Floating positioning mechanism and paper roll AGV

Abstract

The invention relates to the technical field of AGVs, and particularly discloses a floating positioning mechanism and a paper roll AGV, the floating positioning mechanism comprises a bearing assembly and a positioning driving assembly, the bearing assembly comprises a base, a universal ball is installed on the base, a bearing table used for bearing materials is arranged on the universal ball in a floating mode, and the positioning driving assembly is arranged on the bearing table; positioning blocks are mounted in the centers of the two sides of the bearing table; the positioning driving assembly comprises a mounting frame, and the two ends of the mounting frame are slidably connected with a positioning arm and a shifting arm correspondingly. The bearing assembly is matched with floating positioning of the positioning driving assembly, the central axis of the material on the mobile equipment can be adjusted to the preset positioning axis, the mobile equipment for driving the bearing assembly does not need to be positioned, and particularly, the bearing assembly has a good application prospect in the mobile equipment without a fixed rail; multiple times of driving the mobile equipment to adjust the central axis of the material are not needed.

Description

Technical Field

[0001] The invention relates to the technical field of AGV trolleys, and in particular to a floating positioning mechanism and a paper roll AGV trolley. Background Art

[0002] In the paper coil production and conveying workshop, after the paper roll is slit on the slitting machine, it needs to be unloaded and transferred to the fixed core paper loading station; the process here is: manually move the paper coil unloading car to the slitting machine lower paper position, manually rotate the rotating arm on the slitting machine, move the slit paper roll to the paper coil unloading car, manually move the paper coil unloading car with the paper coil out, and manually move the paper roll to the pallet, and then transfer the pallet to the fixed core paper loading station, and manually move the paper roll from the pallet to the core shaft of the fixed core paper loading station.

[0003] In the actual operation process, due to the high positioning accuracy requirements for the paper slitting position and the paper cart under the paper reel, the manual rotation of the paper slitting arm is relatively dangerous. Manually moving the paper roll multiple times can easily cause damage to the paper roll and the operation is cumbersome and laborious. Summary of the invention

[0004] In view of the deficiencies in the prior art, the present invention provides a floating positioning mechanism and a paper roll AGV trolley.

[0005] A floating positioning mechanism of the present invention comprises: a bearing assembly, the bearing assembly comprises a base, a universal ball is installed on the base, a bearing platform for bearing materials is floatingly provided on the universal ball, positioning blocks are installed at the center of both sides of the bearing platform, and V-shaped grooves are opened on the outer sides of the two positioning blocks;

[0006] A positioning drive assembly, wherein the positioning drive assembly comprises a mounting frame, and both ends of the mounting frame are slidably connected with a positioning arm and a toggle arm, and the positioning arm and the toggle arm are slid on the mounting frame through a first linear drive component, and a mounting plate slidably connected to the mounting frame is installed at the telescopic end of the first linear drive component for driving the toggle arm, and a rotating component for rotating the toggle arm is provided on the mounting plate;

[0007] The axis formed between the ends of the positioning arm and the toggle arm in contact with the two positioning blocks coincides with the positioning axis of the material;

[0008] The two positioning blocks are on the same horizontal line, and the positioning blocks corresponding to the positioning arm and the toggle arm are on the same horizontal plane.

[0009] In some embodiments, the supporting assembly also includes a limiting member installed between the supporting platform and the base, and the bottom of the supporting platform is fixedly connected to a force-bearing sleeve plate mounted on the limiting member, an adjustment groove is provided on the force-bearing sleeve plate, and a movable area is provided between the limiting member and the adjustment groove. The force-bearing sleeve plate on the supporting platform can rotate on the base using the movable area between the limiting member and the limiting member.

[0010] In some embodiments, the supporting assembly further includes an adjusting assembly for adjusting the supporting platform to a positioning axis.

[0011] In some embodiments, the adjustment assembly includes a second linear drive component and a guide rail pair installed between the base and the limiter, and the second linear drive component is used to drive the limiter to move in the adjustment slot;

[0012] In some embodiments, the limiting member is a trapezoidal frame, the adjustment groove is a trapezoidal groove adapted to the trapezoidal frame, and the outer side of the trapezoidal groove is open.

