Cantilever type taking and placing device, pitching adjusting assembly and cantilever type automatic guiding transport vehicle

Abstract

The embodiment of the invention provides a cantilever type taking and placing device, a pitching adjusting assembly and a cantilever type automatic guiding transport vehicle. The cantilever type taking and placing device comprises a supporting base body, a cantilever shaft assembly and the pitching adjusting assembly. The first side of the supporting base body is used for being connected to a lifting mechanism of the cantilever type automatic guiding transport vehicle, and the second side of the supporting base body is used for installing the cantilever shaft assembly and the pitching adjusting assembly. The cantilever shaft assembly comprises a cantilever shaft, the first end of the cantilever shaft is rotatably connected to the supporting base body, and the second end of the cantilever shaft extends out of the lifting mechanism to bear a material roll. The pitching adjusting assembly comprises a power output unit and a transmission connecting rod. The power output unit is fixed to the supporting base body, and an output shaft of the power output unit and the first end of the cantilever shaft are arranged at intervals in the height direction. The second end of the transmission connecting rod is connected with the first end of the cantilever shaft; the power output unit applies linear thrust or tension to the transmission connecting rod through the driving output shaft, so that the transmission connecting rod rotates around the output shaft, and the cantilever shaft is driven to conduct pitch angle adjustment around the rotating center of the cantilever shaft.

Description

Technical Field

[0001] The present application relates to the technical field of automatic guided transport vehicles, and in particular to a cantilever pick-and-place device, a pitch adjustment assembly, and a cantilever automatic guided transport vehicle. Background Art

[0002] Automated Guided Vehicle (AGV) is an automated guided vehicle that can travel along a specified navigation path and has the function of transporting materials.

[0003] In related technologies, there are various types of AGVs used to transport different types of materials. Currently, in the lithium battery industry, cantilever AGVs are commonly used to transport material rolls. Cantilever AGVs typically consist of a motion chassis, a lifting mechanism mounted on the motion chassis, and a cantilever shaft mounted on the lifting mechanism. The cantilever shaft is used to pick up and place the material rolls.

[0004] When handling rolls of varying weights, such as empty and full rolls, the cantilever shaft can experience varying degrees of deflection. Current cantilever AGVs cannot adjust for this differential deflection, so the cantilever shaft axis and the docking shaft on the machine platform can deviate. This can prevent the cantilever shaft from precisely aligning with the machine platform, resulting in insufficient docking precision and the risk of docking failure. Summary of the Invention

[0005] The purpose of the embodiments of the present application is to provide a cantilever pick-and-place device, a pitch adjustment assembly, and a cantilever automatic guided transport vehicle to improve the docking accuracy between the cantilever shaft and the machine platform. The specific technical solution is as follows:

[0006] An embodiment of the first aspect of the present application provides a cantilever pick-and-place device, which is applied to a cantilever automatic guided transport vehicle, comprising: a support base, a cantilever shaft assembly and a pitch adjustment assembly; the first side of the support base is used to connect to the lifting mechanism of the cantilever automatic guided transport vehicle, and the second side is used to install the cantilever shaft assembly and the pitch adjustment assembly; the cantilever shaft assembly includes a cantilever shaft, a first end of which is rotatably connected to the support base, and a second end extends out of the lifting mechanism to carry the material roll; the pitch adjustment assembly includes: a power output unit, which is fixedly connected to the support base and whose output shaft is spaced apart from the first end of the cantilever shaft in the height direction; a transmission connecting rod, a first end of which is connected to the output shaft and a second end is fixedly connected to the first end of the cantilever shaft; wherein the power output unit applies linear thrust or tension to the transmission connecting rod by driving the output shaft to make the transmission connecting rod rotate around the output shaft, thereby driving the cantilever shaft to adjust the pitch angle around its rotation center.

[0007] In some embodiments, the power output unit includes: a pitch motor mounting plate, a pitch drive motor and a translation mechanism, the output shaft is arranged on the translation mechanism; the transmission connecting rod is a pitch adjustment connecting rod; the pitch drive motor is fixedly connected to the support base through the pitch motor mounting plate, and is transmission-connected to the translation mechanism; the pitch drive motor can drive the translation mechanism to move in the horizontal direction of the cantilever shaft to drive the output shaft to apply pressure to the first end of the pitch adjustment connecting rod in the horizontal direction to rotate the pitch adjustment connecting rod to drive the cantilever shaft to rise upward or tilt downward.

[0008] In some embodiments, the translation mechanism includes: a transmission screw and a transmission nut; the transmission screw is fixedly connected to the support base in the horizontal direction; the output shaft of the pitch drive motor is transmission-connected to one end of the transmission screw; the screw nut is sleeved on the transmission screw, and the output shaft is fixedly connected to the screw nut; the output shaft of the pitch drive motor rotates, driving the transmission screw to rotate, so that the nut drives the output shaft to move along the horizontal direction; the first end of the pitch adjustment connecting rod has a long follow-up matching hole, and the output shaft is located in the follow-up matching hole. When the output shaft moves in the horizontal direction, it can drive the pitch adjustment connecting rod to rotate through the follow-up matching hole to drive the cantilever axis to rise upward or tilt downward.

[0009] In some embodiments, the output shaft of the pitch drive motor is connected to one end of the transmission screw through a synchronous belt, a driving wheel and a driven wheel, and is connected to one end of the transmission screw; the pitch motor mounting plate is installed on the support base, perpendicular to the transmission screw; the motor body of the pitch drive motor and the transmission screw are arranged on the same side of the pitch motor mounting plate, and are arranged parallel to the transmission screw; the driving wheel and the driven wheel are arranged on the other side of the pitch motor mounting plate, and the output shaft of the pitch drive motor passes through the pitch motor mounting plate and is fixedly connected to the driving wheel; the transmission screw is fixedly connected to the driven wheel through the avoidance hole provided on the pitch motor mounting plate; the synchronous belt is sleeved on the outside of the driving wheel and the driven wheel.

[0010] In some embodiments, the translation mechanism also includes a sliding connection seat and two guide rails, the sliding connection seat is sleeved on the transmission nut; the two guide rails are arranged on the support base; the two guide rails are arranged in parallel and spaced apart along the extension direction of the cantilever shaft; two guide sliders are provided at the bottom of the sliding connection seat; the sliding connection seat is slidably connected to the support base through the two guide rails.

[0011] In some embodiments, two slot-shaped photoelectric sensors are provided on the supporting base, and the two slot-shaped photoelectric sensors are spaced apart in the horizontal direction extending from the cantilever axis. A photoelectric baffle is provided on the sliding connecting seat, and the sliding connecting seat can drive the photoelectric baffle to move, respectively triggering the two slot-shaped photoelectric sensors to determine the horizontal position of the sliding connecting seat.

[0012] In some embodiments, the output shaft includes: a shaft body and a roller bearing sleeved outside the shaft body, and the roller bearing is located in the follower fitting hole; when the roller bearing moves in the horizontal direction, the friction between the surface of the roller bearing and the transmission connecting rod can drive the roller bearing to rotate around the central axis of the body.

[0013] In some embodiments, a cantilever shaft reinforcement connecting plate is further provided between the second end of the transmission connecting rod and the support base, the transmission connecting rod is rotationally connected to the support base through the cantilever shaft reinforcement connecting plate, and the cantilever shaft is fixedly connected to the transmission connecting rod through the cantilever shaft reinforcement connecting plate.

[0014] In some embodiments, a slewing bearing is provided between the cantilever shaft reinforcement connecting plate and the support base, and the slewing bearing includes a fixed part and a rotating part that are rotatably connected, and the fixed part and the rotating part are fixedly connected to the support base and the cantilever shaft reinforcement connecting plate respectively.

[0015] In some embodiments, the second end of the cantilever shaft is provided with an angle detection sensor; the angle detection sensor is used to detect in real time the end pitch angle deflection value of the cantilever shaft caused by load deformation; the power output unit of the pitch adjustment assembly is communicated with the main control system, and the main control system dynamically controls the output shaft displacement of the power output unit based on the angle deflection value, so that the end pitch angle of the cantilever shaft returns to the target docking angle.

[0016] In some embodiments, the cantilever shaft assembly further includes: a pushing mechanism; the pushing mechanism includes a pushing piece, a pushing driving piece and a pushing sliding connection structure; the pushing piece is slidingly connected to the cantilever shaft along the axial direction of the cantilever shaft through the pushing sliding connection structure, and the pushing driving piece is used to drive the pushing piece to move along the axial direction of the cantilever shaft so that the pushing piece pushes out the material roll on the cantilever shaft.

[0017] In some embodiments, the pushing member includes: a pushing cover body covered on the top of the cantilever shaft, and two side connecting plates are connected downward along the two sides of the cantilever shaft on both sides of the pushing cover body; the tops of the two side connecting plates are fixedly connected to the pushing cover body, and the middle parts are connected to the pushing sliding connection structure; the bottom of one of the side connecting plates is used to install the pushing drive member; and the other side connecting plate is provided with a drive member avoidance groove.

[0018] In some embodiments, the pushing drive member includes: a pushing drive motor, a pushing transmission mechanism, a pushing drive gear shaft and a pushing drive rack; the pushing sliding connection structure includes two pushing slide rails and two groups of pushing sliders; the two pushing slide rails are respectively fixedly installed on both sides of the cantilever shaft; the two groups of pushing sliders are respectively slidably connected to the two pushing slide rails, and are fixedly connected to the middle of the lateral connecting plate of the pushing member; the pushing drive rack is fixedly installed at the bottom of the cantilever shaft along the axial direction of the cantilever shaft; the pushing drive motor body is installed at the bottom of the cantilever shaft through the lateral connecting plate, and the output shaft passes through the lateral connecting plate and is connected to the pushing drive gear shaft through the pushing transmission mechanism; the pushing drive gear shaft is rotatably connected between the two lateral connecting plates; the pushing drive motor drives the pushing drive gear shaft to reciprocate along the pushing drive rack through the pushing transmission mechanism.

