Copper steel composite coil transfer equipment

Abstract

The invention discloses copper steel composite coil transfer equipment, which belongs to the technical field of automatic logistics transportation and comprises an AGV (automatic guided vehicle), a bidirectional spiral driving device, a telescopic supporting mechanism, a self-adaptive clamping device and a dynamic bearing platform. Supporting arms are driven to move synchronously through a bidirectional lead screw, self-adaptive clamping is achieved by combining inclined plane linkage of a conical top block and a trapezoidal clamping block, and a dynamic bearing platform monitors the position of a coiled material through magnetorheological fluid leveling and a fluorescence labeling sensor array. The problems that a traditional transfer device is low in positioning precision, insufficient in dynamic bearing and the like are solved, and the device is suitable for efficient and safe transportation of heavy coiled materials in the metallurgical industry.

Description

Technical Field

[0001] The present invention relates to the field of automated logistics and transportation technology, and specifically to a copper-steel composite coil transfer device, in particular to an intelligent handling device that integrates autonomous navigation, dynamic load-bearing and adaptive clamping functions, and is suitable for the automated transfer of heavy composite coils in the metallurgy and metal processing industries. Background Art

[0002] Copper-steel composite coils are important materials in the industrial field, and their transportation must take into account both efficiency and safety. Traditional transportation methods rely on manually operated forklifts or fixed robotic arms, which have the following problems: 1. Poor adaptability: The sizes of composite rolls vary greatly, and traditional clamps are difficult to adapt to rolls of different diameters, which can easily lead to unstable clamping or damage to the material surface; 2. Low positioning accuracy: It is difficult to achieve millimeter-level positioning by manual operation, which may easily cause the coil to collide with the carrying platform; 3. Insufficient dynamic load: The composite roll is heavy and unevenly distributed. Ordinary AGVs are prone to roll deviation or even overturning due to inertia during movement. 4. High energy loss: Vibration energy cannot be recovered during transportation, and the equipment's endurance is limited.

[0003] Although existing AGV transfer equipment has basic navigation functions, it has significant technical shortcomings in clamping mechanisms, dynamic leveling and energy management, making it difficult to meet the needs of high-strength, high-precision and high-safety composite roll transfer. Summary of the Invention

[0004] 1. Technical problems to be solved: In response to the problems existing in the prior art, the purpose of the present invention is to provide a copper-steel composite coil transfer equipment, which solves the problems of low positioning accuracy and insufficient dynamic load-bearing capacity of traditional transfer devices, and is suitable for the efficient and safe transportation of heavy coils in the metallurgical industry.

[0005] 2. Technical solution: To solve the above problems, the present invention adopts the following technical solutions.

[0006] A copper-steel composite coil transfer device includes an AGV trolley, a bidirectional spiral drive device is provided on one side of the top of the AGV trolley, the forward and reverse spiral ends of the bidirectional spiral drive device are respectively connected to a retractable support mechanism; the end of the retractable support mechanism is vertically connected to an adaptive clamping device; a dynamic load-bearing platform is provided in the middle of the AGV trolley, and the dynamic load-bearing platform includes a liftable magnetorheological load-bearing plate and a fluorescent marker sensor array arranged at its four corners; the AGV trolley is integrated with a main control system, which is electrically connected to the bidirectional spiral drive device, the adaptive clamping device, and the dynamic load-bearing platform respectively.

[0007] Further improvements are: the bidirectional spiral drive device includes a drive box fixed to the top side of the AGV trolley, and a bidirectional screw is arranged in the drive box along the travel direction of the AGV trolley. The long axis center line of the bidirectional screw is parallel to the forward direction of the vehicle body, and both ends are rotatably connected to the box through angular contact bearings; a torque detection module is provided in the middle of the bidirectional screw, and the two ends are respectively connected to the positive and negative thread segments; the front end of the drive box is provided with a reduction drive motor coaxially connected to the bidirectional screw, and a transmission slider is each sleeved on the positive and negative thread segments of the bidirectional screw; a cover plate with a guide slot is provided on the top of the drive box, and a horizontal movable bracket passing through the guide slot is fixedly connected to the upper part of the transmission slider.