[0013] The universal balls are evenly arranged on the upper surface of the base on both sides of the force-bearing sleeve;

[0014] In some embodiments, the positioning arm and the toggle arm both include a connecting portion and a contact portion, the connecting portion is used to connect to the first linear drive component, a roller is provided at the end of the contact portion, and the sum of the lengths of the end of the roller and the contact portion is greater than the depth of the V-groove on the positioning block.

[0015] In some embodiments, the positioning arm and the mounting frame form an L-shaped station for accommodating the bearing assembly.

[0016] A paper roll AGV trolley comprises the above-mentioned bearing assembly and a vehicle body, wherein the bearing assembly is mounted on the vehicle body, and a bearing frame for bearing a roll is provided in the center of a bearing platform of the bearing assembly.

[0017] Carrying blocks for forming a grabbing gap between the coil and the carrying frame are arranged on both sides of the inner wall of the carrying frame, and the carrying blocks on both sides are symmetrically arranged in a V shape.

[0018] Compared with the prior art, the present invention has the following beneficial effects:

[0019] The present invention can adjust the central axis of the material on the mobile device to a preset positioning axis through the floating positioning of the bearing component in cooperation with the positioning drive component. It can be applied to equipment that has high requirements for the positioning of the central axis of the material after material transportation and transfer, and there is no need to restrict the mobile device that drives the bearing component, and there is no need to position the mobile device that drives the bearing component. It has good application prospects in mobile devices that are not equipped with fixed tracks, and there is no need to drive the mobile device multiple times to adjust the central axis of the material. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] The drawings described herein are used to provide a further understanding of the present application and constitute a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings:

[0021] Figure 1 It is a structural schematic diagram of the bearing assembly of the present invention being located in the positioning drive assembly;

[0022] Figure 2 It is a three-dimensional structural schematic diagram of the positioning drive assembly of the present invention;

[0023] Figure 3 This is a schematic diagram of the exploded structure of the load-bearing assembly of the present invention;

[0024] Figure 4 It is a structural schematic diagram of the adjustment assembly, the limiter and the force-bearing sleeve plate of the present invention;

[0025] Figure 5 The figure is a partial structural schematic diagram of the AGV trolley used for transporting coils of the present invention.

[0026] In the figure: A, bearing assembly; 1, base; 2, universal ball; 3, bearing platform; 31, positioning block; 32, V-shaped groove; 4, positioning drive assembly; 41, mounting frame; 42, positioning arm; 43, toggle arm; 44, first linear drive component; 45, rotating component; 46, mounting plate; 4a, connecting part; 4b, contact part; 4c, roller;

[0027] 5. Limiting member; 6. Force sleeve; 7. Adjustment slot; 8. Activity area; 9. Adjustment assembly; 91. Second linear drive component; 92. Guide rail pair;

[0028] 10. Carrying frame; 11. Carrying block; 12. Vehicle body; 13. Positioning axis. DETAILED DESCRIPTION

[0029] The following will disclose multiple embodiments of the present invention with drawings. For the purpose of clear description, many physical details will be described together in the following description. However, it should be understood that these physical details should not be used to limit the present invention. That is, in some embodiments of the present invention, these physical details are not necessary. In addition, for the purpose of simplifying the drawings, some conventional structures and components will be depicted in a simple schematic manner in the drawings.

