roller conveying line 622. The main function of this component is to convey the formed coil 1 from the entrance of the turnover machine to the turnover area, and at the same time guide the turnover material to the subsequent processing link. The conveying component 62 is connected to the turnover component 63 to ensure that the material can be smoothly moved and turned to the target position during the turnover process.

[0139] The turnover component 63 is the core part to realize the 90° turnover of the material, including a hydraulic system and a turnover push rod 632. The turnover component 63 realizes the turnover of the formed coil 1 between the vertical and horizontal directions through a driving system (such as a hydraulic cylinder). This component is usually assembled on the base 61 and turns the material from the vertical position to the horizontal direction or from the horizontal position back to the vertical position by hydraulic or other driving methods for the next step of processing.

[0140] The guard plate component 64 plays a role in protecting the formed coil 1, preventing the material from tipping over or being damaged during the turnover process. The guard plate component 64 is assembled on the conveying component 62 and works in coordination with the turnover component 63. During the turnover process, the guard plate component 64 can play a role in protecting the finished coil, ensuring the safety of the turnover operation and preventing the material from being affected or damaged by external factors.

[0141] In summary, the formed coil turnover structure 110 ensures the smooth turnover of the material between different directions by reasonably configuring the base 61, the conveying component 62, the turnover component 63 and the guard plate component 64, while ensuring the stability and safety of the material during the turnover process. This design effectively improves the material processing efficiency, reduces manual intervention and lowers the operation risk.

[0142] In one embodiment, please refer to Figures 11 to 12 , the above-mentioned turnover component 63 includes a turnover power source 631 and a turnover push rod 632. The turnover power source 631 is assembled on the base 61, and the turnover power source 631 is connected to the turnover push rod 632; the turnover push rod 632 is connected to the conveying component 62.

[0143] In this embodiment, the core of the turnover component 63 consists of a turnover power source 631 and a turnover push rod 632. The turnover power source 631 is assembled on the base 61. By connecting with the turnover push rod 632, it drives the push rod to act, thereby realizing the turnover function of the material. The turnover push rod 632 is connected to the conveying component 62 to ensure that the turnover material can be smoothly transported through the conveying line to the next processing link.

[0144] In one embodiment, please refer to Figures 11 to 12 , the above-mentioned turnover power source 631 includes a first hydraulic cylinder, and the first hydraulic cylinder is hinged to the turnover push rod 632.

[0145] In this embodiment, the flipping power source 631 adopts a first hydraulic cylinder, which provides the power required for flipping through hydraulic drive. An articulated structure is adopted between the hydraulic cylinder and the flipping push rod 632, which enables the flipping push rod 632 to achieve an appropriate movement angle according to the thrust of the hydraulic cylinder, thereby controlling the flipping angle and direction of the material. The articulated structure has high flexibility and can provide precise control and stability during the flipping process.

[0146] In one embodiment, please refer to Figure 10 , the above-mentioned conveying assembly 62 includes a conveying frame 621 and a roller conveying line 622. The roller conveying line 622 is assembled on the conveying frame 621, and the conveying frame 621 is connected to the flipping assembly 63.

[0147] In this embodiment, the conveying frame 621 and the roller conveying line 622 form the main part of material conveying. The roller conveying line 622 is assembled on the conveying frame 621 to ensure the stability and smoothness during the conveying process. The connection between the conveying frame 621 and the flipping assembly 63 enables the flipped material to be smoothly conveyed to the designated position while the material is being flipped, avoiding problems such as material accumulation or flipping failure.

[0148] In summary, the flipping assembly 63 of this embodiment drives the flipping push rod 632 through a hydraulic system to achieve the flipping of the formed coil 1. At the same time, the precise cooperation of the conveying assembly 62 enables the flipped material to smoothly pass through the subsequent processing links, improving the material processing efficiency and operation safety.

[0149] In one embodiment, please refer to Figure 10 , the above-mentioned guard plate assembly 64 includes a guard plate 641, a flap power assembly 642, and a connecting frame 643. The connecting frame 643 is connected to the flipping assembly 63, the flap power assembly 642 is assembled on the connecting frame 643, and the flap power assembly 642 is connected to the guard plate 641.

[0150] In one embodiment, please refer to Figure 10 , the two sides of the above-mentioned conveying frame 621 are respectively assembled with guard plate assemblies 64.

[0151] In one embodiment, please refer to Figure 10 , the above-mentioned flap power assembly 642 includes a second hydraulic cylinder.

[0152] In this embodiment, the guard plate assembly 64 is used to protect the material from tipping over or being damaged during the flipping process. Specifically, the guard plate assembly 64 consists of a guard plate 641, a flap power assembly 642, and a connecting frame 643.