[0019] In some embodiments, the second end of the cantilever shaft has a material stopper assembly; the material stopper assembly includes: a material stopper base, a stopper rod and a stopper rod driving device; the stopper rod is slidably connected to the material stopper base through a stopper rod sliding structure; the stopper rod driving device is transmission-connected to the stopper rod, and is used to drive the stopper rod to extend out of the material stopper base to a first preset position to block the material, or retract to a second preset position so that the stopper rod does not block the material.

[0020] In some embodiments, the barrier rod driving device includes a barrier rod driving mounting seat, a barrier rod driving motor, a barrier rod driving gear and a barrier rod driving rack; the cantilever shaft has a hollow accommodating cavity; the barrier rod driving mounting seat is fixedly mounted on the outside of the material stopper base; the body of the barrier rod driving motor is fixedly mounted on the outside of the barrier rod driving mounting seat, and partially located in the hollow accommodating cavity of the cantilever shaft, and the output shaft of the barrier rod driving motor passes through the barrier rod driving mounting seat and is fixedly connected to the barrier rod driving gear; the barrier rod driving rack is fixedly connected to the barrier rod through a barrier rod connecting seat; the output shaft of the barrier rod driving motor drives the barrier rod driving gear to rotate, so that the barrier rod driving rack drives the barrier rod to reciprocate and extend.

[0021] In some embodiments, a zero-position photoelectric sensor and an in-position photoelectric sensor are arranged at intervals at the bottom of the material stopper base along the extension and retraction direction of the baffle rod; a material stopper photoelectric baffle is installed at the bottom of the baffle rod; during the reciprocating extension and retraction process of the baffle rod, the material stopper photoelectric baffle can be driven to trigger the zero-position photoelectric sensor and the in-position photoelectric sensor respectively.

[0022] An embodiment of the second aspect of the present application provides a pitch adjustment assembly, which is applied to a cantilever pick-and-place device, wherein the cantilever pick-and-place device has a support base and a cantilever shaft assembly; the pitch adjustment assembly includes: a power output unit and a transmission connecting rod, the power output unit is fixedly connected to the support base and its output shaft is spaced apart from the first end of the cantilever shaft in the height direction; the first end of the transmission connecting rod is connected to the output shaft, and the second end is fixedly connected to the first end of the cantilever shaft; wherein the power output unit applies a linear thrust or pull to the transmission connecting rod by driving the output shaft, so that the transmission connecting rod rotates around the output shaft, thereby driving the cantilever shaft to adjust the pitch angle around its rotation center.

[0023] An embodiment of the third aspect of the present application provides a cantilevered automatic guided transport vehicle, which includes: the cantilevered pick-and-place device described above.

[0024] In some embodiments, the cantilevered automatic guided transport vehicle has a lifting mechanism; the lifting mechanism includes: a column frame structure formed by two relatively spaced-apart gantries, and a lifting drive assembly; each of the gantries includes: two door columns spaced-apart in the front-to-rear direction extending along the cantilever shaft; the lifting drive assembly is arranged on the first of the two gantries; the cantilevered pick-and-place device is fixedly connected to the lifting drive assembly and is slidingly connected to the first gantries; the lifting drive assembly can drive the cantilevered pick-and-place device to move up and down along the height direction of the gantries; the cantilevered pick-and-place device is located between the two gantries, and the cantilever shaft of the cantilevered pick-and-place device extends outward from between the two gantries.

[0025] In some embodiments, the two columns of the first door frame are respectively provided with lifting sliding guide rails, and the first surface of the support base of the cantilever pick and place device is provided with a lifting sliding slider for cooperating with the two lifting sliding guide rails; a motor mounting plate is connected between the two columns of the first door frame; the lifting drive assembly includes: a lifting drive motor, a lifting drive screw and a lifting drive nut; the lifting drive screw is installed for rotation between the two columns; the lifting drive motor body is fixedly installed on the top of the crossbeam of the first door frame, and the output shaft is transmission-connected with one end of the lifting drive screw; the lifting drive nut is sleeved on the lifting drive screw and is hingedly connected to the support base of the cantilever pick and place device; the output shaft of the lifting drive motor drives the lifting drive screw to rotate, so that the lifting drive nut drives the support base of the cantilever pick and place device to move back and forth in the height direction.

[0026] In some embodiments, the cantilevered automatic guided transport vehicle further includes: a side shifting mechanism; the lifting mechanism is installed on a mobile chassis; the side shifting mechanism is located between the lifting mechanism and the mobile chassis; the side shifting mechanism is used to drive the gantry to move back and forth in a horizontal direction perpendicular to the cantilever axis.

[0027] In some embodiments, the side-shift mechanism includes: a side-shift base plate, a side-shift drive device, a side-shift sliding connection structure and a side-shift mounting plate; the side-shift base plate is fixedly mounted on the top of the movable chassis; the side-shift mounting plate is fixedly connected to the lifting mechanism; the side-shift drive device and the side-shift sliding connection structure are located between the side-shift base plate and the side-shift mounting plate; the side-shift sliding connection structure includes two side-shift rails and two groups of side-shift sliders, and the two side-shift rails are fixedly mounted on the upper surface of the side-shift base plate; the two groups of side-shift sliders are respectively slidably connected to the two side-shift rails, and are fixedly connected to the side-shift mounting plate; the side-shift drive device is transmission-connected to the side-shift mounting plate, and is used to drive the side-shift mounting plate to drive the side-shift slider to slide along the side-shift rail.

[0028] In some embodiments, the side shift drive device includes: a side shift drive motor, a side shift drive screw and a side shift drive nut; the side shift drive motor body is fixedly mounted on the side shift base plate, and the side shift drive screw is rotatably connected to the side shift base plate; the side shift drive nut is sleeved on the side shift drive screw and fixedly connected to the side shift mounting plate; the output shaft of the side shift drive motor is transmission-connected to one end of the side shift drive screw, and the output shaft of the side shift drive motor rotates to drive the side shift drive screw to rotate, so as to drive the side shift drive nut and the side shift mounting plate to reciprocate along the side shift drive screw.

[0029] An embodiment of a fourth aspect of the present application provides a method for dynamically adjusting the pitch angle of a cantilever pick-and-place device, which is applied to the cantilever pick-and-place device described above. The method comprises the following steps:

[0030] S1: The angle detection sensor provided at the second end of the cantilever shaft detects in real time the pitch angle deflection value of the second end caused by the load of the material roll;

[0031] S2: Based on the angle deflection value, the main control system dynamically calculates the deviation between the current cantilever shaft angle and the target docking angle, and generates a displacement control instruction for the power output unit;

[0032] S3: In response to the displacement control instruction, driving the output shaft of the power output unit to perform linear telescopic motion;

[0033] S4: The linear displacement of the output shaft is converted into the rotational displacement of the first end of the cantilever shaft through the transmission connecting rod, so that the cantilever shaft can be adjusted in pitch angle around its rotation center.

[0034] Beneficial effects of the embodiments of the present application:

[0035] An embodiment of the present application provides a cantilever pick-and-place device, a pitch adjustment component and a cantilever automatic guided transport vehicle. The cantilever pick-and-place device has a cantilever shaft and a pitch adjustment component. The power output unit in the pitch adjustment component cooperates with the transmission connecting rod for transmission, so that the transmission connecting rod can rotate around the output shaft, thereby driving the cantilever shaft to adjust the pitch angle around its rotation center; when the cantilever shaft carries material rolls of different weights, the pitch adjustment component compensates for the deflection deformation of the cantilever shaft by raising or tilting the second end of the cantilever shaft, so that the cantilever shaft can be aligned with the machine platform, thereby improving the docking accuracy.

[0036] Of course, it is not necessary to achieve all the advantages described above at the same time when implementing any product or method of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other embodiments can also be obtained based on these drawings.

[0038] Figure 1 An isometric view of a cantilever pick-and-place device provided in an embodiment of the present application installed on a lifting mechanism;

[0039] Figure 2 for Figure 1 An isometric view of the connection between the support base and the lifting mechanism in the cantilever pick-and-place device shown;

[0040] Figure 3 for Figure 1 An isometric view of the power take-off unit in the cantilever pick-and-place device shown;

[0041] Figure 4 for Figure 3 An exploded schematic diagram of the power take-off unit shown;

[0042] Figure 5 for Figure 1 An exploded view of the cantilever pick-and-place device shown;

[0043] Figure 6 for Figure 1 An enlarged view of the slot-type photoelectric sensor and the photoelectric baffle in the cantilever pick-and-place device shown;

[0044] Figure 7a for Figure 1 A schematic diagram of a cantilever shaft assembly and a cantilever shaft reinforcement connecting plate in a cantilever pick-and-place device shown at one angle;

[0045] Figure 7b for Figure 7a An exploded view of the cantilever shaft assembly and the cantilever shaft reinforcement connecting plate in the cantilever pick-and-place device shown;

[0046] Figure 8 for Figure 7a Another perspective diagram of the cantilever shaft assembly and the cantilever shaft reinforcement connecting plate is shown;

[0047] Figure 9 for Figure 7a A schematic diagram of the cantilever shaft assembly and the cantilever shaft reinforcement connecting plate at another angle;

[0048] Figure 10a for Figure 7a A schematic diagram of a material stopper assembly in a cantilever shaft assembly is shown;

[0049] Figure 10b for Figure 10a A schematic diagram of the material stopper from another angle (the material stopper housing is not shown);

[0050] Figure 10c for Figure 10a An exploded view of the stopper assembly shown (stopper housing not shown);

[0051] Figure 10d for Figure 10a Schematic diagram of the position relationship between the zero-position photoelectric sensor and the in-position photoelectric sensor in the material stopper assembly shown;

[0052] Figure 11 for Figure 1 A side view of a cantilever shaft assembly in the cantilever pick-and-place device shown;

[0053] Figure 12 A side view of the cantilevered automated guided transport vehicle provided in an embodiment of the present application;

[0054] Figure 13 for Figure 12 An exploded view of the cantilevered automated guided transport vehicle is shown;

[0055] Figure 14 for Figure 12 Schematic diagram of the connection between the lifting drive assembly and the supporting base in the cantilever-type automatic guided transport vehicle;

[0056] Figure 15 for Figure 12 An isometric view of the lifting mechanism, lifting drive assembly, pitch adjustment assembly, and cantilever shaft assembly in the cantilever-type automated guided transport vehicle shown;

[0057] Figure 16 for Figure 12An exploded view of the lifting mechanism, lifting drive assembly, and support base of the cantilever-type automated guided transport vehicle shown;

[0058] Figure 17 for Figure 12 An axonometric view of one angle of the side shift mechanism and the mobile chassis of the cantilevered automated guided transport vehicle shown;

[0059] Figure 18 for Figure 17 An axonometric view of the side shift mechanism and the mobile chassis from another angle;

[0060] Figure 19 for Figure 17 An exploded view of the side shift mechanism shown;

[0061] Figure 20 Flowchart of a method for dynamically adjusting the pitch angle of a cantilever pick-and-place device provided in an embodiment of the present application.

