Rolled film feeding system based on AGV butt joint

Abstract

The invention discloses a rolled film feeding system based on AGV butt joint, and belongs to the technical field of AGVs. The single-shaft driver is vertically arranged, and the single-shaft driver is connected to the AGV trolley body through a rotary driver; the end part of the supporting rod is hinged to the sliding plate of the single-shaft driver; the AGV trolley body serves as a moving foundation, the rotary driver drives the single-shaft driver and the supporting rod to rotate, the single-shaft driver drives the supporting rod to ascend and descend, the first driving motor drives the supporting rod to rotate, the supporting rod can change in multiple degrees of freedom, the inner supporting mechanism abuts against a supporting roller of a rolled film, and therefore the rolled film at various angles is taken; the driving wheel mechanism has a uniform pushing effect on the rolled film, the requirement for alternate feeding of the rolled film is met, the stretching supporting mechanism is unfolded from the interior of the supporting rod, then the feeding system can be used in multiple scenes, and the using flexibility and universality of the device are greatly improved.

Description

Technical Field

[0001] The present invention belongs to the technical field of AGV vehicles, and particularly relates to a film feeding system based on AGV docking. Background Art

[0002] In the packaging industry, the collectively referred to film in rolls supplied in rolls is called roll film, and AGV vehicles are widely used in the handling and feeding operations of roll film.

[0003] Chinese Patent (CN202322663904.X) discloses an AGV vehicle for automatically clamping and transporting battery separator roll materials, including: an AGV main body, which includes a vehicle body, a chassis installed on the vehicle body, and a support frame connected to the chassis. A lifting mechanism that lifts vertically is provided on one side of the support frame, and a roll material clamping mechanism is arranged on the lifting mechanism. A traveling device is provided on the vehicle body; the roll material clamping mechanism includes a vertical plate, and clamping components are provided at the left and right ends of the vertical plate and a driving component connecting the clamping components is provided in the middle; the lifting mechanism includes a lead screw, a linear slide rail and a lifting seat. The lead screw is installed on one side of the support frame, a linear slide rail is arranged on each side of the lead screw, the lifting seat is driven and connected to the lead screw through a lead screw seat, and the vertical plate is slidably connected to the linear slide rail through sliders provided on both sides and is connected to the lifting seat.

[0004] Chinese Patent (CN202221940875.6) discloses a special forklift for AGV adhesive film, which relates to the technical field of adhesive film, and includes an unmanned handling vehicle main body. A lifting device is installed on one side of the unmanned handling vehicle main body, a plate body is installed on the surface of the lifting device, and an adhesive film round tube is fixedly installed on the surface of the plate body. The lifting device includes a frame body, and the frame body is fixedly connected to the unmanned handling vehicle main body.

[0005] Currently, for the feeding of roll film, one is to lift and feed by supporting rollers that hold both ends of the roll film, and the other is to insert and feed by inserting into the inside of the supporting rollers of the roll film. As a result, the use scenarios of the feeding system are limited, and the flexibility and versatility of the roll film feeding system are poor. Moreover, both of these feeding methods require the roll film to be in a horizontal state before feeding, resulting in limitations in feeding. Summary of the Invention

[0006] The purpose of the present invention is to propose a roll film feeding system based on AGV docking to solve the above existing problems.

[0007] To achieve the above purpose, the present invention adopts the following technical solutions: A roll film feeding system based on AGV docking, which includes:

[0008] An AGV vehicle main body;

[0009] A single-axis drive, which is vertically arranged, and the single-axis drive is connected to the AGV car body through a rotary drive;

[0010] A support rod, the end of which is hinged to the slide plate of the single-axis drive, and a first through-hole groove is provided on the support rod;

[0011] A first drive motor, which is fixedly connected to the slide plate, and the first drive motor is connected to and drives the support rod;

[0012] Multiple sets of drive wheel mechanisms, which are installed on the support rod, and multiple sets of the drive wheel mechanisms are arranged in an annular array along the axis of the support rod;

[0013] Multiple sets of inner support mechanisms, which are installed on the support rod;

[0014] An extension support mechanism, which is arranged in the first through-hole groove.