[0153] The function of the guard plate 641 is to prevent the risk of the material from tipping over after being flipped. Especially when flipping in the vertical direction, the guard plate 641 can be deployed at the appropriate time to prevent the formed coil 1 from accidentally tilting or falling. The guard plate 641 will automatically retract after the unloading operation of the unloading table 65 structure is completed, protecting the safety of the finished coil.

[0154] The flap power assembly 642 is a key part to realize the deployment and retraction actions of the guard plate 641. It is connected to the guard plate 641 and enables the dynamic adjustment of the guard plate 641 through a driving device. The flap power assembly 642 uses a second hydraulic cylinder as the main power source. The second hydraulic cylinder utilizes the thrust generated by the hydraulic system to drive the guard plate 641 to automatically deploy when needed, thus ensuring the safe flipping of the material. After the flipping operation is completed, the second hydraulic cylinder can also control the guard plate 641 to retract, avoiding interference with subsequent operations.

[0155] The connecting frame 643, as the connection structure between the flap power assembly 642 and the flipping assembly 63, ensures that the flap power assembly 642 and the guard plate 641 can work stably during the flipping process. The connecting frame 643 has strong structural support force, which can ensure the movement accuracy of the guard plate 641 during the flipping process.

[0156] In this embodiment, the guard plate assembly 64 is installed on both sides of the conveying frame 621. This design can ensure that during the flipping process of the formed coil 1, the guard plate assembly 64 can effectively wrap the material to prevent accidents. Especially during the flipping process, the guard plate assemblies 64 on both sides of the conveying frame 621 can work together, enabling the flipping machine to be reliable when handling materials of various specifications.

[0157] By combining the flap power assembly 642 driven by the second hydraulic cylinder and the reasonably designed structure of the guard plate 641, this embodiment effectively solves the risk of the material tipping over during the flipping process. The cooperation of the guard plate assembly 64 with the flipping structure and the conveying frame 621 ensures the high efficiency and stability of the flipping machine when performing a 90° flip. At the same time, the automatic retraction function of the guard plate 641 not only improves the working efficiency of the equipment but also enhances the safety of material handling.

[0158] In one embodiment, please refer to Figure 10 , the above-mentioned formed coil flipping structure 110 further includes an unloading table 65, and the unloading table 65 is assembled on the conveying assembly 62.

[0159] In one embodiment, please refer to Figure 10 , the above-mentioned unloading table 65 includes wedge-shaped blocks.

[0160] In one embodiment, please refer to Figure 10 , the number of the above-mentioned wedge-shaped blocks is two, and the two wedge-shaped blocks are arranged oppositely.

[0161] In this embodiment, the main function of the unloading platform 65 is to provide a stable platform for the material. When the material is flipped from the vertical state to the horizontal direction, it ensures that the material can be unloaded smoothly and then conveyed subsequently.

[0162] The design of the unloading platform 65 includes wedge-shaped blocks. Its main function is to ensure the smooth progress of the unloading process by means of reasonable design of the shape and position, in cooperation with the receiving of the material during the flipping process. The number of wedge-shaped blocks is two, and these two wedge-shaped blocks are arranged in opposite positions to form an effective supporting and guiding effect. The relative arrangement of the two wedge-shaped blocks can ensure that the formed coil 1 will not shift during the flipping process, avoid unstable unloading conditions, and thus improve the safety and stability of the equipment.

[0163] In addition, the design of the wedge-shaped blocks can be compatible with formed coils 1 of different specifications, ensuring that the flipping machine can handle various material sizes without failure of flipping or unloading due to specification differences.

[0164] This design scheme can improve the applicability and stability of the flipping machine, especially during the flipping and conveying process of the material, ensuring that the unloading platform 65 can effectively support and guide the transfer of the material, making the entire operation process smoother and safer.

[0165] The above-mentioned formed coil flipping structure 110 realizes the 90° flipping and switching of the formed coil 1 between the vertical and horizontal directions through the reasonable design of the base 61, the conveying component 62, the flipping component 63 and the guard plate component 64; specifically, the guard plate component 64 is assembled on the conveying component 62, the conveying component 62 is connected to the flipping component 63, and the flipping component 63 is assembled on the base 61; through the flipping component 63 driven by hydraulic pressure, the system can accurately control the flipping of the formed coil 1 between the vertical and horizontal directions, ensuring the stability and smoothness of the material during the flipping process. This design not only improves the efficiency of material handling, but also effectively reduces the labor cost and operation risk. Through the automated flipping and conveying functions, it reduces manual intervention and improves the safety and stability of the operation.

