AGV transfer trolley for high-flexibility non-woven fabric production

Abstract

The invention discloses an AGV transfer trolley for high-flexibility non-woven fabric production, and relates to the technical field of AGV transfer trolleys, the AGV transfer trolley comprises an AGV body, a cloth storage rack, a cloth carrying mechanism, a height adjusting mechanism and a feeding and discharging mechanism, and is characterized in that an automatic guide mechanism carries out movement control, a PLC control module carries out program presetting and control, a magnetic navigation module is matched with a laser navigation module, and a laser navigation module is used for carrying out laser navigation. The AGV body is ensured to run according to a preset route, meanwhile, the obstacle avoidance module can automatically adjust the driving route to avoid collision, the systems cooperate together to ensure that the AGV body can efficiently and accurately move, and meanwhile, through mutual cooperation of all the mechanisms, the AGV body can move more accurately. The reel type materials can be fed and discharged between the cloth storage frame and the AGV body and stably transferred in a workshop, the application defect of an existing AGV body is overcome, and the reel type structures commonly used for cloth can be smoothly fed and discharged and transferred. Therefore, the AGV body system can be widely applied in the textile field.

Description

Technical Field

[0001] The present invention relates to the technology of AGV transfer vehicles, and specifically to an AGV transfer vehicle for the production of high-soft non-woven fabrics. Background Art

[0002] As is well known, an AGV transfer vehicle is an automatic guided vehicle mainly used for automatic handling operations in logistics and production systems. It is equipped with automatic guidance devices such as electromagnetic, optical, laser, or vision, and can travel along a specified path and has safety protection and various transfer functions. With its characteristics of high efficiency, flexibility, and precision, it has become the core equipment of modern industrial automation and logistics systems. AGV uses technologies such as laser navigation, visual recognition, QR code / magnetic stripe positioning, etc. to achieve high-precision path planning and dynamic obstacle avoidance, and is widely used.

[0003] The deficiencies of the existing technology are as follows: At present, during the use of an AGV transfer vehicle, its internal guidance mechanism adopts a single navigation module, and the preset navigation mode operation path is difficult to change and expand, with poor adaptability to complex paths. In the magnetic navigation mode, the pre-laid magnetic stripe needs to be maintained regularly, and daily wear will also affect the movement accuracy of the transfer vehicle. The maturity of laser navigation technology is average, and there are still bottlenecks in using the on-vehicle vision system to quickly and accurately achieve road sign recognition. At the same time, the top loading platform of the AGV transfer vehicle is generally an ordinary flat structure, which is convenient for transporting goods with a cubic structure such as packages and cartons in fields such as warehousing and logistics. However, in a fabric production processing factory, the fabrics to be transported are generally wound around the outer circumference of a reel in a roll shape, and the overall shape is a cylindrical structure. For the existing AGV transfer vehicle, its ordinary flat loading components on the top cannot carry the reel. At the same time, due to the special shape and specifications of the reel, the existing AGV transfer trolley cannot achieve automatic loading and unloading of the reel, and cannot achieve the transfer operation of the rolled fabric between the transfer vehicle and the fabric storage rack, restricting the application range of the AGV transfer vehicle and resulting in less application in the field of non-woven fabric processing and transfer. Summary of the Invention

[0004] The purpose of the present invention is to provide an AGV transfer vehicle for the production of high-soft non-woven fabrics to solve the above deficiencies in the existing technology.

[0005] To achieve the above purpose, the present invention provides the following technical solutions: including: an AGV vehicle body and a fabric storage rack. The surface of the fabric storage rack is welded with support rods at equal intervals, and the fabric storage rack carries a fabric reel around which high-soft non-woven fabric is wound through the support rods;

[0006] Side plates, which are symmetrically and vertically arranged at both ends of the top loading position of the AGV vehicle body. Grooves are equidistantly opened inside the side plates, and the fabric reel is taken in and out through the grooves;

[0007] An automatic guiding mechanism is arranged inside the AGV vehicle body. A PLC control module and a driving module are built inside the AGV vehicle body. Laser navigation modules, magnetic navigation modules and obstacle avoidance modules are arranged at the positions around the inside of the AGV vehicle body. The PLC control module presets the operating program, and the driving module controls the movement of the AGV vehicle body. The laser navigation module and the magnetic navigation module cooperate to perform the movement navigation of the AGV vehicle body, and the obstacle avoidance module can automatically avoid obstacles on the traveling route.

[0008] A fabric loading mechanism is arranged inside the side vertical plate and the groove, and can adjust the angle of the internal supporting component. During the process of the AGV vehicle body carrying the fabric for transportation, the included angle between the supporting piece and the side surface of the inner wall of the groove is an acute angle to ensure the stability of the fabric reel during transportation. When the AGV vehicle body discharges materials, the included angle between the supporting piece and the side surface of the inner wall of the groove is an obtuse angle to ensure that the fabric reel can be discharged.