[0062] Reference numerals:

[0063] Support base 100; first portion 101; second portion 102; U-shaped connecting seat 103; mounting portion 1031; connecting portion 1032; connecting shaft matching hole 1033; guide rail 110; guide slider 120; slot-type photoelectric sensor 130;

[0064] Cantilever shaft assembly 200;

[0065] Cantilever shaft 210; hollow accommodating cavity 2101; buffer stopper 2102; first end 211 of cantilever shaft; second end 212 of cantilever shaft; angle detection sensor 220;

[0066] Pushing mechanism 230; pushing member 231; pushing cover 2311; pushing top plate 23111; pushing arc plate 21112; lateral connecting plate 2312; driving member avoidance groove 23120; pushing driving member 232; pushing driving motor 2321; pushing transmission mechanism 2322; pushing driving driving wheel 23221; pushing driven wheel 23222; pushing driving timing belt 23223; pushing driving gear shaft 2323; pushing driving rack 2324; pushing sliding connection structure 233; pushing slide rail 2331; pushing slider 2332;

[0067] Material stopper assembly 240; material stopper base 241; guide wheel mounting plate 2411; stopper rod 242; stopper rod sliding structure 2421; stopper rod connecting base 2422; stopper rod driving device 243; stopper rod driving mounting base 2431; stopper rod driving motor 2432; stopper rod driving gear 2433; stopper rod driving rack 2434; material stopper photoelectric stopper 245; extension end 2451; material stopper housing 246; camera mounting base 247;

[0068] Photoelectric sensor mounting plate 250; zero position photoelectric sensor 251; in-position photoelectric sensor 252; code reading camera 253; electronic anti-collision detection sensor 254; cantilever shaft guide assembly 260; guide mounting plate 261; guide wheel 262;

[0069] Pitch adjustment assembly 300; power output unit 310; output shaft 311; shaft body 3111; roller bearing 3112; pitch motor mounting plate 312; avoidance hole 3120; bent connection end 3121; pitch drive motor 313; translation mechanism 314; transmission screw 3141; transmission nut 3142; sliding connection seat 3143; photoelectric baffle 3144; screw mounting seat 3145; synchronous belt 315; driving wheel 316; driven wheel 317; motor reinforcement connecting plate 318; pitch drive reducer 319; transmission connecting rod 320; first end 3201 of transmission connecting rod; second end 3202 of transmission connecting rod; follower matching hole 321; cantilever shaft reinforcement connecting plate 330; support vertical plate 331; slewing bearing 340; fixed portion 341; rotating portion 342; connecting rib plate 350;

[0070] Lifting mechanism 400; lifting sliding guide rail 401; lifting sliding block 402; door frame 410; first door frame 410a; first door frame connecting base plate 4101a; lifting drive device mounting base plate 4102a; second door frame 410b; second door frame connecting base plate 4101b; door column 411; lifting motor mounting plate 412; lifting drive assembly 420; lifting drive motor 421; lifting drive lead screw 422; lifting drive nut 423; lifting nut connecting seat 424; connecting shaft 4241; lifting drive reducer 425; connecting beam 430;

[0071] Mobile chassis 500;

[0072] Side shift mechanism 600; side shift base plate 610; side shift drag chain 611; side shift screw mounting base 612; side shift drive device 620; side shift drive motor 621; side shift drive screw 622; side shift drive nut 623; side shift drive reducer 624; side shift drive nut connecting block 625; side shift sliding connection structure 630; side shift slide rail 631; side shift slider 632; side shift mounting plate 640; battery accommodating bracket 641; battery 700. DETAILED DESCRIPTION

[0073] The following will be combined with the drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are only part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field based on this application are within the scope of protection of this application.

[0074] The embodiment of the first aspect of the present application provides a cantilever pick-and-place device, which is applied to a cantilever automatic guided transport vehicle, such as Figure 1 、 Figure 2 and Figure 3 As shown, Figure 1 An isometric view of a cantilever pick-and-place device provided in an embodiment of the present application installed on a lifting mechanism; Figure 2 for Figure 1 The cantilever pick-and-place device shown is an isometric view of the connection between the support base and the lifting mechanism; the cantilever pick-and-place device includes: a support base 100, a cantilever shaft assembly 200 and a pitch adjustment assembly 300; the first side of the support base 100 is used to connect to the lifting mechanism of the cantilever automatic guided transport vehicle; the second side of the support base 100 is used to install the cantilever shaft assembly 200 and the pitch adjustment assembly 300; the cantilever shaft assembly 200 includes a cantilever shaft 210, the first end 211 of the cantilever shaft is rotatably connected to the support base 100, and the second end 212 of the cantilever shaft extends out of the lifting mechanism to carry the material roll; the pitch adjustment assembly 30 0 includes a power output unit 310 and a transmission connecting rod 320. The power output unit 310 is fixedly connected to the support base 100, and its output shaft 311 is spaced apart from the first end 211 of the cantilever shaft in the height direction. The first end 3201 of the transmission connecting rod is connected to the output shaft 311, and the second end 3202 of the transmission connecting rod is fixedly connected to the first end 211 of the cantilever shaft. The power output unit 310 applies a linear thrust or pull to the transmission connecting rod 320 by driving the output shaft 311, causing the transmission connecting rod 320 to rotate about the output shaft 311, thereby driving the cantilever shaft 210 to adjust the pitch angle about its rotation center.

[0075] In this embodiment, Figure 1 、 Figure 2 and Figure 3 As shown, the cantilever pick-and-place device has a cantilever shaft 210 and a pitch adjustment assembly 300. The power output unit 310 in the pitch adjustment assembly 300 cooperates with the transmission link 320 for transmission, so that the transmission link 320 can rotate around the output shaft 311, thereby driving the cantilever shaft 210 to adjust the pitch angle around its rotation center, thereby causing the second end 212 of the cantilever shaft to rise or tilt downward; when the cantilever shaft 210 carries material rolls of different weights, the pitch adjustment assembly 300 compensates for the deflection deformation of the cantilever shaft 210 by raising or tilting the second end 212 of the cantilever shaft, so that the cantilever shaft 210 can be aligned with the machine, thereby improving the docking accuracy.

[0076] like Figure 1 and Figure 2As shown, the support base 100 can be a plate-shaped support member, which includes a first portion 101 and a second portion 102 along the height direction. The lifting mechanism 400 has a lifting sliding guide rail 401 arranged along the height direction, wherein the side surfaces of the first portion 101 and the second portion are slidably connected to the lifting sliding guide rail 401 through a lifting sliding block 402; the first surface of the first portion 101 or the second portion 102 is transmission-connected to the lifting drive screw of the lifting drive assembly in the lifting mechanism 400 through a screw nut;

[0077] The second surface of the first portion 101 is used for mounting the power output unit 310 , and the second surface of the second portion 102 is used for mounting the cantilever shaft assembly 200 .

[0078] In this embodiment, see Figure 1 and Figure 3 、 Figure 4 , Figure 3 for Figure 1 An isometric view of the power take-off unit in the cantilever pick-and-place device shown; Figure 4 for Figure 3 The schematic diagram of the power output unit shown is an exploded view; the power output unit 310 includes: a pitch motor mounting plate 312, a pitch drive motor 313 and a translation mechanism 314, and the output shaft 311 is arranged on the translation mechanism 314; the transmission link 320 is a pitch adjustment connecting rod; the pitch drive motor 313 is fixedly connected to the support base 100 through the pitch motor mounting plate 312, and is transmission-connected to the translation mechanism 314; the pitch drive motor 313 can drive the translation mechanism 314 to move in the horizontal direction of the cantilever shaft 210, so as to drive the output shaft 311 to apply pressure to the first end of the pitch adjustment connecting rod in the horizontal direction, so as to rotate the pitch adjustment connecting rod, so as to drive the cantilever shaft 210 to rise upward or tilt downward.

[0079] In this embodiment, the output shaft 311 is arranged on the translation mechanism 314, and the pitch drive motor 313 drives the translation mechanism 314 to drive the output shaft 311 to move in the horizontal direction, thereby applying pressure to the first end of the pitch adjustment connecting rod to rotate the pitch adjustment connecting rod to drive the cantilever shaft 210 to rise upward or tilt downward. When the cantilever shaft 210 carries material rolls of different weights, the pitch adjustment assembly 300 compensates for the deflection deformation of the cantilever shaft 210 by raising or tilting the cantilever shaft 210, so that the cantilever shaft 210 can be aligned with the machine to improve the docking accuracy.

[0080] In this embodiment, Figure 3 and Figure 4As shown, the translation mechanism 314 includes: a transmission screw 3141 and a transmission nut 3142; the transmission screw 3141 is fixedly connected to the support base 100 in the horizontal direction; the output shaft of the pitch drive motor 313 is transmission-connected to one end of the transmission screw 3141; the screw nut is sleeved on the transmission screw 3141, and the output shaft 311 is fixedly connected to the screw nut; the output shaft of the pitch drive motor 313 rotates, driving the transmission screw 3141 to rotate, so that the nut drives the output shaft 311 to move in the horizontal direction; Figure 1 As shown, the first end of the pitch adjustment connecting rod has an elongated follower fitting hole 321, and the output shaft 311 is located in the follower fitting hole 321. When the output shaft 311 moves in the horizontal direction, it can drive the pitch adjustment connecting rod to rotate through the follower fitting hole 321 to drive the cantilever shaft 210 to rise upward or tilt downward.