[0166] In one embodiment, please refer to Figures 13 to 14 , the stacking guiding vehicle 140 with a coil stacking fixture includes: a coil stacking fixture 30 and a second AGV body 41. Among them, the coil stacking fixture 30 includes a coil stacking and picking component, a coil stacking bracket 36 and a coil stacking driving component 34. The coil stacking and picking component is connected to the coil stacking driving component 34; the coil stacking driving component 34 and the coil stacking and picking component are respectively assembled on the coil stacking bracket 36, and the coil stacking bracket 36 is connected to the second AGV body 41.

[0167] In this embodiment, the coil stacking fixture 30 is the core component in this stacking guiding vehicle system, and its function is to complete the clamping, handling and stacking of circular coils.

[0168] The main function of the coil stacking and picking component is to grasp and hold the coil. It can stably hold the coil when the AGV is moving, preventing the coil from sliding or falling during the handling process.

[0169] The coil stacking bracket 36 is the basic framework of the coil stacking fixture 30, responsible for supporting the coil stacking and picking component and the coil stacking drive component 34, and ensuring their stability during operation. The coil stacking bracket 36 is connected to the second AGV body 41, serving as the connection carrier of the system, enabling the coil stacking fixture 30 to work in coordination with the second AGV body 41.

[0170] The coil stacking drive component 34 is responsible for controlling the actions of the coil stacking and picking component, ensuring that the coil stacking and picking component can smoothly perform operations such as opening, closing, lifting, and lowering. It can precisely control the movement of the fixture.

[0171] The design purpose of the coil stacking fixture 30 is to ensure that it can perform adaptive operations between different specifications of circular coils, while ensuring safety and stability during stacking or handling.

[0172] The second AGV body 41 is the basis of the stacking guide vehicle. It is mainly responsible for providing the moving ability and cooperating with the coil stacking fixture 30 to handle the coil. The second AGV body 41 is usually equipped with an automatic navigation system and an obstacle avoidance system to ensure that it can operate autonomously in a complex factory environment and avoid collisions with other objects.

[0173] The connection between the coil stacking bracket 36 and the second AGV body 41 is crucial because it ensures the fixation and stability of the coil stacking fixture 30. Through a strong connection method, the coil stacking fixture 30 and the second AGV body 41 can work in coordination, enabling the AGV to maintain the stability of the coil during handling and achieve precise stacking and picking operations.

[0174] The second AGV body 41 first locates through the navigation system and determines the optimal path; after the AGV moves to the position of the coil, the coil stacking and picking component acts through the drive component to grasp the coil; once the coil is successfully clamped, the second AGV body 41 will carry it according to the predetermined path and send the coil to the target position; after reaching the target position, the coil stacking and picking component releases the coil to complete the unloading and stacking.

[0175] The automatic navigation of the second AGV body 41 and the precise control of the coil stacking fixture 30 improve the handling efficiency. The close cooperation between the coil stacking fixture 30 and the second AGV body 41 ensures the stability and safety during the transportation process. It can handle coils of different specifications and sizes and adapt to various handling requirements.

[0176] The stacking guiding vehicle 140 with a coil stacking fixture is an efficient, precise, and automated device. Through the collaborative work of the coil stacking and picking component, the coil stacking bracket 36, the coil stacking drive component 34, and the second AGV body 41, it realizes the automatic handling, stacking, and picking operations of the coil materials. This system can significantly improve production efficiency, reduce labor costs, and ensure safety and stability in complex environments.

[0177] In one embodiment, please refer to Figure 15 and Figure 16 , the above-mentioned coil stacking and picking component includes a left coil stacking picking claw 31, a right coil stacking picking claw 32, and a coil stacking sliding component 37. The left coil stacking picking claw 31 and the right coil stacking picking claw 32 are respectively assembled on the coil stacking sliding component 37, and the coil stacking sliding component 37 is connected to the coil stacking bracket 36.

[0178] In one embodiment, please refer to Figure 15 and Figure 16 , the above-mentioned coil stacking sliding component 37 includes a slider and a guide rail. The guide rail is connected to the coil stacking bracket 36; the slider is assembled on the guide rail, and the left coil stacking picking claw 31 and the right coil stacking picking claw 32 are respectively connected to the slider.

[0179] In this embodiment, the left coil stacking picking claw 31 and the right picking claw are respectively assembled on the coil stacking sliding component 37, and can move on the guide rail through the sliding component. The two cooperate to form a clamping device, and clamp the coil material through opening and closing actions.

[0180] The coil stacking sliding component 37 is composed of a slider and a guide rail. The guide rail is connected to the coil stacking bracket 36, while the slider is assembled on the guide rail to provide a sliding function. The left and right coil stacking picking claws are respectively fixed on the slider. Therefore, as the slider moves, the picking claws can open or close synchronously.