[0015] As a further description of the above technical solution:

[0016] The drive wheel mechanism includes a plurality of support wheels, a worm, and a second drive motor. A plurality of first blind-hole grooves are provided on the surface of the support rod. The support wheels are hinged in the first blind-hole grooves. The plurality of support wheels are arranged along the axial direction of the support rod. A turbine is provided on the support wheel. The worm is installed in the first blind-hole groove through a bearing seat, and the worm meshes with the plurality of turbines. The second drive motor is fixedly connected in the first blind-hole groove, and the second drive motor is connected to and drives the worm.

[0017] As a further description of the above technical solution:

[0018] The inner support mechanism includes a telescopic motor and a support block. A plurality of second blind-hole grooves are provided on the surface of the support rod. The telescopic motor is fixedly connected in the second blind-hole grooves, and the support block is fixedly connected to the telescopic end of the telescopic motor.

[0019] As a further description of the above technical solution:

[0020] The stretching and supporting mechanism includes a first lead screw, two second lead screws, a planetary commutator, a driving block, a third driving motor, two swing arms and two supporting blocks. The planetary commutator and the third driving motor are both fixedly connected in the first through hole groove. The first lead screw is installed in the first through hole groove through a bearing seat, and the two ends of the first lead screw are respectively connected to the planetary commutator and the third driving motor. The axis of the first lead screw is parallel to the axis of the support rod. The driving block is slidably connected in the first through hole groove, and the driving block is screwed to the first lead screw. The two swing arms are symmetrically arranged. One end of the swing arm is hinged to the driving block. The supporting block is connected to the other end of the swing arm through a fourth driving motor. A slide rod is slidably connected to the swing arm. The two second lead screws are symmetrically arranged and connected to the planetary commutator, and the two second lead screws respectively pass through the two swing arms. A driving disc is screwed to the second lead screw. The driving disc is slidably connected in the swing arm, and the driving disc is hinged to the slide rod.

[0021] As a further description of the above technical solution:

[0022] Two reinforcing rods are arranged on the planetary commutator, and the end of the second lead screw is connected to the reinforcing rod through a bearing seat.

[0023] As a further description of the above technical solution:

[0024] A guide rail is arranged in the first through hole groove, and a guide slider is arranged on the driving block. The guide slider is slidably connected in the guide rail.

[0025] As a further description of the above technical solution:

[0026] A second through hole groove and a third through hole groove are formed in the swing arm. The second through hole groove and the third through hole groove are arranged in a cross shape. The slide rod is slidably connected in the second through hole groove and passes through the third through hole groove. The driving disc is slidably connected in the third through hole groove and passes through the second through hole groove.

[0027] As a further description of the above technical solution:

[0028] The first driving motor, the rotary drive, the two second driving motors, the multiple telescopic motors, the third driving motor and the two fourth driving motors are all electrically connected to the AGV car body.

[0029] In summary, due to the adoption of the above technical solution, the beneficial effects of the present invention are:

[0030] 1. In the present invention, with the AGV cart body as the moving base, the rotary drive drives the single-axis drive and the support rod to rotate, the single-axis drive drives the support rod to lift, and the first drive motor drives the support rod to rotate, enabling the support rod to change in multiple degrees of freedom. The inner support mechanism presses against the support roller of the wound film, thereby picking up the wound film at various angles. The drive wheel mechanism has a uniform pushing effect on the wound film, meeting the requirements of threading and loading the wound film. The extension support mechanism unfolds from the support rod, meeting the requirements of lifting and loading the wound film. Furthermore, the loading system can be used in multiple scenarios, greatly improving the flexibility and versatility of the device.

[0031] 2. In the present invention, the rotation of the second drive motor drives the worm to rotate, and the rotation of the worm drives the turbine to rotate. The rotation of the turbine means that the support wheel also rotates accordingly. When the support rod is inserted into the support roller of the wound film for loading, the rotating support wheel drives the support roller to move the wound film, ensuring stable, synchronous, and efficient threading and loading.

[0032] 3. In the present invention, the telescopic movement of the telescopic motor drives the support block to move. When the first drive motor drives the support rod to be in a vertical state, the single-axis drive drives the support rod to lift and insert into the wound film, and the telescopic movement of the telescopic motor drives the support block to move and internally support the support roller of the wound film, thereby loading the vertically arranged wound film material, eliminating the limitations of the loading and picking methods, and greatly improving the flexibility and versatility of the device.