[0081] In this embodiment, the pitch drive motor 313 drives the transmission screw 3141 to drive the transmission nut 3142 in the horizontal direction, thereby driving the output shaft 311 to move horizontally. The advantages of the screw drive are: high transmission precision, high transmission efficiency, low friction, ability to withstand large loads, and easy installation and maintenance. Therefore, through the transmission screw 3141, the output shaft 311 has higher movement precision and better stability during horizontal movement. When the output shaft 311 moves in the elongated follower mating hole 321 at the first end of the pitch adjustment connecting rod, the output shaft 311 can apply pressure to the inner sidewall of the follower mating hole 321, thereby driving the first end of the pitch adjustment connecting rod to rotate about the second end, thereby driving the cantilever shaft 210 to rise upward or tilt downward. The matching structure of the output shaft 311 and the follower mating hole 321 is simple, making it easy to install and maintain.

[0082] Specifically, screw mounting seats 3145 are provided at both ends of the transmission screw 3141. The screw mounting seats 3145 are fixedly connected to the support base 100, and the screw mounting seats 3145 and the transmission screw 3141 can be rotatably connected through bearings.

[0083] More specifically, Figure 3 and Figure 4As shown, the pitch motor mounting plate 312 has two bent connection ends 3121, which are arranged parallel to the support base 100 and are fixedly connected to the support base 100. A motor mounting connection plate 318 is provided between the housing of the pitch drive motor 313 and the pitch motor mounting plate 312. The housing of the pitch drive motor 313 is fixedly connected to the pitch motor mounting plate 312 via the motor reinforcement connection plate 318. The pitch drive motor 313 can be fixedly connected to the driving wheel 316 via a pitch drive reducer 319.

[0084] In this embodiment, Figure 3 、 Figure 4 and Figure 5 As shown, Figure 5 for Figure 1 The exploded view of the cantilever pick-and-place device shown in FIG. 3 is shown; the output shaft of the pitch drive motor 313 is connected to one end of the transmission screw 3141 through a synchronous belt 315, a driving wheel 316 and a driven wheel 317, and is connected to one end of the transmission screw 3141; the pitch motor mounting plate 312 is mounted on the support base 100, perpendicular to the transmission screw 3141; the motor body of the pitch drive motor 313 and the transmission screw 3141 are arranged on the same side of the pitch motor mounting plate 312 , and is arranged parallel to the transmission screw 3141; the driving wheel 316 and the driven wheel 317 are arranged on the other side of the pitch motor mounting plate 312, and the output shaft of the pitch driving motor 313 passes through the pitch motor mounting plate 312 and is fixedly connected to the driving wheel 316; the transmission screw is fixedly connected to the driven wheel 317 through the avoidance hole 3120 provided on the pitch motor mounting plate 312; the synchronous belt 315 is sleeved on the outside of the driving wheel 316 and the driven wheel 317.

[0085] In this embodiment, the motor body of the pitch drive motor 313 and the above-mentioned transmission screw 3141 are arranged on the same side of the pitch motor mounting plate 312, which can fully utilize the space on one side of the pitch motor mounting plate 312. The setting of the synchronous belt 315 allows the output shaft of the pitch drive motor 313 to be not on the same straight line as the transmission screw 3141, which can reduce the horizontal length of the power output unit and fully utilize the space.

[0086] In this embodiment, Figure 3 and Figure 4As shown, the translation mechanism 314 also includes a sliding connection seat 3143 and two guide rails 110, the sliding connection seat 3143 is sleeved on the transmission nut 3142; the two guide rails 110 are arranged on the support base 100; the two guide rails 110 are arranged in parallel and spaced apart along the extending direction of the cantilever shaft 210; two guide sliders 120 are provided at the bottom of the sliding connection seat 3143; the sliding connection seat 3143 is slidably connected to the support base 100 through the two guide rails 110.

[0087] In this embodiment, Figure 3 and Figure 4 As shown, the provision of the sliding connection seat 3143 can increase the connection area between the translation mechanism 314 and the guide rail 110, thereby increasing the connection rigidity between the translation mechanism 314 and the guide rail 110. The guide slider 120 at the bottom of the sliding connection seat 3143 is slidably connected to the guide rail 110. The provision of the guide rail 110 and the guide slider 120 can guide the horizontal movement of the sliding connection seat 3143. In addition, it can also prevent the transmission nut 3142 from being subjected to excessive radial force during the transmission process, thereby increasing the service life of the transmission nut 3142.

[0088] In this embodiment, Figure 5 and Figure 6 As shown, Figure 6 for Figure 1 An enlarged view of the slot-shaped photoelectric sensor and the photoelectric baffle in the cantilever pick-and-place device is shown; two slot-shaped photoelectric sensors 130 are provided on the supporting base 100, and the two slot-shaped photoelectric sensors 130 are spaced apart in the horizontal direction extending from the cantilever axis, and a photoelectric baffle 3144 is provided on the sliding connection seat 3143, and the sliding connection seat 3143 can drive the photoelectric baffle 3144 to move, thereby triggering the two slot-shaped photoelectric sensors 130 respectively to determine the horizontal position of the sliding connection seat 3143.

[0089] In this embodiment, Figure 5 and Figure 6 As shown, by providing two slot-shaped photoelectric sensors 130, it is possible to detect two positions during the movement of the sliding connector 3143. In actual application, the distance between the two slot-shaped photoelectric sensors 130 is set according to needs. The advantages of the slot-shaped photoelectric sensor 130 are: high sensitivity and high precision, non-contact detection, and strong anti-interference ability.

[0090] In this embodiment, Figure 1 and Figure 5As shown, the output shaft 311 includes: a shaft body 3111 and a roller bearing 3112 sleeved outside the shaft body, and the roller bearing 3112 is located in the follower fitting hole 321; when the roller bearing 3112 moves in the horizontal direction, the friction between the surface of the roller bearing 3112 and the transmission connecting rod can drive the roller bearing 3112 to rotate around the central axis of the body.

[0091] In this embodiment, when the roller bearing moves in the horizontal direction (that is, when the roller bearing moves linearly relative to the lead screw), the friction between the surface of the roller bearing 3112 and the inner wall of the follower matching hole 321 of the transmission connecting rod 320 can drive the roller bearing 3112 to rotate around the central axis of the body, thereby reducing the friction between the roller bearing 3112 and the inner wall of the follower matching hole 321 of the transmission connecting rod, and improving the service life of the transmission connecting rod 320.

[0092] In this embodiment, Figure 5 and Figure 7a As shown, Figure 7a for Figure 1 A schematic diagram of a cantilever shaft assembly and a cantilever shaft reinforcement connecting plate in a cantilever pick-and-place device shown at one angle; Figure 7b for Figure 7a The figure shows an exploded view of the cantilever shaft assembly and the cantilever shaft reinforcement connecting plate in the cantilever pick-and-place device; a cantilever shaft reinforcement connecting plate 330 is also provided between the second end of the transmission link 320 and the support base 100, and the transmission link 320 is rotationally connected to the support base 100 through the cantilever shaft reinforcement connecting plate 330, and the cantilever shaft 210 is fixedly connected to the transmission link 320 through the cantilever shaft reinforcement connecting plate 330.

[0093] Specifically, such as Figure 7a As shown, a plurality of supporting vertical plates 331 perpendicular to the cantilever shaft reinforcing connecting plate 330 are provided on the cantilever shaft reinforcing connecting plate 330 . The supporting vertical plates 331 can support the cantilever shaft 210 when the cantilever shaft 210 is in a horizontal state.

[0094] In this embodiment, the cantilever shaft reinforcement connecting plate 330 can improve the connection strength between the second end of the transmission connecting rod 320 and the support base 100, thereby making the movement process of the transmission connecting rod 320 more stable.

[0095] Specifically, the transmission connecting rod 320 can be fixedly connected to the cantilever shaft reinforcement connecting plate 330 through the connecting rib plate 350 .

[0096] In this embodiment, Figure 5As shown, a slewing bearing 340 is provided between the cantilever shaft reinforcement connecting plate 330 and the support base 100. The slewing bearing 340 includes a fixed portion 341 and a rotating portion 342, which are rotatably connected. The fixed portion 341 and the rotating portion 342 are respectively fixedly connected to the support base 100 and the cantilever shaft reinforcement connecting plate 330. As a standard component, the slewing bearing 340 can simultaneously withstand axial force, radial force, and overturning moment, and has high installation flexibility. The lack of an intermediate pivot reduces failure points and improves rotation reliability.

[0097] It should be noted that there are two ways to install the fixed part 341 and the rotating part 342. When the fixed part 341 is connected to the supporting base 100, the rotating part 342 is fixedly connected to the cantilever shaft reinforcement connecting plate 330; when the fixed part 341 is connected to the cantilever shaft reinforcement connecting plate 330, the rotating part 342 is fixedly connected to the supporting base 100.

[0098] In this embodiment, Figure 1 、 Figure 7a 、 Figure 7b and Figure 8 、 Figure 9 As shown, Figure 8 for Figure 7a Another perspective diagram of the cantilever shaft assembly and the cantilever shaft reinforcement connecting plate is shown; Figure 9 for Figure 7a A schematic diagram of the cantilever shaft assembly and the cantilever shaft reinforcement connecting plate at another angle;

[0099] The cantilever shaft assembly 200 further includes a material pushing mechanism 230, which includes a material pushing member 231, a material pushing driving member 232, and a material pushing sliding connection structure 233. The material pushing member 231 is slidably connected to the cantilever shaft 210 along the axis of the cantilever shaft 210 via the material pushing sliding connection structure 233, and the material pushing driving member 232 is used to drive the material pushing member 231 to move along the axis of the cantilever shaft 210 so that the material pushing member 231 pushes out the material roll on the cantilever shaft 210. In this embodiment, the material pushing mechanism 230 can realize the material roll pushing function. When the cantilever shaft 210 is aligned with the machine table, the material pushing driving member 232 drives the material pushing member 231 to push out the material roll on the cantilever shaft 210, making the process of picking and placing goods of the cantilever pick-and-place device more automated.