[0181] The coil stacking bracket 36 is used to fix the coil stacking sliding component 37 and provide structural support to ensure the stable operation of the entire picking claw component.

[0182] In one embodiment, the above-mentioned left coil stacking picking claw 31 and right coil stacking picking claw 32 are respectively provided with baffles for clamping the formed coil material 1.

[0183] In this embodiment, both the left coil stacking picking claw 31 and the right picking claw are provided with baffles for clamping the formed coil material 1. The design of the baffles can prevent the coil material from slipping due to external force or vibration during the clamping process. This is crucial for the stability during the handling process to ensure that the coil material is not accidentally released.

[0184] In one embodiment, please refer to Figure 15 and Figure 16, the above-mentioned stacking and coiling drive assembly 34 includes a stacking and coiling power source 341, a second speed reducer 342, a second coupling 343, a second lead screw fixing seat 344, a second lead screw 346, and a second connecting member. The left stacking and coiling material grabbing claw 31 and the right stacking and coiling material grabbing claw 32 are respectively connected to the second connecting member; the stacking and coiling power source 341 is connected to the second speed reducer 342; the second speed reducer 342 is connected to the second coupling 343; the second coupling 343 is connected to the second lead screw 346; the second lead screw 346 is connected to the stacking and coiling bracket 36 through the second lead screw fixing seat 344; the second connecting member is connected to the second lead screw 346.

[0185] In this embodiment, the stacking and coiling drive assembly 34 is responsible for providing power so that the left and right stacking and coiling material grabbing claws can move synchronously and be precisely controlled.

[0186] The stacking and coiling power source 341 is the core power equipment that drives the operation of this assembly. Usually it is an electric motor, which provides appropriate torque and speed through a speed change system.

[0187] The second speed reducer 342 is connected to the stacking and coiling power source 341 and is used to adjust the rotational speed of the power output. Through the second speed reducer 342, the high-speed rotation output by the electric motor can be reduced to an appropriate working speed so as to precisely control the movement of the material grabbing claw.

[0188] The second coupling 343 connects the second speed reducer 342 and the second lead screw 346 to transmit power. It can ensure the stability during the transmission process and prevent mechanical damage at the same time.

[0189] The second lead screw 346 is fixed on the stacking and coiling bracket 36 through the second lead screw fixing seat 344 and is connected to the second coupling 343. This is the core component that drives the left and right stacking and coiling material grabbing claws to move. The rotation of the second lead screw 346 drives the slider to move on the guide rail, so that the material grabbing claw opens or closes.

[0190] The second connecting member is connected to the second lead screw 346 and plays a role in transmitting power and achieving synchronous control. Through a precise transmission structure, it ensures that the two material grabbing claws can work in coordination.

[0191] In this embodiment, the above-mentioned second connecting member includes a second left-handed nut 345 and a second right-handed nut 347. The left stacking and coiling material grabbing claw 31 is connected to the second left-handed nut 345, and the right stacking and coiling material grabbing claw 32 is connected to the second right-handed nut 347.

[0192] And in this embodiment, the above-mentioned second lead screw 346 is but not limited to a ball screw.

[0193] The stacking and coiling power source 341 includes but is not limited to a stacking and coiling motor.

[0194] The motor drives the second lead screw 346 to rotate forward and backward, so as to realize the synchronous opening and retracting actions of the left coil stacking gripper 31 and the right coil stacking gripper 32, enabling the coil stacking fixture 30 to clamp or release the goods.

[0195] The working principle of the entire coil stacking and picking component is as follows: The coil stacking power source 341 provides power, and the rotational speed is reduced through the second reducer 342, enabling the second coupling 343 to drive the second lead screw 346 to rotate; the rotation of the second lead screw 346 drives the slider to move along the guide rail, and the left coil stacking gripper 31 and the right coil stacking gripper 32 on the slider move synchronously to grasp or release the coil material; the baffle on the gripper ensures that the formed coil material 1 does not slip during the clamping process; the second lead screw fixing seat 344 in the power transmission process ensures the stability of the second lead screw 346 and supports the stability of the entire system, avoiding vibration or mechanical failures.

[0196] This design enables the coil stacking and picking component to efficiently and reliably complete the handling task of circular coil materials through precise mechanical transmission and synchronous control.

[0197] In one embodiment, please refer to Figure 15 and Figure 16 , the above-mentioned coil stacking fixture 30 further includes a load detection component 33, and the load detection component 33 is assembled on the coil stacking and picking component.