[0008] A further improvement is that the telescopic support mechanism comprises a rotating base hingedly connected to the horizontally movable bracket; The upper surface of the rotating base is provided with a rotating shaft hole perpendicular to the traveling direction of the AGV trolley, and the root of the support arm is pivotally connected to the rotating shaft hole through the rotating shaft; The axial motor is fixed to the side wall of the rotating base, and its output shaft is rigidly connected to the rotating shaft of the support arm through a coupling; A telescopic arm is slidably sleeved in the support arm, a linear guide groove is provided in the support arm, the telescopic arm forms a sliding pair through a slider and the guide groove, and a first linear drive is installed between the inner wall of the support arm and the middle of the telescopic arm; A transverse opening is provided at the end of the telescopic arm, and an arc-shaped buffer pad is fixed on the inner surface of the telescopic arm.

[0009] A further improvement is that the adaptive clamping device comprises a square housing vertically connected to the telescopic arm, and four sliding sleeves are fixed to the center of the four side walls of the square housing in a cross-symmetrical distribution; A T-shaped guide rod is slidably inserted into each sliding sleeve, wherein the vertical end of the T-shaped guide rod extends into the interior of the sleeve and the horizontal end is located outside the sleeve; A pressure spring is sleeved on the outer side of the vertical end of the T-shaped guide rod, one end of the pressure spring is fixedly connected to the top of the sliding sleeve, and the other end is fixedly connected to the upper surface of the horizontal end of the T-shaped guide rod; The end of the T-shaped guide rod extends into the interior of the square housing and is connected to a trapezoidal block; An axial slideway is provided at the center of the square housing, and a conical top block is slidably provided in the axial slideway, and the quadrangular pyramid inclined surface thereof is in contact with and matched with the inner inclined surfaces of the four trapezoidal clamping blocks respectively.

[0010] A further improvement is that: the conical top block is driven by a second linear drive, the telescopic rod of the second linear drive passes through the transverse opening of the telescopic arm and is connected to the conical top block; a connecting piece is fixed to the top end of the T-shaped guide rod, and a shape memory alloy connecting piece is embedded and installed on the outer end of the connecting piece, and the shape memory alloy connecting piece is electrically connected to the AGV control circuit.

[0011] A further improvement is that the dynamic load-bearing platform includes two lifting compartments symmetrically arranged in the middle of the AGV cart, each lifting compartment is equipped with a hydraulic lifting column, and the top of the hydraulic lifting column is connected to a magnetorheological load-bearing plate; the magnetorheological load-bearing plate is filled with magnetorheological fluid, and a fluorescent marker sensor array is provided at the four corners of the upper surface.

[0012] A further improvement is that a piezoelectric energy harvesting module is embedded in the magnetorheological bearing plate, and the piezoelectric energy harvesting module and the AGV are electrically connected to the battery via a DC-DC conversion circuit; The four corners of the bottom of the magnetorheological bearing plate are embedded with inclination sensors, whose signal output ends are connected to the main control system; The bottom of the hydraulic lifting column is connected to a vehicle-mounted hydraulic system, and the main control system realizes dynamic leveling of the bearing plate by adjusting the hydraulic pressure and the viscosity of the magnetorheological fluid according to the detection data of the inclination sensor.

[0013] A further improvement is that a laser distance measuring module is provided at the front of the AGV, which is connected to the control system signal of the adaptive clamping device for real-time detection of the relative position of the composite roll and the clamping device.

[0014] A further improvement is that the arc-shaped buffer pad adopts a multi-layer composite structure, including an outer polyurethane wear-resistant layer, a middle silicone shock-absorbing layer and an inner metal skeleton layer, and its inner arc radius matches the standard outer diameter of the copper-steel composite coil.

[0015] 3. Beneficial effects: Compared with the prior art, the technical solution provided by the present invention has the following beneficial effects: (1) Bidirectional screw drive device: The bidirectional screw and the screw pair transmission design of the horizontal movable bracket, combined with the torque detection module, realize the precise synchronous movement of the two support arms (±0.5mm error), ensuring the balanced distribution of the clamping force.

[0016] (2) Four-dimensional adaptive clamping device: The inclined linkage mechanism of the conical top block and the trapezoidal clamping block, combined with the deformation feedback of the shape memory alloy connecting piece, can adaptively adjust the clamping range (compatible with coils with a diameter of 800-2000mm).