[0030] In addition, in the present invention, the descriptions of "first", "second", etc. are only used for descriptive purposes, and do not specifically refer to the order or sequence, nor are they used to limit the present invention. They are only used to distinguish components or operations described with the same technical terms, and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, the technical solutions between the various embodiments can be combined with each other, but they must be based on the ability of ordinary technicians in the field to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0031] Embodiment 1:

[0032] See also Figures 1 - 4 The floating positioning mechanism of the present invention comprises:

[0033] The bearing assembly A comprises a base 1, a universal ball 2 is mounted on the base 1, and a bearing platform 3 for bearing materials is floatingly arranged on the universal ball 2;

[0034] The positioning drive assembly 4 includes a mounting frame 41, and the two ends of the mounting frame 41 are respectively slidably connected with a positioning arm 42 and a toggle arm 43, and the positioning arm 42 and the toggle arm 43 are both slid on the mounting frame 41 through a first linear driving component 44, and the telescopic end of the first linear driving component 44 for driving the toggle arm 43 is installed with a mounting plate 46 slidably connected to the mounting frame 41, and the mounting plate 46 is provided with a rotating component 45 for rotating the toggle arm 43;

[0035] Positioning blocks 31 are installed in the center of both sides of the carrier platform 3, and V-shaped grooves 32 are opened on the outer sides of the two positioning blocks 31;

[0036] The axis formed between the ends of the positioning arm 42 and the shifting arm 43 that are in contact with the two positioning blocks 31 coincides with the positioning axis 13 of the material.

[0037] The two positioning blocks 31 are on the same horizontal line, and the positioning arm 42 and the toggle arm 43 are on the same horizontal plane corresponding to the positioning blocks 31 .

[0038] Working principle:

[0039] When the bearing assembly A as a whole carries the bearing platform 3 to move toward the positioning arm 42, the corresponding positioning block 31 on the bearing platform 3 contacts the positioning arm 42, the bearing assembly A stops moving, and then the positioning arm 42 retracts under the activation of the first linear drive component 44, and the retracted positioning arm 42 drives the bearing platform 3 to rotate on the universal ball 2, and makes the center of the corresponding positioning block 31 located on the positioning axis 13;

[0040] Then the rotating component 45 is started, so that the toggle arm 43 rotates to be parallel to the positioning arm 42. During the rotation process, if it contacts the inner wall of the V-shaped groove 32 in the corresponding positioning block 31, the first linear drive component 44 carries the rotating component 45 and the overall retraction of the toggle arm 43, that is, the positioning block 31 that is not located on the positioning axis 13 can be moved to the positioning axis 13 under the rotation of the support platform 3, that is, the floating positioning of the support platform 3 can be achieved based on the position of the base 1, ensuring that the center axis of the material on the support component A located on the support platform 3 can be adjusted to the preset positioning axis 13, which can be used in equipment with high requirements for the positioning of the center axis of the material after material transportation and transfer, and there is no need to restrict the mobile device that drives the support component A, and there is no need to position the mobile device that drives the support component A, especially in mobile devices without fixed tracks. It has good application prospects and there is no need to drive the mobile device multiple times to adjust the center axis of the material.

[0041] Specifically, in this embodiment, the rotating component 45 uses an electric telescopic rod in conjunction with a joint or a swing arm to swing the toggle arm 43 on the mounting plate 46. The rotating component 45 can also use a motor to connect the toggle arm 43 to rotate it.

[0042] Specifically, the positioning arm 42 and the toggle arm 43 each include a connecting portion 4a and a contact portion 4b, the connecting portion 4a is used to connect to the first linear drive component 44, a roller 4c is provided at the end of the contact portion 4b, and the sum of the lengths of the end of the roller 4c and the contact portion 4b is greater than the depth of the V-groove 32 on the positioning block 31, thereby ensuring that the positioning arm 42 and the toggle arm 43 are in smooth contact with the V-groove 32 and can ensure contact with the center of the V-groove 32.

[0043] The positioning arm 42 and the mounting frame 41 form an L-shaped station for accommodating the bearing assembly A, so that the mobile device drives the bearing assembly A to be positioned using the positioning drive assembly 4 .