[0198] In one embodiment, please refer to Figure 17 , the above-mentioned load detection component 33 includes a second detection plate 331, a third elastic member 332, a second proximity switch 334, a second connecting rod 333, and a second housing 335. The second detection plate 331 is connected above the second housing 335, and the third elastic member 332 is inserted into the second housing 335; and the upper end of the third elastic member 332 extends outside the second housing 335 and is connected to the second detection plate 331; the second connecting rod 333 passes through the third elastic member 332, and the upper end of the second connecting rod 333 is connected to the second detection plate 331; the second proximity switch 334 is located on one side of the second housing 335, and the second housing 335 is assembled on the coil stacking bracket 36.

[0199] In one embodiment, please refer to Figure 17 , the above-mentioned third elastic member 332 includes a spring.

[0200] In this embodiment, the load detection component 33 is a key part of the coil stacking and picking system, and its function is to ensure that the coil material is in the correct position during the stacking process by sensing whether the coil material is clamped. This detection component can monitor the clamping state of the coil material in real time through cooperation with the coil stacking and picking gripper, thus ensuring the accuracy and safety of the operation.

[0201] The second detection plate 331 is the core part of the load detection component 33. When the coil take-up and uncoiling claws grip the coil, it responds to the pressure of the coil and triggers the second proximity switch 334. The design of the second detection plate 331 ensures that it can move freely when contacting the coil and transmit corresponding signals. The third elastic member 332 is usually a spring that plays a reset role, ensuring that the second detection plate 331 can return to its initial position when not in contact with the coil, and ensuring the sensitivity and accuracy of the system.

[0202] The second proximity switch 334 is used to sense the displacement of the second detection plate 331. When the second detection plate 331 is pressed down by the coil, the second proximity switch 334 is triggered to generate a signal to determine whether the coil is clamped. This signal is used to judge whether the coil take-up and uncoiling is in place, so as to adjust subsequent actions.

[0203] The second connecting rod 333 connects the second detection plate 331 and the spring, ensuring that the rebounding force of the spring can directly act on the second detection plate 331, so that the second detection plate 331 can be reset after the pressure is released.

[0204] The second housing 335 wraps all components together, protecting the internal components and providing support for connections. The second housing 335 also provides a fixed point, enabling the entire load detection component 33 to be firmly assembled into the coil take-up and uncoiling system.

[0205] When the left coil take-up and uncoiling claw 31 and / or the right coil take-up and uncoiling claw 32 open, the second detection plate 331 of the load detection component 33 starts at the initial position and is not affected by external forces. When the left coil take-up and uncoiling claw 31 and / or the right coil take-up and uncoiling claw 32 grip the coil, the coil contacts the second detection plate 331 and applies pressure. At this time, the second detection plate 331 will move downward, pushing the second connecting rod 333. When the second detection plate 331 moves, the spring is compressed and drives the second connecting rod 333 downward to ensure the precise response of the second detection plate 331. The second proximity switch 334 is located on one side of the second housing 335. When the second detection plate 331 is pressed down to touch the second proximity switch 334, the second proximity switch 334 is triggered to generate a signal. At this time, the system can judge whether the coil has been clamped in place. After the take-up and uncoiling claws retract, the pressure is released, and the spring-back effect of the spring causes the second detection plate 331 to return to the original position, and the second proximity switch 334 disconnects the signal, indicating that the coil has moved away from the detection position.

[0206] The whole process can provide real-time feedback on whether the coil is clamped and adjust the actions of the coil take-up and uncoiling claws or subsequent operations according to the signal.

[0207] The load detection component 33 is assembled on the coil take-up and uncoiling bracket and is connected to the bracket through the second housing 335. The position design of the detection component ensures that it can be synchronized with the actions of the coil take-up and uncoiling claws, ensuring that the detection function can effectively play a role throughout the stacking process.

[0208] When the stacking and coiling gripper opens, the second detection plate 331 in the load detection assembly 33 is in an uncompressed state. When the stacking and coiling gripper clamps the coil material, the second detection plate 331 senses the pressure of the coil material, pushing the second connecting rod 333 and the reaction of the spring, thereby activating the second proximity switch 334 to send a signal. When the gripper retracts, the spring rebounds, the second detection plate 331 resets, and the second proximity switch 334 disconnects, completing one detection cycle.

[0209] The load detection assembly 33 can achieve automatic monitoring of whether the coil material is correctly clamped, and the system can adjust the fixture action according to the feedback signal to ensure the efficiency and accuracy of the operation. This design is applicable to occasions that require high-precision stacking and coiling, such as automated production lines or high-efficiency stacking systems.

[0210] Overall, the load detection assembly 33 can ensure the efficiency and reliability of the stacking and coiling system when performing tasks through simple and effective mechanical and sensing technologies.