[0017] (3) Intelligent dynamic load-bearing platform: Magnetorheological fluid and hydraulic lifting columns work together to achieve real-time compensation of the load-bearing plate tilt angle (response time < 0.3s), combined with three-dimensional deformation monitoring of the fluorescent marker sensor array (accuracy ±0.1mm) to ensure the stability of the coil.

[0018] (4) Energy recovery system: The piezoelectric energy harvesting module converts mechanical vibration into electrical energy, reducing the power consumption of the equipment.

[0019] (5) Composite buffer structure: The multi-layer design of the arc-shaped buffer pad (polyurethane-silicone-metal skeleton) can absorb more than 80% of the impact energy and improve the uniformity of the surface contact pressure.

[0020] Combining the above technologies, the present invention improves the transfer efficiency by 50% and reduces the coil damage rate to below 0.5%, making it suitable for high-precision industrial scenarios.

[0021] It should be noted that the structures not introduced in the present invention are the same as those in the prior art or can be implemented by using the prior art, and are not described in detail here because they do not involve the design points and improvement directions of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 This is a schematic diagram of the structure of the present invention when loading a copper-steel composite coil; Figure 2 Schematic diagram of the structure of the bidirectional spiral drive device of the present invention; Figure 3 It is a structural schematic diagram of the telescopic support mechanism of the present invention; Figure 4 Schematic diagram of the structure of the adaptive clamping device of the present invention; Figure 5 It is a structural schematic diagram of the dynamic load-bearing platform of the present invention; Figure 6 This is a schematic diagram of the structure of the present invention when transporting copper-steel composite coils.

[0023] Description of the numbers in the figure: 1. AGV car; 11. Laser ranging module; 2. Bidirectional screw drive device; 21. Drive housing; 22. Bidirectional lead screw; 23. Torque detection module; 24. Reducer drive motor; 25. Transmission slide; 26. Cover plate; 27. Guide chute; 28. Horizontal movable bracket; 3. Retractable support mechanism; 31. Rotating base; 32. Support arm; 33. Axial motor; 34. Retractable arm; 35. First linear actuator; 36. Horizontal opening; 37. Arc-shaped buffer pad; 4. Adaptive clamping device; 41. Square housing; 42. Sliding sleeve; 421. T-shaped guide rod; 43. Pressure spring; 44. Connecting piece; 45. Shape memory alloy connecting piece; 46. Trapezoidal clamping block; 47. Conical top block; 48. Second linear actuator; 5. Dynamic load-bearing platform; 51. Lifting chamber; 52. Hydraulic lifting column; 53. Magnetorheological load-bearing plate; 54. Fluorescent marker sensor array. DETAILED DESCRIPTION

[0024] To facilitate understanding of the present invention, the present invention will be described more comprehensively below with reference to the relevant drawings. Several embodiments of the present invention are shown in the drawings. However, the present invention can be implemented in many different forms and is not limited to the embodiments described herein. On the contrary, the purpose of providing these embodiments is to make the disclosure of the present invention more thorough and comprehensive.

[0025] like Figures 1-6 As shown: 1. Overall structure installation 1. AGV car 1 basic configuration (1) A MiR1000 autonomous navigation vehicle (from MiR, Denmark) with a rated load of 2000 kg and a built-in laser SLAM navigation system is used. A mounting base is welded to one side of the top of the vehicle body to fix the bidirectional screw drive device 2.

[0026] (2) The main control system is integrated into the vehicle body and uses Siemens S7-1200 PLC to communicate with each actuator through the CAN bus.

[0027] 2. Installation of bidirectional screw drive device 2 (1) The drive box 21 is made of 6061 aluminum alloy, with dimensions of 1200mm×300mm×200mm, and is fixed to the top side of the AGV with M12 bolts.

[0028] (2) The bidirectional screw 22 uses a THK BNK2510 ball screw. The center line of the long axis is parallel to the forward direction of the vehicle body, and both ends are connected to the box through NSK 7204B angular contact bearings.

[0029] (3) The reduction drive motor 24 adopts Panasonic MINAS A6 series (model MDM042A1G) with a rated torque of 4.5 N·m and is coaxially connected to the screw through a coupling.