[0100] In this embodiment, Figure 7a and Figure 7bAs shown, the pushing member 231 includes: a pushing cover body 2311 covered on the top of the cantilever shaft 210, and two side connecting plates 2312 are connected downward along the two sides of the cantilever shaft 210 on both sides of the pushing cover body 2311; the tops of the two side connecting plates 2312 are fixedly connected to the pushing cover body 2311, and the middle parts are connected to the pushing sliding connection structure 233; the bottom of one of the side connecting plates 2312 is used to install the pushing drive member 232; the other side connecting plate 2312 is provided with a drive member avoidance groove 23120. Through the above arrangement, the structure of the pushing mechanism 230 is more compact.

[0101] Specifically, such as Figure 7a and Figure 7b As shown, the pushing cover body 2311 includes a pushing top plate 23111 and a pushing arc plate 21112. The pushing top plate 23111 is arranged at the top of the cantilever shaft 210, and the tops of the two side connecting plates 2312 are fixedly connected to the two sides of the pushing top plate 23111 along a direction perpendicular to the extending direction of the cantilever shaft; the pushing arc plate 21112 is fixedly connected to the side of the pushing top plate 23111 close to the second end of the cantilever shaft 210; when the pushing member 231 pushes the material roll, the pushing arc plate 21112 contacts the side of the material roll and applies pressure to the material roll.

[0102] In this embodiment, Figure 7a and Figure 7b As shown, the push drive member 232 includes: a push drive motor 2321, a push transmission mechanism 2322, a push drive gear shaft 2323 and a push drive rack 2324; the push sliding connection structure 233 includes two push slide rails 2331 and two groups of push sliders 2332; the two push slide rails 2331 are respectively fixedly installed on both sides of the cantilever shaft 210; the two groups of push sliders 2332 are respectively slidably connected to the two push slide rails 2331, and are fixedly connected to the middle part of the lateral connecting plate 2312 of the push member 231; the push drive rack 2324 is along the cantilever shaft 21 0 is fixedly installed at the bottom of the cantilever shaft 210 in the axial direction of the pusher; the pusher drive motor 2321 body is installed at the bottom of the cantilever shaft 210 through the lateral connecting plate 2312, and the output shaft passes through the lateral connecting plate 2312 and is connected to the pusher drive gear shaft 2323 through the pusher transmission mechanism 2322; the pusher drive gear shaft 2323 is rotatably connected between the two lateral connecting plates 2312; the pusher drive motor 2321 drives the pusher drive gear shaft 2323 to move back and forth along the pusher drive rack 2324 through the pusher transmission mechanism 2322.

[0103] It should be noted that the number of pusher sliders in the two groups of pusher sliders 2332 can be one, or more than two in order to improve the connection strength.

[0104] Specifically, such as Figure 7a and Figure 7b As shown, the pushing transmission mechanism 2322 includes a pushing drive active wheel 23221, a pushing drive driven wheel 23222, and a pushing drive synchronous belt 23223. The pushing drive motor 2321 is installed between the two lateral connecting plates 2312, making full use of the space between the two lateral connecting plates 2312. The output shaft passes through one of the lateral connecting plates 2312 and is fixedly connected to the pushing drive active wheel 23221; the two ends of the axis of the pushing drive gear shaft 2323 are respectively rotatably connected to the two lateral connecting plates 2312, and the end of the axis of the pushing drive gear shaft 2323 close to the pushing drive active wheel 23221 passes through the lateral connecting plate 2312 and is fixedly connected to the pushing drive driven wheel 23222; the teeth of the pushing drive gear shaft 2323 are connected to the pushing drive rack 2324 is engaged; the pushing drive synchronous belt 23223 is sleeved on the outside of the pushing drive active wheel 23221 and the pushing drive driven wheel 23222; the output shaft of the pushing drive motor 2321 rotates, driving the pushing drive active wheel 23221, the pushing drive synchronous belt 23223 and the pushing drive driven wheel 23222 to rotate, so that the pushing drive gear shaft 2323 moves back and forth along the pushing drive rack 2324, and then the pushing drive gear shaft 2323 drives the pushing member 231 to move back and forth along the axial direction of the cantilever shaft 210 (that is, the extension direction of the pushing drive rack 2324); when the pushing member 231 moves along the axial direction of the cantilever shaft 210 toward the second end of the cantilever shaft 210, the material roll can be pushed outward.

[0105] Specifically, such as Figure 7a and Figure 7b As shown, a buffer limit block 2102 is fixedly installed on the cantilever shaft 210, and the buffer limit block 2102 is located below the pushing cover 2311, and the end of the buffer limit block 2102 close to the second end of the cantilever shaft extends out of the pushing cover 2311; when the cantilever shaft 210 completes the action of receiving materials from the machine / cache rack, under the action of the pitch adjustment component, the cantilever shaft 210 will be slightly tilted up, so that the material is close to the buffer limit block 2102 of the cantilever shaft under the action of its own gravity, which can prevent the material roll from colliding with the pushing piece 231 and causing damage to the pushing piece, and can also prevent the material roll from moving back and forth on the cantilever shaft during the movement of the cantilever automatic guided transport vehicle, causing safety hazards.

[0106] In this embodiment, Figure 7a 、 Figure 7b 、 Figure 10a 、 Figure 10b 、 Figure 10c 、 Figure 10d and Figure 11 As shown, Figure 10a for Figure 7b A schematic diagram of a material stopper assembly in a cantilever shaft assembly is shown; Figure 10b for Figure 10a A schematic diagram of the material stopper from another angle (the material stopper housing is not shown); Figure 10c for Figure 10a An exploded view of the stopper assembly shown (stopper housing not shown); Figure 10d for Figure 10a Schematic diagram of the position relationship between the zero-position photoelectric sensor and the in-position photoelectric sensor in the material stopper assembly shown; Figure 11 for Figure 1 A side view of the cantilever shaft assembly in the cantilever pick-and-place device is shown.

[0107] In this embodiment, Figure 11 As shown, the second end of the cantilever shaft 210 is provided with an angle detection sensor 220; the angle detection sensor 220 is used to detect in real time the end pitch angle deflection value of the cantilever shaft 210 caused by load deformation; the power output unit 310 of the pitch adjustment assembly 300 is communicated with the main control system (not shown), and the main control system dynamically controls the displacement of the output shaft 311 of the power output unit 310 based on the angle deflection value, so that the end pitch angle of the cantilever shaft 210 returns to the target docking angle.

[0108] When the cantilever shaft 210 is subjected to different loads, the cantilever shaft 210 will undergo different deformation angle displacements (that is, the end pitch angle deflection value). By setting an angle detection sensor 220 at the second end of the cantilever shaft 210, the angle detection sensor 220 can detect the deformation angle displacement of the cantilever shaft 210 in real time and promptly transmit the angle displacement back to the remote main control system. The main control system can adjust the cantilever shaft 210 to the optimal docking angle by controlling the power output unit 310, thereby ensuring the precise docking of the cantilever shaft 210 with the machine / cache rack.

[0109] The second end 212 of the cantilever shaft also has a material stopper assembly 240; the material stopper assembly 240 includes: a material stopper base 241, a stopper rod 242 and a stopper rod driving device 243; the stopper rod 242 is slidingly connected to the material stopper base 241 through a stopper rod sliding structure 2421; the stopper rod driving device 243 is transmission-connected to the stopper rod 242, and is used to drive the stopper rod 242 to extend out of the material stopper base 241 to a first preset position to block the material, or retract to a second preset position so that the stopper rod 242 does not block the material.

[0110] In this embodiment, the blocking rod driving device 243 can drive the blocking rod 242 to extend from the blocking base 241 to the first preset position to block the material and prevent the material roll from falling off from the second end of the cantilever shaft 210, thereby improving the safety and stability during the handling and loading and unloading of the material roll. Figure 10c As shown, the blocking rod sliding structure 2421 can be a blocking rod guide sleeve, which is fixedly installed on the material stopper base 241, and the blocking rod 242 can slide back and forth in the blocking rod guide sleeve.

[0111] Specifically, such as Figure 9 、 Figure 10c As shown, the top of the material stopper base 241 has two guide wheel mounting plates 2411 arranged opposite to each other, and the guide wheel mounting plates 2411 are used to install the guide wheels 262 in the cantilever shaft guide assembly 260.

[0112] In this embodiment, Figure 7b 、 Figure 10c As shown, the barrier rod driving device 243 includes a barrier rod driving mounting seat 2431, a barrier rod driving motor 2432, a barrier rod driving gear 2433 and a barrier rod driving rack 2434; the cantilever shaft 210 has a hollow accommodating cavity 2101; the barrier rod driving mounting seat 2431 is fixedly mounted on the outside of the stopper base 241; the body of the barrier rod driving motor 2432 is fixedly mounted on the outside of the barrier rod driving mounting seat 2431, and is partially located on the cantilever shaft 210. 0 in the hollow accommodating cavity 2101, the output shaft of the barrier rod driving motor 2432 passes through the barrier rod driving mounting seat 2431 and is fixedly connected to the barrier rod driving gear 2433; the barrier rod driving rack 2434 is fixedly connected to the barrier rod 242 through the barrier rod connecting seat 2422; the output shaft of the barrier rod driving motor 2432 drives the barrier rod driving gear 2433 to rotate, so that the barrier rod driving rack 2434 drives the barrier rod 242 to reciprocate and extend.

[0113] In this embodiment, Figure 7b 、 Figure 10c 、 Figure 10d As shown, the bottom of the stopper base 241 is provided with a zero-position photoelectric sensor 251 and an in-position photoelectric sensor 252 at intervals along the extension and retraction direction of the blocking rod 242; the bottom of the blocking rod 242 is installed with a stopper photoelectric baffle 245; during the reciprocating extension and retraction process of the blocking rod 242, it can drive the stopper photoelectric baffle 245 to trigger the zero-position photoelectric sensor and the in-position photoelectric sensor respectively.

[0114] Among them, the zero-position photoelectric sensor 251 and the in-position photoelectric sensor 252 are installed on the material stopper base 241 through the photoelectric sensor mounting plate 250; specifically, the material stopper photoelectric baffle 245 is a U-shaped baffle, and the zero-position photoelectric sensor 251 and the in-position photoelectric sensor 252 are staggered in the height direction, and the two protruding ends of the material stopper photoelectric baffle 245 can separately and independently trigger the zero-position photoelectric sensor 251 and the in-position photoelectric sensor 252.