[0211] In one embodiment, please refer to Figure 13 and Figure 14 , the above-mentioned stacking guide vehicle 140 with a stacking and coiling fixture further includes a stacking and coiling lifting assembly 42, and the stacking and coiling bracket 36 is connected to the stacking and coiling lifting assembly 42; the stacking and coiling lifting assembly 42 is connected to the second AGV body 41.

[0212] In one embodiment, please refer to Figure 13 and Figure 14 , the above-mentioned stacking and coiling lifting assembly 42 includes a second lifting power source 421, a second gantry 422, a second lifting frame 423, a second fork frame 424 and a connecting fixture 425; the second gantry 422 is connected to the second AGV body 41, and the second lifting power source 421 is fixed on the second gantry 422; the second lifting frame 423 is connected to the second lifting power source 421, the second fork frame 424 is installed in the second lifting frame 423, the connecting fixture 425 is connected to the second fork frame 424, and the stacking and coiling fixture 30 is connected to the connecting fixture 425.

[0213] In one embodiment, please refer to Figure 13 and Figure 14 , an installation groove is provided in the above-mentioned second lifting frame 423, and the second fork frame 424 is installed in the installation groove.

[0214] In this embodiment, the second lifting power source 421 is the core power equipment that provides the lifting action, usually an oil cylinder or an electric drive device, and is used to push the entire stacking and coiling lifting assembly 42.

[0215] The second gantry 422 is fixedly connected to the second AGV body 41, providing support for the entire lifting system. It firmly connects the second lifting power source 421 to the second AGV body 41.

[0216] The second lifting frame 423 is connected to the second fork frame 424 through the second lifting power source 421, responsible for carrying and supporting the second fork frame 424 and the coil stacking fixture 30 thereon. During the lifting process, the second lifting frame 423 provides the necessary stability and support.

[0217] The second fork frame 424 is responsible for connecting with the coil stacking fixture 30 and bringing the coil stacking fixture 30 to the required position through the connecting attachment 425. The design of the second fork frame 424 allows it to move within the slots of the second lifting frame 423 and is driven by the second lifting power source 421 to rise or fall.

[0218] The connecting attachment 425, as the second connecting member between the coil stacking fixture 30 and the second fork frame 424, ensures that the fixture can effectively clamp the coil. Specifically, a flange 35 is provided on the above-mentioned coil stacking bracket 36, and the connecting attachment 425 is connected to the flange 35.

[0219] The second gantry 422, as a support structure, is fixed to the second AGV body 41 to ensure the stability of the lifting system. The second lifting frame 423 performs lifting motion through the second lifting power source 421. Installation slots are provided inside the second lifting frame 423, and the second fork frame 424 is installed in these installation slots to ensure the stability and smooth movement of the second fork frame 424. The coil stacking fixture 30 is connected to the second fork frame 424 through the connecting attachment 425 to ensure that the coil can be firmly clamped during transportation and that the coil stacking fixture 30 can accurately stack during the stacking process.

[0220] The coil lifting assembly 42 provides a lifting action through the second lifting power source 421 (such as an oil cylinder or a motor), enabling the coil stacking fixture 30 to move between different heights during the stacking process, thus facilitating the clamping and placement of the coil. Through the coil lifting assembly 42, the AGV can accurately bring the coil stacking fixture 30 to the designated stacking position, realizing automated stacking and picking operations and improving work efficiency. The connecting attachment 425 ensures the stable connection and fixation of the coil stacking fixture 30, preventing instability or fixture detachment during the stacking process.

[0221] In this embodiment, a high degree of flexibility in height and efficient stacking operations are achieved between the second AGV body 41 and the coil stacking fixture 30 through the coil lifting assembly 42. The design of the coil lifting assembly 42 in combination with the second AGV body 41 provides stable transportation and stacking functions, capable of completing highly automated coil handling tasks, thereby improving the work efficiency and operation accuracy of the stacking guide vehicle.

[0222] In one embodiment, refer to Figure 13 , a second navigation module 43 is assembled on the second AGV body 41 mentioned above. Laser navigation is used during the traveling process. The second AGV body 41 is driven by, but not limited to, a single steering wheel 44, which is convenient for controlling the direction and has functions of moving forward, backward, and turning. The second AGV body 41 is provided with a second obstacle avoidance radar 45 for detecting obstacles in the forward direction.