[0030] (4) The transmission slider 25 is a THK SSR25XW slider, which is sleeved on the forward and reverse thread sections of the lead screw. A horizontal movable bracket 28 is welded on the upper part, and the bracket passes through the guide groove 27 of the cover plate 26 (groove width 30mm, tolerance ±0.1mm).

[0031] 2. Operation process of retractable support mechanism 3 1. Rotating base 31 hinge (1) The bottom of the base is connected to the horizontal movable bracket 28 through the SKF GE20ES spherical plain bearing, allowing ±15° swing.

[0032] (2) The support arm 32 is made of a rectangular steel tube (80mm×60mm×5mm), and its root is pivotally connected to the rotating shaft hole of the base through a 40Cr steel shaft with HRC58.

[0033] 2. Telescopic arm 34 drive (1) The axial motor 33 uses a Delta ECMA-C20602RS servo motor, which drives the support arm 32 to rotate (accuracy ±0.1°) through a Harmonic Drive SHD-32-120 harmonic reducer.

[0034] (2) The linear guide groove is a HIWIN HGH25CA linear guide rail. The telescopic arm 34 realizes axial extension and contraction (stroke 800 mm) through a slider and is driven by the SMC CDQ2B50-300D first linear drive 35. The speed can be adjusted in the range of 0.1-1 m / s.

[0035] 3. Installation of arc-shaped buffer pad 37 The inner arc radius of the buffer pad is 500mm (adaptable to the outer diameter of the standard coil), the outer layer of polyurethane is 5mm thick (Shore hardness 75A), the middle layer of silicone is 8mm thick (tensile strength 12MPa), and the inner layer is a 1.5mm thick 304 stainless steel frame, which is bonded to the inside of the telescopic arm 34 with epoxy resin glue.

[0036] 3. Working process of adaptive clamping device 4 1. Structural composition The shape memory alloy connector 45 is made of nickel-titanium alloy (Ni-50.8at% Ti), 0.5mm thick, and coated with a 5μm copper layer for enhanced conductivity. It is pre-bent at a 30° angle and embedded in the dovetail groove of the connector 44. Its ends are connected to the PWM temperature control module (model MAX31855) in the AGV control circuit via copper wires with a cross-sectional area of 0.75mm².

[0037] 2. Principle of Deformation Control During Energization When the main control system detects that the clamping pressure deviation is greater than 5%, a 0-5A direct current (voltage 12V) is applied to the shape memory alloy connecting piece (45), and the alloy piece is heated to 60°C (phase transition temperature) through the Joule effect. The alloy piece transforms from the austenite phase (rigid state, elastic modulus 80GPa) to the martensite phase (flexible state, elastic modulus 25GPa), resulting in an elastic deformation of 8%-10%, and the contact area is expanded from point contact (10mm²) to surface contact (≥50mm²).

[0038] 3. Dynamic fitting process Initialization state (minimum opening diameter) (1) The second linear actuator 48 (model Festo ADN-40-100-APA) is in a fully retracted state, driving the conical top block 47 back to the end of the axial slideway; (2) Under the reset action of the pressure spring 43 (preload force 150N), the four trapezoidal blocks 46 are retracted inward to the minimum clamping diameter (800mm) through the T-shaped guide rod 421, forming a cross-limiting structure to avoid mechanical interference during transportation.

[0039] Clamping preparation stage When the laser distance measuring module 11 (SICK DT50) detects that the coil enters the clamping range (distance ≤ 200mm), the main control system starts the clamping process: (1) The second linear actuator 48 extends to push the conical top block 47 forward along the axial slideway; (2) The quadrangular pyramidal inclined surface of the conical top block 47 contacts the inner inclined surface of the trapezoidal clamping block 46, converting the axial thrust into a radial expansion force, overcoming the resistance of the pressure spring 43, and driving the four T-shaped guide rods 421 to move outward synchronously; (3) The shape memory alloy connecting piece 45 (nickel-titanium alloy, austenite transformation temperature 60°C) moves outward along with the connecting piece (44) and initially contacts the surface of the coil.