[0033] 4. In the present invention, the rotation of the third drive motor drives the first lead screw to rotate. The screwing action between the first lead screw and the drive block drives the drive block to slide in the first through-hole groove. The sliding of the drive block causes a change in the position of the swing arm. At this time, the rotation of the first lead screw also drives the planetary commutator to operate, causing the second lead screw to rotate synchronously. The screwing action between the second lead screw and the drive disk drives the drive disk to change its position on the second lead screw. The change in the position of the drive disk pushes the swing arm to unfold. The hinged connection between the sliding rod and the drive disk enables the sliding rod to slide on the swing arm, meeting the requirement of the staggered position between the swing arm and the drive disk. The rotation of the fourth drive motor drives the support block to adjust its angle to meet the requirement of lifting and loading. The unfolding angle of the swing arm can adapt to and support the two ends of the support rollers of wound films of different specifications, making the device flexible and versatile in use. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 It is a schematic diagram of the overall structure of a wound film loading system based on AGV docking.

[0035] Figure 2 It is a cross-section of a wound film loading system based on AGV docking Figure 1 .

[0036] Figure 3 It is Figure 2Partial enlarged view of part A.

[0037] Figure 4 Is the cross-section of a roll film feeding system based on AGV docking Figure 2 。

[0038] Figure 5 Is Figure 4 Partial enlarged view of part B in

[0039] Figure 6 Is the cross-section of a roll film feeding system based on AGV docking Figure 3 。

[0040] Figure 7 Is Figure 6 Reference diagram of the usage state of

[0041] Figure 8 Is Figure 7 Partial enlarged view of part C in

[0042] Figure 9 Is the reference diagram of the usage state of a roll film feeding system based on AGV docking Figure 1 。

[0043] Figure 10 Is the reference diagram of the usage state of a roll film feeding system based on AGV docking Figure 2 。

[0044] Figure 11 Is the reference diagram of the usage state of a roll film feeding system based on AGV docking Figure 3 。

[0045] Figure 12 Is Figure 11 Partial enlarged view of part D in

[0046] Figure 13 Is the exploded view of the support rod and its internal structure in a roll film feeding system based on AGV docking.

[0047] Legend:

[0048] 1. AGV car body; 2. Single-axis driver; 3. Rotary drive; 4. Support rod; 5. First through-hole groove; 6. First drive motor; 7. Driving wheel mechanism; 71. Support wheel; 72. Worm; 73. Second drive motor; 8. Inner support mechanism; 81. Telescopic motor; 82. Support block; 9. Extension support mechanism; 91. First lead screw; 92. Second lead screw; 93. Planetary commutator; 94. Driving block; 95. Third drive motor; 96. Swing arm; 97. Support block; 10. First blind-hole groove; 11. Turbine; 12. Second blind-hole groove; 13. Fourth drive motor; 14. Slide bar; 15. Driving disc; 16. Reinforcing rod; 17. Guide rail; 18. Guide slider; 19. Second through-hole groove; 20. Third through-hole groove. Detailed implementation manner

[0049] 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 only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the protection scope of the present invention.

[0050] Please refer to Figure 1-13 , the present invention provides a technical solution: a film feeding system based on AGV docking, including:

[0051] AGV car body 1;

[0052] A single-axis driver 2, which is arranged vertically, and the single-axis driver 2 is connected to the AGV car body 1 through a rotary drive 3;

[0053] A support rod 4, the end of which is hinged to the slide plate of the single-axis driver 2, and a first through-hole groove 5 is provided on the support rod 4;

[0054] A first drive motor 6, which is fixedly connected to the slide plate, and the first drive motor 6 is connected to and drives the support rod 4;

[0055] Multiple groups of driving wheel mechanisms 7, which are installed on the support rod 4, and multiple groups of the driving wheel mechanisms 7 are arranged in a circular array along the axis of the support rod 4;

[0056] Multiple groups of inner support mechanisms 8, which are installed on the support rod 4;

[0057] An extension support mechanism 9, which is arranged in the first through-hole groove 5;