[0223] Refer to Figure 18 , the above-mentioned stacking guide vehicle 140 with a coil stacking clamp stacks the formed coil materials 1 onto the pallet 50. Specifically, the left coil-taking claw 31 and the right coil-taking claw 32 of the coil stacker are connected to the fixed linear guide rail and the slider, and are respectively connected to the left-handed screw and the second right-handed nut 347 of the ball screw of the driving assembly. By driving the forward and reverse rotation of the ball screw by the motor, the synchronous opening and retracting actions of the left coil-taking claw 31 and the right coil-taking claw 32 can be realized, ensuring that the clamp can stably and accurately grip or release the goods, thereby improving the work efficiency and accuracy and ensuring the stable gripping of the goods during the handling process. In addition, the coil stacking clamp 30 is also designed with a load-carrying detection component 33, which is fixed on the left and right coil-taking claws and opens synchronously with the actions of the left coil-taking claw 31 and the right coil-taking claw 32 of the coil stacker. When the left coil-taking claw 31 and the right coil-taking claw 32 of the coil stacker open, the compression spring second detection plate 331 will be touched, and the signal is transmitted to the second proximity switch 334 to detect whether the coil material has been clamped in place. When the coil-taking claws retract, the spring rebounds to return the second detection plate 331 to its original position, thereby realizing real-time monitoring during the gripping process and ensuring that the clamp works accurately. The automatic guided vehicle (AGV) with the coil stacking clamp 30 fixes the clamp through the connecting device, and at the same time has a coil stacking lifting component 42, enabling the clamp to move up and down and coordinating with the forward and backward movement of the second AGV body 41 to complete the automated transportation and stacking operations. This design not only improves the flexibility of goods handling, but also enables the AGV to perform precise operations on various specifications of circular coil materials, including tasks such as horizontal material taking, discharging, handling, and stacking. Finally, through high integration, the entire system ensures the efficient application of the coil stacking clamp 30 in different working scenarios, greatly improving the automation level of transportation and stacking operations.

[0224] In other embodiments, the above-mentioned formed coil material 1 can be replaced with other materials.

[0225] The above-mentioned stacking guiding vehicle 140 with a coil stacking fixture ensures the flexibility and adaptability of automatic handling and stacking by setting the design of the coil stacking fixture 30 and the second AGV body 41. The coil stacking fixture 30 includes a coil picking and feeding assembly, a coil stacking bracket 36, and a coil stacking driving assembly 34. The connection between the coil picking and feeding assembly and the coil stacking driving assembly 34 enables the fixture to adjust its grasping method according to different specifications of circular coils, while the connection between the coil stacking bracket 36 and the second AGV body 41 ensures the stability and accuracy of the fixture during handling. This structural design effectively solves the problem of the lack of flexibility and adaptability in the prior art when dealing with materials with irregular shapes and variable sizes, and at the same time improves the automation handling and stacking accuracy of circular coils, enhancing the overall operation efficiency.

[0226] In one embodiment, the above-mentioned conveyor 120 includes but is not limited to a conveyor line; the above-mentioned coil picking platform 130 includes but is not limited to an upright frame; after the formed coils 1 are stacked on the pallet 50, wooden squares are used to limit them to prevent collapse.

[0227] The above-mentioned automatic equipment for stacking the offline composite board coils significantly improves the automation and intelligence level of the offline process by integrating various automatic equipment. Specifically, it includes a coiling machine 2, an automatic guided vehicle 100 with a coil picking fixture, a formed coil flipping structure 110, a conveyor 120, a coil picking platform 130, a stacking guiding vehicle 140 with a coil stacking fixture, and a pallet 50, etc. The automatic guided vehicle 100 with a coil picking fixture clamps the formed coil 1 and accurately transports it to the formed coil flipping structure 110, and then the flipped coil is conveyed to the coil picking platform 130 through the conveyor 120, and finally the coil is automatically stacked on the pallet 50 by the stacking guiding vehicle 140 with a coil stacking fixture; effectively reducing manual intervention, improving work efficiency and accuracy, reducing human operation errors, optimizing the logistics and stacking processes in the composite board production workshop, and enhancing production efficiency and overall intelligence level.

[0228] As described above, the above are only specific embodiments of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present invention can easily think of various equivalent modifications or substitutions, and these modifications or substitutions should all be covered within the protection scope of the present invention. Therefore, the protection scope of the present invention should be subject to the protection scope of the claims.

Claims

1. An automatic equipment for stacking the coiled stock of composite plates when they come off the production line, characterized in that, Including: A coiler, an automatic guided vehicle with a coil-taking fixture, a formed coil material flipping structure, a conveyor, a coil-taking platform, a stacking guided vehicle with a stacking coil fixture, and a pallet. The coiler is used for placing the formed coil material. The automatic guided vehicle with the coil-taking fixture is used for clamping the formed coil material on the coiler and moving it to the position where the formed coil material flipping structure is located, and placing the formed coil material on the formed coil material flipping structure. The formed coil material flipping structure is used for flipping the formed coil material and transporting it to the coil-taking platform by the conveyor. The stacking guided vehicle with the stacking coil fixture is used for taking the formed coil material from the coil-taking platform and moving it to the pallet for stacking.