[0044] Embodiment 2:

[0045] See also Figure 3 and Figure 4 As a further improvement of the first embodiment, the difference from the first embodiment is that the bearing assembly A also includes a limiting member 5 installed between the bearing platform 3 and the base 1, and the bottom of the bearing platform 3 is fixedly connected with a force-bearing sleeve 6 sleeved on the limiting member 5, and an adjustment groove 7 is opened on the force-bearing sleeve 6, and an active area 8 is provided between the limiting member 5 and the adjustment groove 7. The force-bearing sleeve 6 on the bearing platform 3 can rotate on the base 1 using the active area 8 between the limiting member 5 and the force-bearing sleeve 6.

[0046] The universal balls 2 are evenly arranged on the upper surface of the base 1 on both sides of the force-bearing sleeve plate 6 .

[0047] The bearing assembly A further comprises an adjusting assembly 9 for adjusting the bearing platform 3 to the positioning axis 13 .

[0048] The adjustment assembly 9 includes a second linear drive component 91 and a guide rail pair 92 installed between the base 1 and the limiter 5. The second linear drive component 91 is used to drive the limiter 5 to move in the adjustment slot 7.

[0049] Working principle:

[0050] When the bearing assembly A is moving, the limiting member 5 is in contact with the inner wall of the adjustment slot 7 on the force-bearing sleeve 6. When the bearing assembly A moves to contact the positioning arm 42, the limiting member 5 moves in the adjustment slot 7 to generate an active area 8 when the second linear drive component 91 is started.

[0051] Then, when the positioning arm 42 retracts and drives the support platform 3 to rotate, the center axis of the support platform 3 is set obliquely relative to the positioning axis 13, and the second linear drive component 91 is started again to make the limit member 5 retract until it contacts the inner wall of the adjustment groove 7 and then push the support platform 3. Because one side of the support platform 3 is limited by the positioning block 31 and the positioning arm 42, that is, the force sleeve 6 is pushed by the second linear drive component 91, which will make the center axis of the support platform 3 coincide with the positioning axis 13.

[0052] That is, the second linear driving component 91 is used to move the limiter 5 in the adjustment slot 7, and the central axis of the carrier platform 3 can be adjusted to the positioning axis 13 alone, and the carrier platform 3 can be rotated and retracted in coordination with the toggle arm 43, thereby reducing the force on the toggle arm 43 and improving the service life of the equipment;

[0053] Furthermore, if the second linear drive component 91 enables the limiting member 5 to independently adjust the supporting platform 3 , the subsequent rotation and retraction of the tossing arm 43 can realize the function of detecting whether the central axis of the supporting platform 3 is located on the positioning axis 13 .

[0054] The limiting member 5 is a trapezoidal frame, and the adjustment groove 7 is a trapezoidal groove adapted to the trapezoidal frame. The outer side of the trapezoidal groove is open. The trapezoidal limiting member 5 can play a guiding and positioning role during retraction to ensure that it does not float forward, backward, left, or right.

[0055] Embodiment three:

[0056] A paper roll AGV includes a bearing assembly A described in the first and second embodiments, and a vehicle body 12. The bearing assembly A is mounted on the vehicle body 12, and a bearing frame 10 for carrying a roll is provided in the center of a bearing platform 3 of the bearing assembly A.

[0057] Carrying blocks 11 for forming a gripping gap between the coil and the carrying frame 10 are provided on both sides of the inner wall of the carrying frame 10 , and the carrying blocks 11 on both sides are symmetrically arranged in a V shape.

[0058] Working principle:

[0059] In this embodiment, the vehicle body 12 of the AGV vehicle can carry the carrying component A to move. When the V-shaped groove 32 of the positioning block 31 on the carrying component A contacts structures such as the positioning rod and the positioning arm 42 arranged on the working station, the carrying platform 3 can be initially made to rotate the coil material. Then, the limiting member 5 is pushed to move the carrying platform 3 through the second linear driving component 91, so that the central axis of the material located on the AGV vehicle can be adjusted, reducing the accuracy requirement for the AGV vehicle to carry the material into the working station.

[0060] The above is only the embodiment of the present invention and is not used to limit the present invention. For those skilled in the art, the present invention can have various changes and modifications. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included within the scope of the claims of the present invention.