[0058] The driving wheel mechanism 7 includes a plurality of supporting wheels 71, a worm 72 and a second driving motor 73. A plurality of first blind hole grooves 10 are formed on the surface of the support rod 4. The supporting wheels 71 are hinged in the first blind hole grooves 10. The plurality of supporting wheels 71 are arranged along the axial direction of the support rod 4. A turbine 11 is arranged on the supporting wheel 71. The worm 72 is installed in the first blind hole groove 10 through a bearing seat, and the worm 72 meshes with the plurality of turbines 11. The second driving motor 73 is fixedly connected in the first blind hole groove 10, and the second driving motor 73 is connected to and drives the worm 72. When the second driving motor 73 rotates, it drives the worm 72 to rotate. When the worm 72 rotates, it drives the turbine 11 to rotate. The rotation of the turbine 11 means that the supporting wheel 71 also rotates accordingly. When the support rod 4 is inserted into the support roller of the coiled film for feeding, the rotating supporting wheel 71 drives the support roller to move the coiled film, ensuring stable and synchronous feeding during insertion with high efficiency;

[0059] The inner support mechanism 8 includes a telescopic motor 81 and a support block 82. A plurality of second blind hole grooves 12 are formed on the surface of the support rod 4. The telescopic motor 81 is fixedly connected in the second blind hole grooves 12. The support block 82 is fixedly connected to the telescopic end of the telescopic motor 81. The telescopic movement of the telescopic motor 81 drives the support block 82 to move. When the first driving motor 6 drives the support rod 4 to be in a vertical state, the single-axis driver 2 drives the support rod 4 to lift and insert it into the coiled film. The telescopic movement of the telescopic motor 81 drives the support block 82 to move and internally support the support roller of the coiled film, thereby feeding the vertically arranged coiled film material, eliminating the limitations of the feeding and material taking methods, and greatly improving the flexibility and versatility of the device;

[0060] The stretching and supporting mechanism 9 includes a first lead screw 91, two second lead screws 92, a planetary commutator 93, a driving block 94, a third driving motor 95, two swing arms 96 and two supporting blocks 97. The planetary commutator 93 and the third driving motor 95 are both fixedly connected in the first through hole groove 5. The first lead screw 91 is installed in the first through hole groove 5 through a bearing seat, and the two ends of the first lead screw 91 are respectively connected to the planetary commutator 93 and the third driving motor 95. The axis of the first lead screw 91 is parallel to the axis of the support rod 4. The driving block 94 is slidably connected in the first through hole groove 5, and the driving block 94 is screwed to the first lead screw 91. The two swing arms 96 are symmetrically arranged. One end of the swing arm 96 is hinged to the driving block 94. The supporting block 97 is connected to the other end of the swing arm 96 through a fourth driving motor 13. A sliding rod 14 is slidably connected to the swing arm 96. The two second lead screws 92 are symmetrically arranged and connected to the planetary commutator 93, and the two second lead screws 92 respectively pass through the two swing arms 96. A driving disc 15 is screwed to the second lead screw 92. The driving disc 15 is slidably connected in the swing arm 96, and the driving disc 15 is hinged to the sliding rod 14. The third driving motor 95 rotates to drive the first lead screw 91 to rotate. The screwing action between the first lead screw 91 and the driving block 94 drives the driving block 94 to slide in the first through hole groove 5. The sliding of the driving block 94 pushes the position of the swing arm 96 to change. At this time, the rotation of the first lead screw 91 also drives the planetary commutator 93 to operate, so that the second lead screw 92 rotates synchronously. The screwing action between the second lead screw 92 and the driving disc 15 drives the position change of the driving disc 15 on the second lead screw 92. The position change of the driving disc 15 pushes the swing arm 96 to expand. The hinging action between the sliding rod 14 and the driving disc 15 enables the sliding rod 14 to slide on the swing arm 96, which can satisfy the position stagger between the swing arm 96 and the driving disc 15. The fourth driving motor 13 rotates to drive the supporting block 97 to adjust its angle, so as to satisfy lifting and loading. The expansion angle of the swing arm 96 can adapt to and support both ends of the supporting rollers of different specifications of winding films, making the device flexible and convenient to use and highly versatile;

[0061] Two reinforcing rods 16 are arranged on the planetary commutator 93. The end of the second lead screw 92 is connected to the reinforcing rod 16 through a bearing seat. The reinforcing rod 16 has a structural support effect on the second lead screw 92, ensuring the stable connection of the second lead screw 92;