[0009] As a further description of the above technical solution: A tray for carrying the end of the fabric reel is movably connected inside the groove. Horizontal plates are arranged horizontally at positions near the bottom end of the groove inside the side vertical plate, and lead screws are installed inside the horizontal plates through bearings. A nut is connected in cooperation with the outer periphery of the lead screw, and an installation block located on the top of the horizontal plate is arranged at the top of the nut. A connecting rod is installed between the bottom end of the installation block and the tray. The linkage between the nut and the horizontal plate is realized through the connecting rod, so that the horizontal displacement of the nut can drive the angle adjustment of the tray.

[0010] As a further description of the above technical solution: A height adjustment mechanism is arranged on the side of the side vertical plate away from the AGV vehicle body to adjust the height of the loading and unloading mechanism. Side vertical frames are fixedly connected to the sides of the side vertical plates, and sliding seats are slidably connected to the sides of the side vertical frames. A toothed plate connected to the sliding seat is installed vertically inside the side vertical frame. A servo motor A is installed inside the sliding seat, and a gear A extending into the side vertical frame is installed at the power output end of the servo motor A through a speed reducer A. The gear A meshes with the toothed plate so that the vertical height position of the gear can be adjusted along the toothed plate when the gear rotates.

[0011] As a further description of the above technical solution: A loading and unloading mechanism is arranged at the end of the sliding seat and the main body extends to the side near the end of the tray to perform the loading and unloading process of the fabric reel between the top of the AGV vehicle body and the fabric storage rack. A fork arm is arranged at one end of the sliding seat away from the side vertical frame and holds both ends of the fabric reel through the fork arm. A connecting shaft inserted into the sliding seat is arranged at the end of the fork arm, and a gear B is installed on the outer periphery of the connecting shaft. A servo motor B is installed on the outer wall of the end of the sliding seat, and a gear C located inside the sliding seat and meshing with the gear B is installed at the power output end of the servo motor B.

[0012] As a further description of the above technical solution: a bracket is horizontally welded inside the side plate at the bottom position of the cross plate, an adjusting motor is installed at the top end of the bracket, and the power output end of the adjusting motor is connected to the power input end of the lead screw. When the adjusting motor works, it drives the rotation of the lead screw, and then makes the nut slide horizontally along the lead screw.

[0013] As a further description of the above technical solution: rotating shafts A are arranged at positions corresponding to the grooves inside the side plates and are connected to the support plates through the rotating shafts A, so that the support plates can rotate around the rotating shafts A. Rotating shafts B are arranged at both ends of the connecting rod. The connecting rod is connected to the mounting block and the bottom of the support plate through the rotating shafts B. The rotating shafts B play a connecting role, so that the horizontal movement of the nut can drive the angle adjustment of the support plate. A corrugated rubber pad is bonded between the bottom of the support plate and the top of the inner wall of the groove. The corrugated rubber pad plays a sealing role in the connection between the bottom of the support plate and the bottom of the groove, and at the same time does not affect the angle adjustment of the support plate.

[0014] As a further description of the above technical solution: a mounting plate is fixedly connected to the inside of the sliding seat near the side stand. The speed reducer A is fixed to the side of the mounting plate by bolts. The mounting plate plays a role in carrying the speed reducer A and the servo motor A.

[0015] As a further description of the above technical solution: linear guide rails are vertically fixedly connected to both sides of the inner wall of the side stand, and linear sliders are slidably connected inside the linear guide rails. The ends of the linear sliders extend outside the linear guide rails. A connecting rod is horizontally welded between the position of the linear slider outside the linear guide rail and the end of the sliding seat. The sliding seat is connected to the side stand through the connecting rod, and the movement of the sliding seat is limited by the cooperation of the linear guide rail and the linear slider.

[0016] As a further description of the above technical solution: a speed reducer B is installed at the power output end of the servo motor B, and the power output end of the servo motor B is connected to the gear C through the speed reducer B. The speed reducer B can decelerate and adjust the output speed of the servo motor B. End plates are integrally formed at the ends of the fork arms away from the sliding seat. When the fork arms carry the fabric reel, the end plates play a limiting role to prevent the fabric reel from falling off.

[0017] As a further description of the above technical solution, signal transmitting modules are embedded at the bottom positions of the grooves inside the side plates, and signal receiving modules are embedded on the side of the fork arm end facing the side plate. The signal output end of the signal transmitting module is connected to the in-vehicle control processing module of the AGV vehicle body through the signal receiving module. The signal transmitting modules at different heights emit different signals, which are received by the signal receiving modules and then fed back to the control processing module to judge the height positions of the sliding seat and the fork arm.

[0018] The present invention has the following advantages:

[0019] 1. Automatic guiding mechanism: Through the automatic guiding mechanism set inside the AGV vehicle body, the PLC control module is responsible for processing various instructions, performing logical operations, and controlling the output to ensure that the AGV vehicle body can travel and operate according to the predetermined path and instructions. The drive module is composed of a built-in AC motor, an electromagnetic clutch, and a wheel assembly. The wheels are Mecanum wheels, and the decomposition and synthesis of forces are achieved through the angle between the rotation axis of the wheel hub and the rotation axis of the roller, so as to generate the required translational and rotational motions on the ground surface, enabling the AGV vehicle body to move in any direction. The laser navigation module identifies the route by emitting laser and receiving feedback. At the same time, guiding magnetic strips are laid on the preset travel route of the AGV vehicle body. Through the magnetic navigation module, in cooperation with the laser navigation module, the defects of both are made up to ensure that the AGV vehicle body operates according to the preset route. At the same time, the obstacle avoidance module can detect obstacles in the surrounding environment in real time and automatically adjust the travel route to avoid collisions.