[0115] Specifically, the material stopper assembly 240 also has a material stopper housing 246 and a camera mounting base 247; the material stopper housing 246 is fixedly mounted on the side of the material stopper base 241 away from the cantilever shaft 210, and the camera mounting base 247 is mounted on the side of the material stopper housing 246 away from the cantilever shaft 210; the camera mounting base 247 is installed with a code reading camera 253 and an electronic anti-collision detection sensor 254, and the working machine / cache rack is provided with a code that can be recognized by the code reading camera. The code reading camera 253 determines the deviation between the cantilever shaft 210 and the machine / cache rack axis by reading the position of the code on the machine, and eliminates this deviation with the help of the adjustment of the lifting drive assembly, side shift mechanism and pitch adjustment assembly in the cantilever automatic guided transport vehicle; the electronic anti-collision detection sensor 254 can effectively avoid the cantilever shaft from colliding with people or machines in the working environment, thereby improving the safety of the entire machine operation.

[0116] More specifically, Figure 7b As shown, a cantilever shaft guide assembly 260 is provided at the top of the cantilever shaft 210. The cantilever shaft guide assembly 260 includes a guide mounting plate 261 and a plurality of guide wheels 262. The guide mounting plate 261 is fixedly mounted on the top of the cantilever shaft 210, and the plurality of guide wheels 262 can be rotatably mounted on the guide mounting plate 261. When loading and unloading the material roll, the guide wheels 262 can guide the material roll.

[0117] The embodiment of the second aspect of the present application provides a pitch adjustment assembly 300, which is applied to a cantilever pick-and-place device, such as Figure 1 As shown, the cantilever pick-and-place device has a supporting base 100 and a cantilever shaft assembly 200; the pitch adjustment assembly 300 includes: a power output unit 310, fixedly connected to the supporting base 100 and its output shaft 311 is spaced apart from the first end of the cantilever shaft 210 in the height direction; the first end 3201 of the transmission link is connected to the output shaft 311, and the second end 3202 of the transmission link is fixedly connected to the first end of the cantilever shaft 210; wherein, the power output unit 310 applies a linear thrust or pull to the transmission link 320 by driving the output shaft 311, so that the transmission link 320 rotates around the output shaft 311, thereby driving the cantilever shaft 210 to adjust the pitch angle around its rotation center.

[0118] In this embodiment, Figure 1As shown, the power output unit 310 in the pitch adjustment assembly 300 cooperates with the transmission link 320 for transmission, which can enable the transmission link 320 to rotate around the output shaft 311, thereby driving the cantilever shaft 210 to adjust the pitch angle around its rotation center, thereby causing the second end of the cantilever shaft to rise or tilt downward; when the cantilever shaft 210 carries material rolls of different weights, the pitch adjustment assembly 300 compensates for the deflection deformation of the cantilever shaft 210 by raising or tilting the second end of the cantilever shaft 210, so that the cantilever shaft 210 can be aligned with the machine, thereby improving the docking accuracy.

[0119] The embodiment of the third aspect of the present application provides a cantilevered automatic guided transport vehicle, see Figure 1 and Figure 12 , Figure 12 A side view of the cantilevered automatic guided transport vehicle provided in the embodiment of the present application; Figure 1 and Figure 12 As shown, the cantilevered automatic guided transport vehicle includes: the cantilevered pick-and-place device described above.

[0120] In this embodiment, Figure 1 and Figure 12 As shown, the cantilever pick-and-place device in the cantilever automated guided transport vehicle has a cantilever shaft 210 and a pitch adjustment assembly 300. The power output unit 310 in the pitch adjustment assembly 300 cooperates with the transmission link 320 to transmit power, enabling the transmission link 320 to rotate about the output shaft 311, thereby driving the cantilever shaft 210 to adjust the pitch angle around its rotation center, thereby causing the second end of the cantilever shaft to rise or fall. When the cantilever shaft 210 carries rolls of material of different weights, the pitch adjustment assembly 300 compensates for the deflection deformation of the cantilever shaft 210 by raising or lowering the second end of the cantilever shaft 210, so that the cantilever shaft 210 can be aligned with the machine, thereby improving the docking accuracy of the cantilever automated guided transport vehicle. The cantilever automated guided transport vehicle can be used for handling roll-type materials such as rolls in the lithium battery industry.

[0121] In this embodiment, Figure 1 and Figure 12As shown, the cantilever automatic guided transport vehicle has a lifting mechanism 400; the lifting mechanism 400 includes a gantry assembly and a lifting drive assembly 420, wherein the gantry assembly can be a column frame structure, and the gantry assembly includes: two relatively spaced-apart gantries 410; each gantry 410 includes: two door columns 411 spaced-apart in the front-to-rear direction extending along the cantilever axis; the lifting drive assembly 420 is arranged on the first gantry 410a of the two gantries; the cantilever pick-and-place device is fixedly connected to the lifting drive assembly 420 and is slidingly connected to the first gantry 410a; the lifting drive assembly 420 can drive the cantilever pick-and-place device to move up and down along the height direction of the gantry 410; the cantilever pick-and-place device is located between the two gantries 410, and the cantilever axis 210 of the cantilever pick-and-place device extends outward from between the two gantries 410.

[0122] In this embodiment, the cantilevered pick-and-place device is located between two gantries 410. The two gantries 410 protect the cantilevered pick-and-place device. The cantilever shaft 210 of the cantilevered pick-and-place device extends outward from between the two gantries 410 to prevent the cantilever shaft 210 from interfering with the gantries 410 during the upward or downward tilting process.

[0123] For details, see Figure 12 、 Figure 13 、 Figure 14 、 Figure 15 and Figure 16 , Figure 13 for Figure 12 An exploded view of the cantilevered automated guided transport vehicle is shown; Figure 14 for Figure 12 Schematic diagram of the connection between the lifting drive assembly and the supporting base in the cantilever-type automatic guided transport vehicle; Figure 15 for Figure 12 An isometric view of the lifting mechanism, lifting drive assembly, pitch adjustment assembly, and cantilever shaft assembly in the cantilever-type automated guided transport vehicle shown; Figure 16 for Figure 12 The figure shows an exploded view of the lifting mechanism, lifting drive assembly and supporting base of the cantilevered automatic guided transport vehicle; two connecting beams 430 are also provided on the top of the two gantries 410, and the two ends of the two connecting beams 430 are respectively connected to the top of the two gantries 410. Through the above arrangement, the stability of the lifting mechanism 400 can be improved.

[0124] More specifically, a first gantry connecting base plate 4101a is provided at the bottom of the first gantry 410a, and a second gantry connecting base plate 4101b is provided at the bottom of the second gantry 410b; a lifting drive device mounting base plate 4102a is connected between the two columns in the first gantry 410a.

[0125] In this embodiment, see Figure 12 、 Figure 13 and Figure 14 , the two columns 411 of the first door frame are respectively provided with lifting sliding guide rails 401, and the first surface of the supporting base 100 of the cantilever pick-and-place device is provided with a lifting sliding slider 402 for cooperating with the two lifting sliding guide rails 401; a lifting motor mounting plate 412 is connected between the two columns 411 of the first door frame, specifically, the lifting motor mounting plate 412 is fixedly connected to the lifting drive device mounting base plate 4102a; the lifting drive assembly 420 includes: a lifting drive motor 421, a lifting drive screw 422 and a lifting drive nut 423; the lifting drive screw 422 is rotatably installed between the two columns 411, specifically, the two ends of the lifting drive screw 422 can be rotatably installed on the lifting drive device mounting base plate 4102a respectively; the lifting The main body of the lifting drive motor 421 is fixedly installed on the first gantry. Specifically, the main body of the lifting drive motor 421 is installed on the lifting motor mounting plate 412, and the output shaft is transmission-connected to one end of the lifting drive screw 422; the lifting drive nut 423 is sleeved on the lifting drive screw 422 and is hingedly connected to the support base 100 of the cantilever pick-up and placement device; the output shaft of the lifting drive motor 421 drives the lifting drive screw 422 to rotate, so that the lifting drive nut 423 drives the support base 100 of the cantilever pick-up and placement device to move back and forth in the height direction, thereby realizing the adjustment of the height position of the cantilever shaft 210 in the cantilever pick-up and placement device, and being able to dock with material rolls of different heights, making the cantilever automatic guided transport vehicle in this embodiment more flexible and universal.

[0126] Specifically, such as Figure 14 and Figure 16 As shown, a lifting nut connecting seat 424 is provided on the outside of the lifting drive nut 423, a U-shaped connecting seat 103 is fixedly installed on the first surface of the support base 100, and connecting shafts 4241 are provided on both sides of the lifting nut connecting seat 424. The U-shaped connecting seat 103 includes a mounting portion 1031 and two connecting portions 1032 extending outward from both ends of the mounting portion 1031. The mounting portion 1031 is fixedly connected to the support base 100, and two connecting shaft matching holes 1033 are respectively provided on the two connecting portions 1032. The connecting shaft 4241 of the lifting nut connecting seat 424 is located in the connecting shaft matching hole 1033, so that the lifting drive nut 423 is hingedly connected to the support base 100 through the lifting nut connecting seat 424; through the above arrangement, the lifting drive nut 423 can mainly bear the axial force along the axial direction of the lifting drive screw 422, reduce the additional radial force, and improve the service life of the lifting drive nut 423.

[0127] More specifically, Figure 14 and Figure 16As shown, a lifting drive reducer 425 is connected between the lifting drive motor 421 and the lifting drive screw 422 .

[0128] In this embodiment, Figure 12 、 Figure 13 and Figure 14 As shown, the lifting mechanism 400 adopts a column frame structure, and the two lifting sliding rails 401 are respectively arranged on the two columns 411 of the first door frame. The lifting sliding rails 401 are arranged front to back in the length direction of the AGV (that is, along the front and back direction of the cantilever axis). This structure can make the lifting sliding rails 401 and the columns have a larger span in the force direction, and the overall rigidity of the lifting mechanism 400 is better and the deformation is smaller.