[0040] Dynamic centering and adaptive fitting Eccentricity correction: If the coil is eccentric (e.g. center offset > 10mm), when the single-sided trapezoidal block 46 contacts the coil first: (1) The shape memory alloy connecting piece 45 on the contact side triggers the temperature control circuit due to the increase in pressure (>500N), and a 3A current is passed through to heat it to 70°C (higher than the phase transition temperature). The alloy piece changes from a rigid state to a flexible curved surface, increasing the contact area; (2) The non-contact side clamp continues to move outward, pushing the coil toward the center to achieve automatic centering (positioning accuracy ±2mm).

[0041] Surface contact optimization: When the contact pressure of all blocks is balanced (pressure sensor detection deviation <5%): The main control system starts the pulse width modulation (PWM) heating mode and applies a constant current of 1.5A to the shape memory alloy sheet 45 (the temperature is maintained at 55°C), causing it to produce an elastic deformation of 10%-15%, transitioning from point contact to surface contact (the contact area is increased by 300%), and closely fitting the inner wall surface of the coil.

[0042] Clamping lock and feedback When the fluorescent mark sensor array 54 detects that the web position is stable (deviation < 1 mm / 5 s): (1) The main control system stops the second linear drive 48 and maintains the position of the conical top block 47; (2) The shape memory alloy sheet 45 is switched to the heat preservation mode (0.5A microcurrent) to maintain the surface temperature at 50°C to ensure the dynamic balance between the clamping flexibility and rigidity; (3) Pressure data is transmitted back in real time via the CAN bus. If abnormal vibration is detected (acceleration > 0.5g), the system automatically increases the viscosity of the magnetorheological fluid (excitation current increases to 1.8A) to compensate for the shaking.

[0043] Effect (1) Adaptive centering: Through the cross-symmetrical block linkage and the intelligent deformation of the shape memory alloy, the response time for correcting the eccentric coil is less than 1.5s; (2) Flexible fitting: After the shape memory alloy sheet is heated and deformed, the uniformity of contact pressure distribution is improved to 95% (only 65% when not heated); (3) Anti-slip ability: In surface contact mode, the maximum static friction force can reach 8000N (5000N in point contact mode), meeting the transportation requirements of a 30° slope; 4. Dynamic load-bearing platform 5 leveling control 1. Functional Positioning of Fluorescent Labeled Sensor Array 54 The fluorescent marker sensor array 54 is composed of a Hamamatsu S1133-01 photodiode array and is arranged in a 5×5 cm² matrix at the four corners of the magnetorheological support plate 53. Its core functions are: (1) Coil position monitoring: By detecting the shift in the quantum dot fluorescence spectrum reflected from the coil surface (wavelength resolution ±0.1nm), the three-dimensional shape of the coil is reconstructed in real time, and the deviation between its center coordinates and the preset path is calculated (accuracy ±1mm); (2) Deviation warning: When the lateral deviation of the coil is detected to be greater than 10 mm or the axial tilt is greater than 3°, the AGV is triggered to slow down to 0.2 m / s and start the deviation correction program; (3) Vibration analysis: Based on the spectral signal fluctuation frequency (sampling rate 1kHz), abnormal vibration during transportation is identified (high-frequency vibration >50Hz is considered a risk).

[0044] 2. Dynamic leveling collaborative control (1) Tilt detection The inclination sensor (model ST IIS2DLPC) is embedded in the four corners of the bottom of the magnetorheological bearing plate (53) to monitor the inclination angle of the bearing plate in real time (range ±15°, resolution 0.01°).

[0045] (2) Magnetorheological fluid viscosity control When the inclination sensor detects a tilt greater than 0.5°, the PLC controls the annular electromagnetic coil (excitation current 0-2A adjustable) to change the viscosity of the magnetorheological fluid (Lord MRF-132DG): When the current is 1.2A, the viscosity increases to 250kPa·s, which inhibits the slippage of the coil; When the current is 2.0A, the viscosity reaches 450kPa·s, achieving emergency braking; Response time <20ms, tilt compensation accuracy ±0.1°.

[0046] (3) Hydraulic lifting column 52 linkage The hydraulic system (Bosch Rexroth SYDFEE) dynamically adjusts the height difference between the two lifting columns based on the fluorescent sensor data: If the coil deviates to the left by more than 5mm, the right lifting column will rise by 0.5-2mm (step accuracy 0.1mm); Combined with the viscosity adjustment of magnetorheological fluid, "soft and hard synergistic" correction is achieved (comprehensive response time < 0.5s).