[0020] 2. Fabric loading mechanism: Through the groove set inside the side plate and in cooperation with the pallet structure with adjustable angle, it can load and transport the rolled non-woven fabric wound around the outer periphery of the fabric reel. By adjusting the angle of the pallet, the fabric reel can be kept stable during transportation, and the fabric reel can be normally conveyed and moved when loading and unloading are required.

[0021] 3. Loading and unloading mechanism: It is set at the end of the slide seat and the main body extends to one side close to the end of the pallet to perform the loading and unloading of the fabric reel between the top of the AGV vehicle body and the fabric storage rack. By controlling the adjustment of the fork arm angle by the control component and in cooperation with the movement of the AGV vehicle body itself, the fabric reel can be taken out from the common fabric storage rack or the fabric reel can be placed on the fabric storage rack, realizing the automatic loading and unloading of reel-like materials and expanding the applicability of the AGV vehicle body.

[0022] 4. Height adjustment mechanism: It is set on the surface of the side plate away from the AGV vehicle body to adjust the height of the loading and unloading mechanism. The meshing between gear A and the toothed plate enables the gear to adjust its vertical height position along the toothed plate when rotating. When performing loading and unloading operations on the common fabric storage rack, the height position of the loading and unloading component can be adjusted through the height adjustment mechanism to match the mounting components at different height positions on the fabric storage rack, so that the AGV vehicle body can meet the functional requirements of loading and unloading on the side of the fabric storage rack. Description of the Drawings

[0023] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings required to be used in the embodiments. Obviously, the drawings described below are only some embodiments recorded in the present invention. For those of ordinary skill in the art, other drawings can also be obtained based on these drawings.

[0024] Figure 1 Schematic diagram of the overall structure provided by the embodiment of the present invention;

[0025] Figure 2 Schematic diagram of the structure of the support plate in the state of lifting the fabric reel provided by the embodiment of the present invention;

[0026] Figure 3 Schematic diagram of the structure of the support plate in the state of discharging the fabric reel provided by the embodiment of the present invention;

[0027] Figure 4 Schematic diagram of the connection structure between the bottom of the support plate and the bottom of the groove provided by the embodiment of the present invention;

[0028] Figure 5 Schematic diagram of the structure of the sliding seat and the fork arm provided by the embodiment of the present invention;

[0029] Figure 6 Schematic diagram of the connection structure between the sliding seat and the side stand provided by the embodiment of the present invention;

[0030] Figure 7 Schematic diagram of the structure of the toothed plate and the gear A provided by the embodiment of the present invention;

[0031] Figure 8 Schematic diagram of the connection structure between the sliding seat and the fork arm provided by the embodiment of the present invention;

[0032] Figure 9 Top-down schematic diagram of the AGV vehicle body provided by the embodiment of the present invention.

[0033] Explanation of reference numerals:

[0034] 1. AGV vehicle body; 2. Fabric storage rack; 201. Lifting rod; 3. Fabric reel; 4. Side plate; 401. Groove; 5. Cross plate; 501. Lead screw; 502. Nut; 503. Mounting block; 504. Bracket; 505. Adjusting motor; 506. Rotating shaft A; 507. Support plate; 508. Connecting rod; 509. Rotating shaft B; 510. Corrugated rubber pad; 6. Side stand; 601. Sliding seat; 602. Toothed plate; 603. Mounting plate; 604. Servo motor A; 605. Reducer A; 606. Gear A; 607. Linear guide rail; 608. Linear slider; 609. Connecting rod; 7. Fork arm; 701. Connecting shaft; 702. Gear B; 703. Servo motor B; 704. Reducer B; 705. Gear C; 706. End plate; 8. Signal transmitting module; 9. Signal receiving module; 10. PLC control module; 11. Laser navigation module; 12. Magnetic navigation module; 13. Driving module; 14. Obstacle avoidance module. Detailed implementation manners

[0035] To enable those skilled in the art to better understand the technical solution of the present invention, the present invention will be further described in detail below with reference to the accompanying drawings.