[0129] In this embodiment, see Figure 12 、 Figure 17 、 Figure 18 and Figure 19 , Figure 17 for Figure 12 An axonometric view of one angle of the side shift mechanism and the mobile chassis of the cantilevered automated guided transport vehicle shown; Figure 18 for Figure 17 An axonometric view of the side shift mechanism and the mobile chassis from another angle; Figure 19 for Figure 17 The exploded view of the lateral shifting mechanism shown; the cantilevered automatic guided transport vehicle also includes: a lateral shifting mechanism 600; the lifting mechanism 400 is installed on the mobile chassis 500; the lateral shifting mechanism 600 is located between the lifting mechanism 400 and the mobile chassis 500; the lateral shifting mechanism 600 is used to drive the gantry 410 to move back and forth in a horizontal direction perpendicular to the cantilever axis.

[0130] In this embodiment, Figure 12 、 Figure 17 、 Figure 18 and Figure 19 As shown, the mobile chassis 500 can drive the cantilever shaft assembly 200, the pitch adjustment assembly 300, the lifting mechanism 400 and the side shift mechanism 600 to move in all directions; the side shift mechanism 600 can adjust the position of the lifting mechanism 400 and the cantilever shaft assembly 200 along the horizontal direction perpendicular to the cantilever shaft, thereby improving the material roll docking accuracy.

[0131] In this embodiment, Figure 12 、 Figure 17 、 Figure 18 and Figure 19As shown, the side shift mechanism 600 includes: a side shift base plate 610, a side shift driving device 620, a side shift sliding connection structure 630 and a side shift mounting plate 640; the side shift base plate 610 is fixedly mounted on the top of the mobile chassis 500; the side shift mounting plate 640 is fixedly connected to the lifting mechanism 400; the side shift driving device 620 and the side shift sliding connection structure 630 are located between the side shift base plate 610 and the side shift mounting plate 640; the side shift sliding connection structure 63 ... 0 includes two side-shift rails 631 and two sets of side-shift sliders 632. The two side-shift rails 631 are fixedly mounted on the upper surface of the side-shift base plate 610. The two sets of side-shift sliders 632 are slidably connected to the two side-shift rails 631 and fixedly connected to the side-shift mounting plate 640. The side-shift drive device 620 is transmission-connected to the side-shift mounting plate 640, and is used to drive the side-shift mounting plate 640 to cause the side-shift sliders 632 to slide along the side-shift rails 631. In this embodiment, the provision of the side-shift rails 631 and side-shift sliders 632 makes the side-shift movement of the side-shift mounting plate 640 more stable and precise, thereby improving the stability of the movement of the lifting mechanism 400 and the cantilever shaft 210 mounted thereon.

[0132] In this embodiment, Figure 12 、 Figure 17 、 Figure 18 and Figure 19 As shown, the side shift drive device 620 includes: a side shift drive motor 621, a side shift drive screw 622 and a side shift drive nut 623; the side shift drive motor 621 body is fixedly mounted on the side shift base plate, and the side shift drive screw 622 is rotatably connected to the side shift base plate 610; the side shift drive nut 623 is sleeved on the side shift drive screw 622 and fixedly connected to the side shift mounting plate 640; the output shaft of the side shift drive motor 621 is transmission-connected to one end of the side shift drive screw 622, and the output shaft of the side shift drive motor 621 rotates to drive the side shift drive screw 622 to rotate, so as to drive the side shift drive nut 623 and the side shift mounting plate 640 to reciprocate along the side shift drive screw 622, thereby realizing the reciprocating movement of the lifting mechanism 400 fixedly connected to the side shift mounting plate 640 along the horizontal direction perpendicular to the cantilever shaft.

[0133] Specifically, such as Figure 12 、 Figure 17 、 Figure 18 and Figure 19As shown, a side shift drive reducer 624 is further provided between the side shift drive motor 621 and the side shift drive lead screw 622. The output shaft of the side shift drive motor 621 is connected to the side shift drive reducer 624, and the output shaft of the side shift drive reducer 624 is fixedly connected to the side shift drive lead screw 622. A side shift drag chain 611 is further provided between the side shift base plate 610 and the side shift mounting plate 640. The side shift drag chain 611 can protect the cable of the side shift drive motor 621 and can also make the cable more neat, improving the aesthetics.

[0134] More specifically, Figure 12 、 Figure 17 、 Figure 18 and Figure 19 As shown, a side shift drive nut connecting block 625 is sleeved on the exterior of the side shift drive nut 623. The provision of the side shift drive nut connecting block 625 can increase the connection area between the side shift drive device 620 and the side shift mounting plate 640, thereby improving the connection strength between the side shift drive device 620 and the side shift mounting plate 640. Two side shift screw mounting blocks 612 are fixedly connected to the side shift base plate 610. The ends of the side shift drive screw 622 are rotatably connected to the side shift base plate 610 via the side shift screw mounting blocks 612.

[0135] In this embodiment, Figure 12 、 Figure 17 、 Figure 18 and Figure 19 As shown, a battery accommodating bracket 641 is provided on the top of the side shift mounting plate 640, and the cantilevered automatic guided transport vehicle also has a battery 700, which is arranged on the top of the side shift mounting plate 640 and is located in the battery accommodating bracket 641, and is used to provide power for the cantilevered automatic guided transport vehicle; the first gantry 410a in the lifting mechanism 400 is larger in height than the second gantry 410b, and the first gantry connecting base plate 4101a at the bottom of the first gantry 410a is fixedly connected to the top of the side shift mounting plate 640; the second gantry connecting base plate 4101b at the bottom of the second gantry 410b is fixedly connected to the top of the battery accommodating bracket 641.

[0136] The embodiment of the third aspect of the present application provides a method for dynamically adjusting the pitch angle of a cantilever pick-and-place device, and the cantilever pick-and-place device described in the above embodiment is applied, such as Figure 1 and Figure 20 As shown, Figure 20 A flowchart of a method for dynamically adjusting the pitch angle of a cantilever pick-and-place device provided in an embodiment of the present application; the method comprises the following steps:

[0137] S1: The angle detection sensor 220 provided at the second end of the cantilever shaft 210 detects in real time the pitch angle deflection value of the second end of the cantilever shaft 210 caused by the load of the material roll.

[0138] S2: Based on the angle deflection value, the main control system dynamically calculates the deviation between the current angle of the cantilever shaft 210 and the target docking angle, and generates a displacement control instruction for the power output unit 310.

[0139] S3: In response to the displacement control instruction, the output shaft 311 of the power output unit 310 is driven to perform linear telescopic motion.

[0140] S4: The linear displacement of the output shaft 311 is converted into a rotational displacement of the first end of the cantilever shaft 210 through the transmission connecting rod 320, so that the cantilever shaft is adjusted in pitch angle around its rotation center.

[0141] S5: Repeat the above steps until the pitch angle of the second end of the cantilever shaft 210 returns to the target docking angle, thereby achieving precise axis alignment between the material roll and the machine.

[0142] In this embodiment, Figure 1 、 Figure 2 and Figure 3 As shown, the power output unit 310 in the pitch adjustment assembly 300 cooperates with the transmission link 320 for transmission, which can enable the transmission link 320 to rotate around the output shaft 311, thereby driving the cantilever shaft 210 to adjust the pitch angle around its rotation center, thereby causing the second end of the cantilever shaft to rise or tilt downward; when the cantilever shaft 210 carries material rolls of different weights, the pitch adjustment assembly 300 compensates for the deflection deformation of the cantilever shaft 210 by raising or tilting the second end of the cantilever shaft 210, so that the cantilever shaft 210 can be aligned with the machine, thereby improving the docking accuracy.

[0143] It should be noted that, in this document, relational terms such as first and second, etc., are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply the existence of any such actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article, or device comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or elements inherent to such process, method, article, or device. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of other identical elements in the process, method, article, or device comprising the element.

[0144] Each embodiment in this specification is described in a related manner. Similar parts between the embodiments can be referred to in conjunction with each other. Each embodiment focuses on the differences from other embodiments. The above description is only a preferred embodiment of this application and is not intended to limit the scope of protection of this application. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of this application are included in the scope of protection of this application.

Claims

1. A cantilever pick-and-place device, characterized in that: The invention is applied to a cantilever type automatic guided transport vehicle, comprising: a supporting base (100), a cantilever shaft assembly (200) and a pitch adjustment assembly (300); The first side of the support base (100) is used to connect to the lifting mechanism of the cantilever type automatic guided transport vehicle, and the second side is used to install the cantilever shaft assembly (200) and the pitch adjustment assembly (300); The cantilever shaft assembly (200) includes a cantilever shaft (210), a first end of which is rotatably connected to the support base (100), and a second end of which extends out of the lifting mechanism to carry the material roll; The pitch adjustment assembly (300) comprises: A power output unit (310) is fixedly connected to the support base (100), and its output shaft (311) is spaced apart from the first end of the cantilever shaft (210) in the height direction; a transmission connecting rod (320), a first end of which is connected to the output shaft (311), and a second end of which is fixedly connected to the first end of the cantilever shaft (210); The power output unit (310) applies a linear thrust or pull to the transmission connecting rod (320) by driving the output shaft (311), so that the transmission connecting rod (320) rotates around the output shaft (311), thereby driving the cantilever shaft (210) to adjust the pitch angle around its rotation center.

2. The cantilever pick-and-place device according to claim 1, characterized in that: The power output unit (310) comprises: A pitch motor mounting plate (312), a pitch drive motor (313) and a translation mechanism (314); the output shaft (311) is arranged on the translation mechanism (314); the transmission connecting rod (320) is a pitch adjustment connecting rod; The pitch drive motor (313) is fixedly connected to the support base (100) via a pitch motor mounting plate (312), and is transmission-connected to the translation mechanism (314); the pitch drive motor (313) is capable of driving the translation mechanism (314) to move in a horizontal direction along which the cantilever shaft (210) extends, thereby driving the output shaft (311) to apply pressure to the first end of the pitch adjustment connecting rod in a horizontal direction, thereby causing the pitch adjustment connecting rod to rotate, thereby driving the cantilever shaft (210) to rise upward or tilt downward.