[0047] 3. Security protection mechanism (1) Three-level early warning system: Level 1 warning (deviation 5-10mm): sound and light alarm, AGV speed reduction 50%; Level 2 warning (deviation 10-15mm): emergency braking, clamping device pressure increased by 20%; Level 3 warning (deviation > 15mm): Triggers safety lock and requires manual reset.

[0048] (2) Energy recovery optimization: Piezoelectric energy harvesting module: Installed inside the magnetorheological carrier plate 53, it uses MIDE PPA-2011 piezoelectric ceramics, encapsulated with epoxy resin, and connected to the AGV battery's DC-DC converter circuit (output voltage 12V) to ensure efficient recovery of vibration energy. The recovered electric energy is first supplied to the temperature control circuit of the shape memory alloy connecting piece 45, thereby reducing the net power consumption of the system.

[0049] V. Implementation Steps AGV navigation and positioning: The laser SLAM system plans the path and moves to the coil storage area; Clamping preparation: The bidirectional screw drive device drives the support arm to unfold, and the adaptive clamping device adjusts to the preset opening angle; Precise clamping: The laser distance measurement module 11 guides the AGV to approach the coil, and the conical top block propels it to achieve four-point synchronous clamping; Coil lifting: Hydraulic lifting columns lift the load plate to the transport height (150mm from the ground); Stable transportation: magnetorheological fluid for real-time leveling, and piezoelectric modules for vibration energy recovery; Unloading and reset: After reaching the target position, the clamping device releases the coil and the AGV returns to the standby area.

[0050] The above-mentioned embodiments only express a certain implementation method of the present invention, and the description thereof is relatively specific and detailed, but it cannot be understood as limiting the patent scope of the present invention. It should be pointed out that for ordinary technicians in this field, several variations and improvements can be made without departing from the concept of the present invention, which all fall within the scope of protection of the present invention. Therefore, the scope of protection of the patent of the present invention shall be based on the attached claims.

Claims

1. A copper-steel composite coil transfer device, comprising an AGV trolley (1), characterized in that: A bidirectional spiral drive device (2) is provided on one side of the top end of the AGV trolley (1), and the forward and reverse spiral ends of the bidirectional spiral drive device (2) are respectively connected to a retractable support mechanism (3); the end of the retractable support mechanism (3) is vertically connected to an adaptive clamping device (4); a dynamic load-bearing platform (5) is provided in the middle of the AGV trolley (1), and the dynamic load-bearing platform (5) includes a liftable magnetorheological load-bearing plate (53) and a fluorescent marker sensor array (54) arranged at its four corners; the AGV trolley (1) is integrated with a main control system, which is electrically connected to the bidirectional spiral drive device (2), the adaptive clamping device (4), and the dynamic load-bearing platform (5).

2. The copper-steel composite coil transfer equipment according to claim 1, characterized in that: The bidirectional screw drive device (2) comprises a drive box (21) fixed to the top side of the AGV trolley (1), a bidirectional screw (22) is arranged in the drive box (21) along the travel direction of the AGV trolley, the long axis center line of the bidirectional screw is parallel to the forward direction of the trolley body, and the two ends are rotatably connected to the box through angular contact bearings; a torque detection module (23) is provided in the middle of the bidirectional screw (22), and the two ends are respectively connected to the positive and negative thread segments; a reduction drive motor (24) is provided at the front end of the drive box (21) and is coaxially connected to the bidirectional screw (22), and a transmission slider (25) is sleeved on the positive and negative thread segments of the bidirectional screw (22); a cover plate (26) with a guide slot (27) is provided on the top of the drive box (21), and a horizontal movable bracket (28) passing through the guide slot (27) is fixedly connected to the upper part of the transmission slider (25).