[0036] Please refer to Figures 1-9 , the embodiment of the present invention provides a technical solution for an AGV transfer vehicle for the production of high-flexible non-woven fabrics: including: an AGV vehicle body 1 and a fabric storage rack 2. The surface of the fabric storage rack 2 is welded with hanging rods 201 at equal intervals. The fabric storage rack 2 carries a fabric reel 3 around which high-flexible non-woven fabric is wound through the hanging rods 201;

[0037] Side vertical plates 4, the side vertical plates 4 are symmetrically and vertically arranged at both ends of the loading position on the top of the AGV vehicle body 1. Grooves 401 are equidistantly opened inside the side vertical plates 4, and the fabric reel 3 is retracted and released through the grooves 401;

[0038] An automatic guiding mechanism, which is arranged inside the AGV vehicle body 1. A PLC control module 10 and a driving module 13 are built inside the AGV vehicle body 1. Laser navigation modules 11, magnetic navigation modules 12 and obstacle avoidance modules 14 are arranged at the positions around the inside of the AGV vehicle body 1. The PLC control module 10 presets the running program, the driving module 13 controls the movement of the AGV vehicle body 1, the laser navigation module 11 and the magnetic navigation module 12 cooperate to perform the movement navigation of the AGV vehicle body 1, and the obstacle avoidance module 14 can automatically avoid obstacles on the traveling route;

[0039] A fabric loading mechanism, which is arranged inside the side vertical plates 4 and the grooves 401, and can adjust the angle of the internal supporting components. During the transfer of the fabric carried by the AGV vehicle body 1, the angle between the supporting member and the inner side surface of the groove 401 is an acute angle to ensure the stability of the fabric reel 3 during the conveying process. When the AGV vehicle body 1 discharges materials, the angle between the supporting member and the inner side surface of the groove 401 is an obtuse angle to ensure that the fabric reel 3 can be discharged;

[0040] It should be noted that the high-flexible non-woven fabric is wound around the outer periphery of the fabric reel 3. The fabric storage rack 2 mounts the fabric reel 3 through the hanging rod 201 structure. The AGV vehicle body 1 runs automatically through a preset program and transports the fabric reel 3 through the fabric loading mechanism on the top.

[0041] In yet another embodiment provided by the present invention: Inside the groove 401, there is a movable connection with a support plate 507 that bears the end of the fabric winding shaft 3. Horizontally arranged cross plates 5 are provided at positions near the bottom end of the groove 401 inside the side vertical plates 4, and screw rods 501 are installed inside the cross plates 5 through bearings. A nut 502 is fitted around the outer periphery of the screw rod 501, and a mounting block 503 located on the top of the cross plate 5 is provided at the top of the nut 502. A connecting rod 508 is installed between the bottom end of the mounting block 503 and the support plate 507. Through the connecting rod 508, the linkage between the nut 502 and the cross plate 5 is realized, so that when the nut 502 moves horizontally, it can drive the angle adjustment of the support plate 507.

[0042] It should be noted that during the storage, transportation, loading, and unloading operations of the fabric winding shaft 3, the rotation of the screw rod 501 is controlled by adjusting the motor 505. When the screw rod 501 rotates, the nut 502 moves horizontally, and through the connecting rod 508 structure, the support plate 507 can rotate around the rotating shaft A506 to adjust its angle to meet the usage requirements in different situations, enabling the AGV vehicle body 1 to perform the storage, transportation, loading, and unloading processing of the fabric winding shaft 3.

[0043] In yet another embodiment provided by the present invention: a height adjustment mechanism is provided on the side of the side vertical plate 4 away from the AGV vehicle body 1 to adjust the height of the loading and unloading mechanism. Side vertical frames 6 are fixedly connected to the sides of the side vertical plates 4, and a sliding seat 601 is slidably connected to the side of the side vertical frame 6. A toothed plate 602 connected to the sliding seat 601 is installed vertically inside the side vertical frame 6. A servo motor A604 is installed inside the sliding seat 601, and a gear A606 extending into the side vertical frame 6 is installed at the power output end of the servo motor A604 through a speed reducer A605. The gear A606 meshes with the toothed plate 602 so that when the gear rotates, its vertical height position can be adjusted along the toothed plate 602.

[0044] It should be noted that through the height adjustment mechanism, when the AGV vehicle body 1 approaches the fabric storage rack 2 for loading and unloading operations, the servo motor A604 drives the rotation of the gear A606 through the speed reducer A605, and the vertical height adjustment of the sliding seat 601 and the fork arm 7 assembly is realized by the cooperation of the gear A606 and the toothed plate 602, making it align with different height mounting positions in the fabric storage rack 2. The speed reducer A605 adopts a heavy-duty planetary gear speed reducer with high load characteristics to meet the loading and unloading processing requirements of the fabric winding shaft 3. At the same time, between the servo motors A604 at the bottoms of the sliding seats 601 on both sides, through a motion controller, a frequency converter combined with an encoder, a master-slave control mode is adopted to adjust the servo motor speed in real time to achieve the synchronous operation of the servo motors A604 on both sides.

[0045] In yet another embodiment provided by the present invention: a loading and unloading mechanism is disposed at the end of the sliding seat 601, and its main body extends to one side close to the end of the pallet 507, for performing the loading and unloading process of the fabric reel 3 between the top of the AGV vehicle body 1 and the fabric storage rack 2. A fork arm 7 is provided at the end of the sliding seat 601 away from the side stand 6, and both ends of the fabric reel 3 are lifted by the fork arm 7. A connecting shaft 701 inserted into the interior of the sliding seat 601 is provided at the end of the fork arm 7, and a gear B702 is mounted on the outer circumference of the connecting shaft 701. A servo motor B703 is mounted on the outer wall of the end of the sliding seat 601, and a gear C705 located inside the sliding seat 601 and meshing with the gear B702 is mounted on the power output end of the servo motor B703.