[0062] A guide rail 17 is arranged in the first through hole groove 5. A guide slider 18 is arranged on the driving block 94. The guide slider 18 is slidably connected in the guide rail 17. The guide rail 17 has a sliding support effect on the guide slider 18, thereby ensuring the stable sliding of the driving block 94;

[0063] The swing arm 96 is provided with a second through-hole groove 19 and a third through-hole groove 20, the second through-hole groove 19 and the third through-hole groove 20 are arranged in a cross shape, the sliding rod 14 is slidably connected in the second through-hole groove 19 and passes through the third through-hole groove 20, the driving disc 15 is slidably connected in the third through-hole groove 20 and passes through the second through-hole groove 19, the second lead screw 92 rotates and is screwed to drive the driving disc 15, and the guiding functions of the second through-hole groove 19 and the third through-hole groove 20 enable the driving disc 15 to act on the swing arm 96 to unfold, avoiding freedom restrictions between components and ensuring smooth unfolding of the swing arm 96;

[0064] The first driving motor 6, the slewing drive 3, the two second driving motors 73, the multiple telescopic motors 81, the third driving motor 95 and the two fourth driving motors 13 are all electrically connected to the AGV car body 1. By using the multi-functional controllability of the AGV car body 1, during actual use, a vision system can be connected to automatically determine the positions of loading and unloading materials, so as to control the rotation angle of the support rod 4 in the X-axis direction by the first driving motor 6, the rotation angle of the support rod 4 in the Z-axis direction by the slewing drive 3, the lifting movement of the support rod 4 in the Z-axis direction by the slewing drive 3, the unfolding angle of the swing arm 96 by the third driving motor 95, and the angle of the supporting block 97 by the fourth driving motor 13, so as to switch multiple ways for material taking and loading, greatly improving the flexibility and versatility of the device.

[0065] Working principle: First, during the material picking operation, when the coiled film material is horizontally arranged, only the AGV cart body 1 needs to move to the coiled film, and the lifting of the slide plate is driven by the single-axis driver 2 to adjust the position of the support rod 4. The first driving motor 6 rotates to adjust the support rod 4 to a horizontal state, and the support rod 4 is inserted into the support roller of the coiled film to achieve horizontal material picking. When the coiled film is vertically arranged, repeat the above steps, except that the support rod 4 needs to be in a vertical state and inserted into the support roller of the coiled film, and the telescopic motor 81 drives the support block 82 to move and internally support the support roller of the coiled film, so as to load the vertically arranged coiled film material. Secondly, during the threading and loading process, the second driving motor 73 rotates to drive the worm 72 to rotate. The rotation of the worm 72 drives the turbine 11 to rotate. The rotation of the turbine 11 means that the support wheel 71 also rotates together. When the support rod 4 is inserted into the support roller of the coiled film for loading, the rotating support wheel 71 drives the support roller to move the coiled film, ensuring stable, synchronous and efficient threading and loading. Finally, during the lifting and loading process, the third driving motor 95 rotates to drive the first lead screw 91 to rotate. The screwing action between the first lead screw 91 and the driving block 94 drives the driving block 94 to slide in the first through-hole groove 5. The sliding of the driving block 94 pushes the position of the swing arm 96 to change. At this time, the rotation of the first lead screw 91 also drives the planetary commutator 93 to operate, so that the second lead screw 92 rotates synchronously. The screwing action between the second lead screw 92 and the driving disk 15 drives the position change of the driving disk 15 on the second lead screw 92. The position change of the driving disk 15 pushes the swing arm 96 to unfold. The hinged action between the slide rod 14 and the driving disk 15 allows the slide rod 14 to slide on the swing arm 96, which can meet the position stagger between the swing arm 96 and the driving disk 15. The fourth driving motor 13 rotates to drive the support block 97 to adjust its angle to meet the lifting and loading. The unfolding angle of the swing arm 96 can adapt to and support both ends of the support rollers of coiled films of different specifications.

[0066] The above is only a preferred specific embodiment 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, according to the technical solution and inventive concept of the present invention, makes equivalent substitutions or changes, and should be covered by the protection scope of the present invention.