Claims

1. A floating positioning mechanism, characterized in that, include: A bearing assembly (A), the bearing assembly (A) comprising a base (1), a universal ball (2) being mounted on the base (1), and a bearing platform (3) for bearing materials being floatingly disposed on the universal ball (2); A positioning drive assembly (4), the positioning drive assembly (4) comprising a mounting frame (41), the two ends of the mounting frame (41) are respectively slidably connected with a positioning arm (42) and a toggle arm (43), the positioning arm (42) and the toggle arm (43) are both slid on the mounting frame (41) through a first linear driving component (44), the telescopic end of the first linear driving component (44) for driving the toggle arm (43) is provided with a mounting plate (46) slidably connected to the mounting frame (41), and the mounting plate (46) is provided with a rotating component (45) for rotating the toggle arm (43); Positioning blocks (31) are installed at the center of both sides of the bearing platform (3), and V-shaped grooves (32) are opened on the outer sides of the two positioning blocks (31); The positioning arm (42) and the toggle arm (43) are used to form an axis between the ends in contact with the two positioning blocks (31) so as to coincide with the positioning axis (13) of the material; The two positioning blocks (31) are located on the same horizontal line, and the positioning arm (42) and the toggle arm (43) are located on the same horizontal plane corresponding to the positioning blocks (31).

2. The floating positioning mechanism according to claim 1, wherein: The bearing assembly (A) further comprises a limiting member (5) installed between the bearing platform (3) and the base (1), and a force-bearing sleeve (6) sleeved on the limiting member (5) is fixedly connected to the bottom of the bearing platform (3), an adjustment groove (7) is provided on the force-bearing sleeve (6), and a movable area (8) is provided between the limiting member (5) and the adjustment groove (7), and the force-bearing sleeve (6) on the bearing platform (3) can be rotated on the base (1) by using the movable area (8) between the limiting member (5) and the force-bearing sleeve (6).

3. The floating positioning mechanism according to claim 2, characterized in that: The bearing assembly (A) also includes an adjustment assembly (9) for adjusting the bearing platform (3) to a positioning axis (13).

4. A floating positioning mechanism according to claim 3, characterized in that: The adjustment assembly (9) comprises a second linear drive component (91) and a guide rail pair (92) installed between the base (1) and the limiting component (5), wherein the second linear drive component (91) is used to drive the limiting component (5) to move in the adjustment slot (7).

5. A floating positioning mechanism according to claim 4, characterized in that: The limiting member (5) is a trapezoidal frame, the adjusting groove (7) is a trapezoidal groove adapted to the trapezoidal frame, and the outer side of the trapezoidal groove is open.

6. A floating positioning mechanism according to claim 2, characterized in that: The universal balls (2) are evenly arranged on the upper surface of the base (1) on both sides of the force-bearing sleeve plate (6).

7. A floating positioning mechanism according to claim 1, characterized in that: The positioning arm (42) and the toggle arm (43) both comprise a connecting portion (4a) and a contact portion (4b), wherein the connecting portion (4a) is used to connect to a first linear drive component (44), and a roller (4c) is provided at the end of the contact portion (4b), and the sum of the lengths of the end of the roller (4c) and the contact portion (4b) is greater than the depth of the V-shaped groove (32) on the positioning block (31).

8. A floating positioning mechanism according to claim 1, characterized in that: The positioning arm (42) and the mounting frame (41) form an L-shaped station for accommodating the bearing assembly (A).

9. A paper roll AGV cart, characterized in that: Comprising the bearing assembly (A) described in claims 1-7, and a vehicle body (12), the bearing assembly (A) is installed on the vehicle body (12), and a bearing frame (10) for bearing a coil material is provided at the center of the bearing table (3) of the bearing assembly (A).

10. A paper roll AGV cart according to claim 9, characterized in that: Bearing blocks (11) for forming a grasping gap between the coil material and the bearing frame (10) are provided on both sides of the inner wall of the bearing frame (10), and the bearing blocks (11) on both sides are symmetrically arranged in a V shape.

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