[0046] It should be noted that the loading and unloading mechanism disposed at the end of the sliding seat 601 and with its main body extending to one side close to the end of the pallet 507 performs the loading and unloading process of the fabric reel 3 between the top of the AGV vehicle body 1 and the fabric storage rack 2. During operation, the servo motor B703 and the reducer B704 drive the gear C705 to rotate. When the gear C705 rotates, it drives the rotation of the gear B702, and then drives the adjustment of the angle of the fork arm 7 through the connecting shaft 701. During the material taking process, under the action of the movement of the AGV vehicle body 1, the fork arm 7 first horizontally inserts into the bottoms of both ends of the fabric reel 3, and then the angle of the fork arm 7 is raised to remove the fabric reel 3 and make it slide down along the fork arm 7 to the surface of the pallet 507. During the material feeding process, the pallet 507 and the fork arm 7 are inclined at an angle and their ends are aligned, so that the fabric reel 3 can slide to the end of the surface of the fork arm 7, and the fork arm 7 cooperates with the movement of the AGV vehicle body 1 to realize the movement of the fabric reel 3.

[0047] In yet another embodiment provided by the present invention: a bracket 504 is horizontally welded at the bottom position inside the side plate 4 and located at the bottom of the cross plate 5. An adjusting motor 505 is mounted at the top end of the bracket 504, and the power output end of the adjusting motor 505 is connected to the power input end of the lead screw 501. When the adjusting motor 505 works, it drives the rotation of the lead screw 501, and then makes the nut 502 slide horizontally along the lead screw 501.

[0048] It should be noted that the bracket 504 is disposed at the bottom of the cross plate 5 to install and fix the position of the adjusting motor 505. When the adjusting motor 505 operates, its power output end drives the rotation of the lead screw 501, and the position of the nut 502 is adjusted by controlling the rotation of the lead screw 501.

[0049] In yet another embodiment provided by the present invention: rotation shafts A506 are provided at positions corresponding to the grooves 401 inside the side vertical plates 4 and are connected to the support plates 507 through the rotation shafts A506, so that the support plates 507 can rotate around the rotation shafts A506. Rotation shafts B509 are provided at the installation positions at both ends of the connecting rod 508. The connecting rod 508 is connected to the mounting block 503 and the bottom of the support plate 507 through the rotation shafts B509. The rotation shafts B509 play a connecting role, enabling the horizontal movement of the nut 502 to drive the angle adjustment of the support plate 507. A corrugated rubber pad 510 is adhesively bonded between the bottom of the support plate 507 and the top of the inner wall of the groove 401, which plays a sealing role in the connection between the bottom of the support plate 507 and the bottom of the groove 401, and at the same time does not affect the angle adjustment of the support plate 507.

[0050] It should be noted that the rotation shaft A506 plays a connecting role between the side vertical plate 4 and the support plate 507, enabling the support plate 507 to deflect around the rotation shaft A506. The connecting rod 508 plays a connecting role at both ends of the rotation shaft B509. When the angle of the connecting rod 508 changes, it can drive the angle of the support plate 507 to deflect. At the same time, a corrugated rubber pad 510 is provided between the bottom of the support plate 507 and the bottom of the inner wall of the groove 401, which can play a sealing and isolating role in the connection, and at the same time, using its characteristic of being stretchable and compressible, it does not affect the angle adjustment of the support plate 507.

[0051] In yet another embodiment provided by the present invention: a mounting plate 603 is fixedly connected to the inside of the slide base 601 near the side vertical frame 6. The speed reducer A605 is fixed to the side of the mounting plate 603 by bolts. The mounting plate 603 plays a role in carrying the speed reducer A605 and the servo motor A604.

[0052] It should be noted that through the structure of the mounting plate 603 provided at the bottom of the slide base 601, the servo motor A604 and the speed reducer A605 can be installed and positioned on its surface, and the power output end of the speed reducer A605 penetrates through the mounting plate 603 for connection.

[0053] In yet another embodiment provided by the present invention: linear guide rails 607 are vertically fixedly connected to both sides of the inner wall of the side vertical frame 6, and linear sliders 608 are slidably connected inside the linear guide rails 607. The ends of the linear sliders 608 extend outside the linear guide rails 607. A connecting rod 609 is welded horizontally between the position of the linear slider 608 outside the linear guide rail 607 and the end of the slide base 601. The slide base 601 is connected to the side vertical frame 6 through the connecting rod 609, and through the cooperation of the linear guide rail 607 and the linear slider 608, the movement of the slide base 601 is limited.

[0054] It should be noted that a linear slider 608 is provided inside the linear guide rail 607. The linear slider 608 is connected to the end of the slide base 601 through a connecting rod 609. During the movement of the slide base 601, the cooperation of the connecting rod 609, the linear slider 608 and the linear guide rail 607 plays an auxiliary load-bearing and limiting guiding role, so that the slide base 601 can only move in the vertical direction.