3. The copper-steel composite coil transfer equipment according to claim 2, characterized in that: The telescopic support mechanism (3) comprises a rotating base (31) hinged to a horizontal movable bracket (28); The upper surface of the rotating base (31) is provided with a rotating shaft hole perpendicular to the traveling direction of the AGV trolley, and the root of the supporting arm (32) is pivotally connected to the rotating shaft hole through the rotating shaft; The axial motor (33) is fixed to the side wall of the rotating base (31), and its output shaft is rigidly connected to the rotating shaft of the support arm (32) through a coupling; A telescopic arm (34) is slidably sleeved in the support arm (32), a linear guide groove is provided in the support arm (32), the telescopic arm (34) forms a sliding pair through a slider and the guide groove, and a first linear drive (35) is installed between the inner wall of the support arm (32) and the middle of the telescopic arm (34); A transverse opening (36) is provided at the end of the telescopic arm (34), and an arc-shaped buffer pad (37) is fixed to the inner surface of the telescopic arm (34).

4. The copper-steel composite coil transfer equipment according to claim 3, characterized in that: The adaptive clamping device (4) comprises a square housing (41) vertically connected to the telescopic arm (34), and four sliding sleeves (42) are fixed to the centers of the four side walls of the square housing (41) in a cross-symmetrical distribution. A T-shaped guide rod (421) is slidably inserted into each sliding sleeve (42), and the T-shaped guide rod (421) includes a vertical section and a horizontal section, the vertical section extends into the interior of the sliding sleeve (42), and the horizontal section is located outside the sliding sleeve (42); A pressure spring (43) is sleeved on the outer side of the vertical end of the T-shaped guide rod (421), one end of the pressure spring (43) is fixedly connected to the top of the sliding sleeve (42), and the other end is fixedly connected to the upper surface of the horizontal end of the T-shaped guide rod (421); The end of the T-shaped guide rod (421) extends into the interior of the square housing (41) and is connected to a trapezoidal clamping block (46); An axial slideway is provided at the center of the square housing (41), and a conical top block (47) is slidably provided in the axial slideway, wherein the quadrangular pyramid inclined surfaces thereof are in contact with the inner inclined surfaces of the four trapezoidal clamping blocks (46).

5. The copper-steel composite coil transfer equipment according to claim 4, characterized in that: The conical top block (47) is driven by a second linear driver (48), and the telescopic rod of the second linear driver (48) passes through the transverse opening (36) of the telescopic arm (34) and is connected to the conical top block (47); a connector (44) is fixed to the top end of the T-shaped guide rod (421), and a shape memory alloy connecting piece (45) is embedded and installed at the outer end of the connector (44), and the shape memory alloy connecting piece (45) is electrically connected to the AGV control circuit.

6. The copper-steel composite coil transfer equipment according to claim 1, characterized in that: The dynamic load-bearing platform (5) comprises two lifting compartments (51) symmetrically arranged in the middle of the AGV trolley (1), each lifting compartment (51) is provided with a hydraulic lifting column (52), and the top of the hydraulic lifting column (52) is connected to a magnetorheological load-bearing plate (53); the magnetorheological load-bearing plate (53) is filled with magnetorheological fluid, and a fluorescent marker sensor array (54) is provided at the four corners of the upper surface.

7. The copper-steel composite coil transfer equipment according to claim 6, characterized in that: A piezoelectric energy collection module is embedded in the magnetorheological bearing plate (53), and the piezoelectric energy collection module is electrically connected to the battery of the AGV vehicle; The four corners of the bottom of the magnetorheological bearing plate (53) are embedded with inclination sensors, whose signal output ends are connected to the main control system; The bottom of the hydraulic lifting column (52) is connected to a vehicle-mounted hydraulic system, and the main control system achieves dynamic leveling of the load-bearing plate by adjusting the hydraulic pressure and the viscosity of the magnetorheological fluid according to the detection data of the inclination sensor.

8. The copper-steel composite coil transfer equipment according to claim 1, characterized in that: The front of the AGV trolley (1) is provided with a laser distance measuring module (11), which is connected to the control system signal of the adaptive clamping device (4) and is used to detect the relative position of the composite roll and the clamping device in real time.

9. The copper-steel composite coil transfer equipment according to claim 3, characterized in that: The arc-shaped buffer pad (37) adopts a multi-layer composite structure, comprising an outer polyurethane wear-resistant layer, a middle silicone shock-absorbing layer and an inner metal skeleton layer, and its inner arc surface radius matches the standard outer diameter of the copper-steel composite coil.

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