Claims

1. A roll film feeding system based on AGV docking, characterized in that: Including: AGV car body (1); A single-axis driver (2), which is vertically arranged, and the single-axis driver (2) is connected to the AGV car body (1) through a slewing drive (3); A support rod (4), the end of which is hinged to the slide plate of the single-axis driver (2), and a first through-hole groove (5) is provided on the support rod (4); A first driving motor (6), which is fixedly connected to the slide plate, and the first driving motor (6) is connected to and drives the support rod (4); Multiple groups of driving wheel mechanisms (7), which are installed on the support rod (4), and multiple groups of the driving wheel mechanisms (7) are arranged in a circular array along the axis of the support rod (4); Multiple groups of inner support mechanisms (8), which are installed on the support rod (4); An extension support mechanism (9), which is arranged in the first through-hole groove (5).

2. The roll film feeding system based on AGV docking according to claim 1, characterized in that The driving wheel mechanism (7) includes a plurality of support wheels (71), a worm (72) and a second driving motor (73). A plurality of first blind-hole grooves (10) are provided on the surface of the support rod (4). The support wheels (71) are hinged in the first blind-hole grooves (10). The plurality of support wheels (71) are arranged along the axial direction of the support rod (4). A turbine (11) is provided on the support wheel (71). The worm (72) is installed in the first blind-hole groove (10) through a bearing seat, and the worm (72) meshes with the plurality of turbines (11). The second driving motor (73) is fixedly connected in the first blind-hole groove (10), and the second driving motor (73) is connected to and drives the worm (72).

3. The film rewinding and loading system based on AGV docking according to claim 2, wherein The inner support mechanism (8) includes a telescopic motor (81) and a support block (82). A plurality of second blind-hole grooves (12) are provided on the surface of the support rod (4). The telescopic motor (81) is fixedly connected in the second blind-hole groove (12), and the support block (82) is fixedly connected to the telescopic end of the telescopic motor (81).

4. A film feeding system based on AGV docking according to claim 3, wherein, The stretching and supporting mechanism (9) includes a first lead screw (91), two second lead screws (92), a planetary commutator (93), a driving block (94), a third driving motor (95), two swing arms (96) and two supporting blocks (97). The planetary commutator (93) and the third driving motor (95) are both fixedly connected in the first through-hole groove (5). The first lead screw (91) is installed in the first through-hole groove (5) through a bearing seat, and both ends of the first lead screw (91) are respectively connected to the planetary commutator (93) and the third driving motor (95). The axis of the first lead screw (91) is parallel to the axis of the support rod (4). The driving block (94) is slidably connected in the first through-hole groove (5), and the driving block (94) is screwed to the first lead screw (91). The two swing arms (96) are symmetrically arranged. One end of the swing arm (96) is hinged to the driving block (94). The supporting block (97) is connected to the other end of the swing arm (96) through a fourth driving motor (13). A slide bar (14) is slidably connected to the swing arm (96). The two second lead screws (92) are symmetrically arranged and connected to the planetary commutator (93), and the two second lead screws (92) respectively pass through the two swing arms (96). A driving disc (15) is screwed to the second lead screw (92). The driving disc (15) is slidably connected in the swing arm (96), and the driving disc (15) is hinged to the slide bar (14).

5. The film rolling feeding system based on AGV docking according to claim 4, characterized in that Two reinforcing rods (16) are arranged on the planetary commutator (93), and the end of the second lead screw (92) is connected to the reinforcing rod (16) through a bearing seat.

6. The film rewinding feeding system based on AGV docking according to claim 5, wherein A guide rail (17) is arranged in the first through-hole groove (5), a guide slider (18) is arranged on the driving block (94), and the guide slider (18) is slidably connected in the guide rail (17).

7. The film rolling feeding system based on AGV docking according to claim 6, wherein A second through-hole groove (19) and a third through-hole groove (20) are formed in the swing arm (96). The second through-hole groove (19) and the third through-hole groove (20) are arranged in a cross shape. The slide bar (14) is slidably connected in the second through-hole groove (19) and passes through the third through-hole groove (20). The driving disc (15) is slidably connected in the third through-hole groove (20) and passes through the second through-hole groove (19).

8. The a roll film loading system based on AGV docking according to claim 7, characterized in that The first driving motor (6), the rotary drive (3), the two second driving motors (73), the multiple telescopic motors (81), the third driving motor (95) and the two fourth driving motors (13) are all electrically connected to the AGV car body (1).

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