[0055] In another embodiment provided by the present invention: a speed reducer B704 is installed at the power output end of the servo motor B703, and the power output end of the servo motor B703 is connected to the gear C705 through the speed reducer B704. The speed reducer B704 can decelerate and adjust the output speed of the servo motor B703. End plates 706 are integrally formed at one ends of the fork arms 7 away from the slide base 601. When the fork arms 7 carry the fabric reel 3, a limiting effect is achieved through the end plates 706 to prevent the fabric reel 3 from falling off.

[0056] It should be noted that when the servo motor B703 operates, its power end drives the rotation of the gear C705 after being decelerated by the speed reducer B704. The speed reducer B704 adopts a planetary gear speed reducer and has good load capacity. Through the adjustment of the speed reducer, the angle of the fork arms 7 is adjusted at an appropriate speed. When the top of the fork arms 7 cannot bear the reel, the end plates 706 can prevent the fabric reel 3 from falling off.

[0057] In another embodiment provided by the present invention, signal transmitting modules 8 are embedded at the bottom positions of the grooves 401 inside the side vertical plates 4, and signal receiving modules 9 are embedded on one side of the ends of the fork arms 7 facing the side vertical plates 4. The signal output end of the signal transmitting module 8 is connected to the in-vehicle control processing module in the AGV vehicle body 1 through the signal receiving module 9. The signal transmitting modules 8 at different heights transmit different signals, which are received by the signal receiving modules 9 and then fed back to the control processing module to determine the height positions of the slide base 601 and the fork arms 7.

[0058] It should be noted that the signal transmitting modules 8 arranged at different height positions inside the side vertical plates 4 emit different identification signals according to their installation positions and heights. The signal output end of the signal transmitting module 8 is connected to the in-vehicle control processing module in the AGV vehicle body 1 through the signal receiving module 9. By using the signal transmitting modules 8 at different heights to transmit different signals, which are received by the signal receiving modules 9 and then fed back to the control processing module, the height positions of the slide base 601 and the fork arms 7 are determined.

[0059] During use, the movement mechanism of the AGV vehicle body 1 is mainly controlled by the automatic guidance mechanism. The PLC control module 10 is responsible for processing various instructions, performing logical operations, and controlling the output to ensure that the AGV vehicle body 1 can travel and operate according to the predetermined path and instructions. The drive module 13 is composed of a built-in AC motor, an electromagnetic clutch, and a wheel assembly. The wheels use Mecanum wheels, and the decomposition and synthesis of forces are achieved through the angle between the rotation axis of the wheel hub and the rotation axis of the roller, so as to generate the required translational and rotational motions on the ground surface, enabling the AGV vehicle body 1 to move in any direction. The laser navigation module 11 identifies the route by emitting and receiving laser feedback. At the same time, a guiding magnetic strip is laid on the preset travel route of the AGV vehicle body 1. Through the magnetic navigation module 12, it cooperates with the laser navigation module 11 to make up for the deficiencies of both and ensure that the AGV vehicle body 1 operates according to the preset route. At the same time, the obstacle avoidance module 14 can detect obstacles in the surrounding environment in real time and automatically adjust the travel route to avoid collisions. These systems work together to ensure that the AGV vehicle body 1 can move efficiently and accurately within the site. Side plates 4 are provided at both ends of the bearing surface of the AGV vehicle body 1. During the storage, transportation, loading, and unloading operations of the fabric reel 3, the motor 505 is adjusted to control the rotation of the lead screw 501. When the lead screw 501 rotates, the nut 502 moves horizontally, and through the connecting rod 508 structure, the support plate 507 can rotate around the rotating shaft A506 to adjust its angle to meet the usage requirements in different situations. During the transfer of the fabric carried by the AGV vehicle body 1, the angle between the supporting member and the inner side surface of the groove 401 is an acute angle to ensure the stability of the fabric reel 3 during transportation. When the AGV vehicle body 1 unloads, the angle between the supporting member and the inner side surface of the groove 401 is an obtuse angle to ensure that the fabric reel 3 can be discharged. The loading and unloading mechanism performs the loading and unloading process of the fabric reel 3 between the top of the AGV vehicle body 1 and the fabric storage rack 2. The servo motor B703 and the reducer B704 drive the gear C705 to rotate. When the gear C705 rotates, it drives the rotation of the gear B702, and then drives the angle adjustment of the adjustment fork arm 7 through the connecting shaft 701. During the material taking process, the fork arm 7 first horizontally inserts into the bottom ends of both ends of the fabric reel 3 under the movement of the AGV vehicle body 1, and then the angle of the fork arm 7 is raised to remove the fabric reel 3 and make it slide down along the fork arm 7 to the surface of the support plate 507. During the material discharging process, the support plate 507 and the fork arm 7 are inclined at an angle and the ends are aligned, so that the fabric reel 3 can slide to the end of the surface of the fork arm 7, and the fork arm 7 cooperates with the movement of the AGV vehicle body 1 to realize the... The servo motor A604 drives the rotation of the gear A606 through the reducer A605, and uses the cooperation between the gear A606 and the toothed plate 602 to realize the vertical height adjustment of the slide block 601 and the fork arm 7 assembly to align it with different height mounting positions in the fabric storage rack 2. At the same time, between the servo motors A604 at the bottoms of the two side slide blocks 601, the synchronous operation of the two side servo motors A604 is realized through the linkage mechanism.The signal emission modules 8 at different height positions inside the side vertical plate 4 emit different identification signals according to their installation positions and heights. The signal output ends of the signal emission modules 8 are connected to the in-vehicle control processing module in the AGV vehicle body 1 through the signal receiving module 9. As the sliding seat 601 and the fork arm 7 move vertically, the signal is received by the signal receiving module 9 and then fed back to the control processing module, so as to judge the height positions of the sliding seat 601 and the fork arm 7, enabling accurate loading and unloading of materials. When moving the fabric reel 3 to the top of the AGV vehicle body 1, the loading and unloading mechanism cooperates with the height adjustment mechanism to perform loading processing sequentially from the top of the side vertical plate 4 downwards. During the process of moving the fabric reel 3 out of the top of the AGV vehicle body 1, the loading and unloading mechanism cooperates with the height adjustment mechanism to perform unloading processing on the fabric reels 3 in each layer of grooves 401 sequentially from the bottom of the side vertical plate 4 upwards. Through the cooperation of each component and the movement of the AGV vehicle body 1, the transfer processing of the fabric reel 3 wound with non-woven fabric can be realized, expanding the functionality and applicability of the AGV vehicle body 1, so that it can also have more applications in the textile field.