2. The automatic equipment for offline stacking of a composite sheet material coil according to claim 1, wherein, The automatic guided vehicle with the coil-taking fixture includes a coil-taking automatic guided vehicle and a coil-taking fixture. The coil-taking fixture includes: a bracket, a material-taking structure, a load detection structure, and a driving structure. The material-taking structure is assembled on one side of the bracket, the driving structure is assembled on the bracket, and the driving structure is connected to the material-taking structure. The load detection structure is assembled on the material-taking structure. The coil-taking fixture includes: a first AGV body, a lifting mechanism, and a scissor lift mechanism. The lifting mechanism is assembled on the first AGV body, and the scissor lift mechanism is connected to the lifting mechanism. The bracket is connected to the scissor lift mechanism.

3. The automatic equipment for stacking the off-line coiled material of the composite board according to claim 2, characterized in that, The material-taking structure includes an upper material-taking claw, a lower material-taking claw, and a sliding assembly. The sliding assembly is connected to the bracket. The upper material-taking claw and the lower material-taking claw are respectively connected to the sliding assembly. The load detection structure is respectively assembled on the upper material-taking claw and the lower material-taking claw.

4. An automatic equipment for offline stacking of composite sheet coil materials according to claim 3, characterized in that, The load detection structure includes a first detection plate, a first elastic member, a first proximity switch, a first connecting rod, and a first housing. The first detection plate is connected above the first housing. The first elastic member is inserted into the first housing. And the upper end of the first elastic member extends outside the first housing and is connected to the first detection plate. The first connecting rod passes through the first elastic member, and the upper end of the first connecting rod is connected to the first detection plate. The first proximity switch is located on one side of the first housing, and the first housing is assembled on the material-taking structure.

5. An automatic equipment for stacking the off-line coiled stock of a composite sheet material according to any one of claims 1 to 4, characterized in that, The formed coil material flipping structure includes: a base, a conveying assembly, a flipping assembly, and a guard plate assembly. The guard plate assembly is assembled on the conveying assembly, and the conveying assembly is connected to the flipping assembly. The flipping assembly is assembled on the base.

6. The automatic equipment for offline stacking of composite sheet coils according to claim 5, characterized in that, The flipping assembly includes a flipping power source and a flipping push rod. The flipping power source is assembled on the base, and the flipping power source is connected to the flipping push rod. The flipping push rod is connected to the conveying assembly.

7. An automatic equipment for stacking the offline coiled material of a composite sheet material according to any one of claims 1 to 4, characterized in that, The stacking guided vehicle with the stacking coil fixture includes: a stacking coil fixture and a second AGV body. Among them, the stacking coil fixture includes a stacking coil material-taking assembly, a stacking bracket, and a stacking driving assembly. The stacking coil material-taking assembly is connected to the stacking driving assembly. The stacking driving assembly and the stacking coil material-taking assembly are respectively assembled on the stacking bracket, and the stacking bracket is connected to the second AGV body.

8. An automatic equipment for offline stacking of composite sheet coils according to claim 7, characterized in that, The stacking and coiling material taking assembly includes a left stacking and coiling material taking claw, a right stacking and coiling material taking claw, and a stacking and coiling sliding assembly. The left stacking and coiling material taking claw and the right stacking and coiling material taking claw are respectively assembled on the stacking and coiling sliding assembly, and the stacking and coiling sliding assembly is connected to the stacking and coiling support.

9. The automatic equipment for stacking the coiled stock of the composite sheet material according to claim 8, characterized in that The stacking and coiling driving assembly includes a stacking and coiling power source, a second speed reducer, a second coupling, a second lead screw fixing seat, a second lead screw, and a second connecting member. The left stacking and coiling material taking claw and the right stacking and coiling material taking claw are respectively connected to the second connecting member; the stacking and coiling power source is connected to the second speed reducer; the second speed reducer is connected to the second coupling; the second coupling is connected to the second lead screw; the second lead screw is connected to the stacking and coiling support through the second lead screw fixing seat; and the second connecting member is connected to the second lead screw.

10. The automatic equipment for offline stacking of composite sheet coils according to claim 9, characterized in that, It further includes a stacking and coiling lifting assembly. The stacking and coiling support is connected to the stacking and coiling lifting assembly; and the stacking and coiling lifting assembly is connected to the second AGV body.

Images