[0060] Only some exemplary embodiments of the present invention have been described by way of illustration. Undoubtedly, for those of ordinary skill in the art, the described embodiments can be modified in various different ways without departing from the spirit and scope of the present invention. Therefore, the above drawings and descriptions are illustrative in nature and should not be construed as limiting the protection scope of the claims of the present invention.

Claims

1. An AGV transfer vehicle for the production of high-soft non-woven fabrics, comprising: AGV vehicle body (1) and fabric storage rack (2), wherein equidistant welding rods (201) are welded on the surface of the fabric storage rack (2), and the fabric storage rack (2) carries a fabric reel (3) with high-flex non-woven fabric wound around its outer circumference through the welding rods (201), characterized in that; Side vertical plates (4), which are symmetrically and vertically arranged at both ends of the top bearing position of the AGV vehicle body (1). Grooves (401) are equidistantly formed inside the side vertical plates (4), and the fabric reel (3) is wound and unwound through the grooves (401); An automatic guiding mechanism, which is arranged inside the AGV vehicle body (1). A PLC control module (10) and a driving module (13) are built inside the AGV vehicle body (1). Laser navigation modules (11), magnetic navigation modules (12) and obstacle avoidance modules (14) are arranged at the surrounding positions inside the AGV vehicle body (1). The PLC control module (10) presets the operating program, and the driving module (13) controls the movement of the AGV vehicle body (1). The laser navigation module (11) and the magnetic navigation module (12) cooperate to navigate the movement of the AGV vehicle body (1), and the obstacle avoidance module (14) can automatically avoid obstacles on the traveling route. A fabric carrying mechanism, which is arranged inside the side vertical plates (4) and the grooves (401), and can adjust the angle of the internal supporting components. During the process of the AGV vehicle body (1) carrying and transporting the fabric, the angle between the supporting part and the inner side surface of the groove (401) is an acute angle to ensure the stability of the fabric reel (3) during the conveying process. When the AGV vehicle body (1) discharges materials, the angle between the supporting part and the inner side surface of the groove (401) is an obtuse angle to ensure that the fabric reel (3) can be discharged.

2. The AGV transfer vehicle for the production of high-flexible non-woven fabrics according to claim 1, characterized in that, A tray (507) for carrying the end of the fabric reel (3) is movably connected inside the groove (401). Horizontal plates (5) are arranged horizontally at positions near the bottom ends of the grooves (401) inside the side vertical plates (4), and lead screws (501) are installed inside the horizontal plates (5) through bearings. A nut (502) is in mating connection with the outer circumference of the lead screw (501), and a mounting block (503) located at the top of the horizontal plate (5) is arranged at the top of the nut (502). A connecting rod (508) is installed between the mounting block (503) and the bottom end of the tray (507). The linkage between the nut (502) and the horizontal plate (5) is realized through the connecting rod (508), so that the horizontal displacement of the nut (502) can drive the angle adjustment of the tray (507).

3. An AGV transfer vehicle for the production of high-flexible non-woven fabrics according to claim 1, characterized in that, The height adjustment mechanism is arranged on the side of the side vertical plate (4) away from the AGV vehicle body (1) to adjust the height of the loading and unloading mechanism. Side vertical frames (6) are fixedly connected to the sides of the side vertical plate (4), and a sliding seat (601) is slidably connected to the side of the side vertical frame (6). A toothed plate (602) connected to the sliding seat (601) is installed vertically inside the side vertical frame (6). A servo motor A (604) is installed inside the sliding seat (601), and a gear A (606) extending into the side vertical frame (6) is installed at the power output end of the servo motor A (604) through a speed reducer A (605). The gear A (606) meshes with the toothed plate (602), so that when the gear rotates, its vertical height position can be adjusted along the toothed plate (602).

4. The AGV transfer vehicle for high-flexible non-woven fabric production according to claim 1, characterized in that, The loading and unloading mechanism is arranged at the end of the sliding seat (601), and its main body extends to the side close to the end of the pallet (507) to perform the loading and unloading process of the fabric reel (3) between the top of the AGV vehicle body (1) and the fabric storage rack (2). A fork arm (7) is arranged at one end of the sliding seat (601) away from the side vertical frame (6), and both ends of the fabric reel (3) are lifted by the fork arm (7). A connecting shaft (701) inserted into the sliding seat (601) is arranged at the end of the fork arm (7), and a gear B (702) is installed on the outer circumference of the connecting shaft (701). A servo motor B (703) is installed on the outer wall of the end of the sliding seat (601), and a gear C (705) located inside the sliding seat (601) and meshing with the gear B (702) is installed at the power output end of the servo motor B (703).

5. The AGV transfer vehicle for the production of high-flexible non-woven fabrics according to claim 2, characterized in that, A bracket (504) is horizontally welded at the bottom position of the cross plate (5) inside the side vertical plate (4). An adjustment motor (505) is installed at the top end of the bracket (504), and the power output end of the adjustment motor (505) is connected to the power input end of the lead screw (501). When the adjustment motor (505) works, it drives the rotation of the lead screw (501), and then the nut (502) slides horizontally along the lead screw (501).

6. The AGV transfer vehicle for the production of high-flexible non-woven fabrics according to claim 2, wherein, Rotating shafts A (506) are arranged at the corresponding positions inside the side vertical plate (4) corresponding to the grooves (401), and the pallet (507) is connected through the rotating shafts A (506), so that the pallet (507) can rotate around the rotating shafts A (506). Rotating shafts B (509) are arranged at both ends of the connecting rod (508). The connecting rod (508) is connected to the bottom of the mounting block (503) and the pallet (507) through the rotating shafts B (509). The rotating shafts B (509) play a connecting role, so that the horizontal movement of the nut (502) can drive the angle adjustment of the pallet (507). A corrugated rubber pad (510) is bonded between the bottom of the pallet (507) and the top of the inner wall of the groove (401), which plays a sealing role for the connection between the bottom of the pallet (507) and the bottom of the groove (401), and at the same time does not affect the angle adjustment of the pallet (507).

7. An AGV transfer vehicle for the production of high-flexibility non-woven fabrics according to claim 3, characterized in that, Inside the sliding seat (601), near one side of the side vertical frame (6), there is a fixed connection with a mounting plate (603). The speed reducer A (605) is fixed to the side of the mounting plate (603) by bolts. The mounting plate (603) plays a role in carrying the speed reducer A (605) and the servo motor A (604).

8. An AGV transfer vehicle for the production of high-flexible non-woven fabrics according to claim 3, characterized in that, On both sides of the inner wall of the side vertical frame (6), there are vertically fixed connections with linear guide rails (607), and linear sliders (608) are slidably connected inside the linear guide rails (607). The ends of the linear sliders (608) extend outside the linear guide rails (607). Between the position of the linear sliders (608) outside the linear guide rails (607) and the end of the sliding seat (601), there is a welded connecting rod (609) in the horizontal direction. The connecting rod (609) connects the sliding seat (601) and the side vertical frame (6) together, and through the cooperation of the linear guide rail (607) and the linear slider (608), it plays a role in limiting the movement of the sliding seat (601).

9. The AGV transfer vehicle for high-soft non-woven fabric production according to claim 4, wherein, On the power output end of the servo motor B (703), there is a speed reducer B (704) installed, and the power output end of the servo motor B (703) is connected to the gear C (705) through the speed reducer B (704). The speed reducer B (704) can decelerate and adjust the output speed of the servo motor B (703). At one end of the fork arm (7) away from the sliding seat (601), there are integrally formed end plates (706). When the fork arm (7) carries the fabric reel (3), the end plates (706) play a role in limiting to prevent the fabric reel (3) from falling off.

10. An AGV transfer vehicle for the production of high-flexible non-woven fabrics according to claim 4, characterized in that, Inside the side vertical plate (4), at the bottom position of the groove (401), there are embedded signal transmitting modules (8). On one side of the end of the fork arm (7) facing the side vertical plate (4), there is an embedded signal receiving module (9). The signal output end of the signal transmitting module (8) is connected to the in-vehicle control processing module in the AGV vehicle body (1) through the signal receiving module (9). The signal transmitting modules (8) at different heights transmit different signals, which are received by the signal receiving module (9) and then fed back to the control processing module to judge the height positions of the sliding seat (601) and the fork arm (7).

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