3. The cantilever pick-and-place device according to claim 2, characterized in that: The translation mechanism (314) comprises: a transmission screw (3141) and a transmission nut (3142); The transmission screw (3141) is fixedly connected to the support base (100) in the horizontal direction; the output shaft of the pitch drive motor (313) is transmission-connected to one end of the transmission screw (3141); The lead screw nut is sleeved on the transmission lead screw (3141), and the output shaft (311) is fixedly connected to the lead screw nut; the output shaft of the pitch drive motor (313) rotates, driving the transmission lead screw (3141) to rotate, so that the nut drives the output shaft (311) to move along the horizontal direction; The first end of the pitch adjustment connecting rod has an elongated follower-matching hole (321), and the output shaft (311) is located in the follower-matching hole (321). When the output shaft (311) moves in the horizontal direction, it can drive the pitch adjustment connecting rod to rotate through the follower-matching hole (321), thereby driving the cantilever shaft (210) to rise upward or tilt downward.

4. The cantilever pick-and-place device according to claim 3, characterized in that: The output shaft of the pitch drive motor (313) is connected to one end of the transmission screw (3141) through a synchronous belt (315), a driving wheel (316) and a driven wheel (317), and is connected to one end of the transmission screw (3141); The pitch motor mounting plate (312) is mounted on the support base (100) and is perpendicular to the transmission screw (3141); The motor body of the pitch drive motor (313) and the transmission screw (3141) are arranged on the same side of the pitch motor mounting plate (312) and are arranged parallel to the transmission screw (3141); The driving wheel (316) and the driven wheel (317) are arranged on the other side of the pitch motor mounting plate (312). The output shaft of the pitch drive motor (313) passes through the pitch motor mounting plate (312) and is fixedly connected to the drive wheel (316); The transmission screw is fixedly connected to the driven wheel (317) through a relief hole (3120) provided on the pitch motor mounting plate (312); the synchronous belt (315) is sleeved on the outside of the driving wheel (316) and the driven wheel (317).

5. The cantilever pick-and-place device according to claim 3, characterized in that: The translation mechanism (314) further comprises a sliding connection seat (3143) and two guide rails (110), wherein the sliding connection seat (3143) is sleeved on the transmission nut (3142); The two guide rails (110) are arranged on the support base (100); the two guide rails (110) are arranged in parallel and spaced apart along the extension direction of the cantilever shaft (210); Two guide sliding blocks (120) are provided at the bottom of the sliding connection seat (3143); the sliding connection seat (3143) is slidingly connected to the supporting base (100) through the two guide slide rails (110).

6. The cantilever pick-and-place device according to claim 5, characterized in that: Two slot-shaped photoelectric sensors (130) are provided on the support base (100), and the two slot-shaped photoelectric sensors (130) are spaced apart along the horizontal direction in which the cantilever shaft extends. A photoelectric baffle (3144) is provided on the sliding connection seat (3143), and the sliding connection seat (3143) can drive the photoelectric baffle (3144) to move, thereby triggering the two slot-shaped photoelectric sensors (130) to determine the position of the sliding connection seat (3143) in the horizontal direction.

7. The cantilever pick-and-place device according to claim 3, characterized in that: The output shaft (311) comprises: a shaft body (3111) and a roller bearing (3112) sleeved outside the shaft body, wherein the roller bearing is located in the follower fitting hole (321); when the roller bearing moves in a horizontal direction, the friction between the surface of the roller bearing and the transmission connecting rod can drive the roller bearing to rotate around the central axis of the body.

8. The cantilever pick-and-place device according to claim 2, wherein: A cantilever shaft reinforcement connecting plate (330) is further provided between the second end of the transmission connecting rod (320) and the support base (100); the transmission connecting rod (320) is rotationally connected to the support base (100) via the cantilever shaft reinforcement connecting plate (330); and the cantilever shaft (210) is fixedly connected to the transmission connecting rod (320) via the cantilever shaft reinforcement connecting plate (330).

9. The cantilever pick-and-place device according to claim 8, characterized in that: A slewing bearing (340) is provided between the cantilever shaft reinforcement connecting plate (330) and the supporting base (100), and the slewing bearing (340) includes a rotatably connected fixed portion (341) and a rotating portion (342), and the fixed portion (341) and the rotating portion (342) are fixedly connected to the supporting base (100) and the cantilever shaft reinforcement connecting plate (330), respectively.

10. The cantilever pick-and-place device according to any one of claims 1 to 9, characterized in that: An angle detection sensor (220) is provided at the second end of the cantilever shaft (210); the angle detection sensor (220) is used to detect in real time the end pitch angle deflection value of the cantilever shaft (210) caused by load deformation; The power output unit (310) of the pitch adjustment assembly (300) is in communication with a main control system, and the main control system dynamically controls the displacement of the output shaft (311) of the power output unit (310) based on the angle deflection value, so that the end pitch angle of the cantilever shaft (210) returns to the target docking angle.

11. The cantilever pick-and-place device according to any one of claims 1 to 9, characterized in that: The cantilever shaft assembly (200) further includes: a material pushing mechanism (230); It comprises a material pushing member (231), a material pushing driving member (232) and a material pushing sliding connection structure (233); The pushing member (231) is slidably connected to the cantilever shaft (210) along the axial direction of the cantilever shaft (210) via a pushing sliding connection structure (233), and the pushing driving member (232) is used to drive the pushing member (231) to move along the axial direction of the cantilever shaft (210) so that the pushing member (231) pushes out the material roll on the cantilever shaft (210).

12. The cantilever pick-and-place device according to claim 11, wherein: The pushing member (231) comprises: a pushing cover body (2311) arranged on the top of the cantilever shaft (210); two sides of the pushing cover body (2311) are connected downwardly along the two sides of the cantilever shaft (210) with two lateral connecting plates (2312); The tops of the two lateral connecting plates (2312) are fixedly connected to the pushing cover (2311), and the middle parts are connected to the pushing sliding connection structure (233); the bottom of one of the lateral connecting plates (2312) is used to install the pushing drive member (232); and the other lateral connecting plate (2312) is provided with a drive member avoidance groove (23120).

13. The cantilever pick-and-place device according to claim 12, wherein: The pusher drive member (232) includes: a pusher drive motor (2321), a pusher transmission mechanism (2322), a pusher drive gear shaft (2323) and a pusher drive rack (2324); The pusher sliding connection structure (233) includes two pusher slide rails (2331) and two sets of pusher slide blocks (2332); The two material pushing slide rails (2331) are respectively fixedly mounted on both sides of the cantilever shaft (210); The two groups of pushing slide blocks (2332) are respectively slidably connected to the two pushing slide rails (2331), and are fixedly connected to the middle part of the lateral connecting plate (2312) of the pushing member (231); The push drive rack (2324) is fixedly mounted on the bottom of the cantilever shaft along the axial direction of the cantilever shaft (210); The pusher drive motor (2321) body is mounted on the bottom of the cantilever shaft (210) via the lateral connecting plate (2312), and the output shaft passes through the lateral connecting plate (2312) and is transmission-connected to the pusher drive gear shaft (2323) via the pusher transmission mechanism (2322); The push drive gear shaft (2323) is rotatably connected between the two lateral connecting plates (2312); The push drive motor (2321) drives the push drive gear shaft (2323) to move back and forth along the push drive rack (2324) through the push drive transmission mechanism (2322).

14. The cantilever pick-and-place device according to any one of claims 1 to 9, characterized in that: The second end (212) of the cantilever shaft has a material stopper assembly (240); The material stopper assembly (240) comprises: a material stopper base (241), a stopper rod (242) and a stopper rod driving device (243); The blocking rod (242) is slidably connected to the material stopper base (241) via a blocking rod sliding structure (2421); The blocking rod driving device (243) is in transmission connection with the blocking rod (242) and is used to drive the blocking rod (242) to extend from the material stopper base (241) to a first preset position to block the material, or to retract to a second preset position so that the blocking rod (242) does not block the material.

15. The cantilever pick-and-place device according to claim 14, wherein: The barrier rod driving device (243) comprises a barrier rod driving mounting seat (2431), a barrier rod driving motor (2432), a barrier rod driving gear (2433) and a barrier rod driving rack (2434); the cantilever shaft (210) has a hollow accommodating cavity (2101); The blocking rod driving mounting seat (2431) is fixedly mounted on the outer side of the material blocking device base (241); The body of the barrier rod drive motor (2432) is fixedly mounted on the outside of the barrier rod drive mounting seat (2431), and is partially located in the hollow accommodating cavity (2101) of the cantilever shaft (210); the output shaft of the barrier rod drive motor (2432) passes through the barrier rod drive mounting seat (2431) and is fixedly connected to the barrier rod drive gear (2433); The barrier rod driving rack (2434) is fixedly connected to the barrier rod (242) via a barrier rod connecting seat (2422); The output shaft of the barrier rod driving motor (2432) drives the barrier rod driving gear (2433) to rotate, so that the barrier rod driving rack (2434) drives the barrier rod (242) to reciprocate and extend.

16. The cantilever pick-and-place device according to claim 14, wherein: A zero-position photoelectric sensor (251) and an in-position photoelectric sensor (252) are provided at intervals on the bottom of the material stopper base (241) along the extension and contraction direction of the stop rod (242); A material stopper photoelectric blocking piece (245) is installed at the bottom of the blocking rod (242); during the reciprocating extension and contraction process of the blocking rod (242), the material stopper photoelectric blocking piece (245) can be driven to trigger the zero position photoelectric sensor and the in-position photoelectric sensor respectively.

17. A pitch adjustment assembly, characterized in that: The invention is applied to a cantilever pick-and-place device, wherein the cantilever pick-and-place device comprises a support base (100) and a cantilever shaft assembly (200); the pitch adjustment assembly (300) comprises: A power output unit (310) is fixedly connected to the support base (100), and its output shaft (311) is spaced apart from the first end of the cantilever shaft (210) in the height direction; A transmission connecting rod (320), a first end of which is connected to the output shaft (311), and a second end of which is fixedly connected to the first end of the cantilever shaft (210); The power output unit (310) applies a linear thrust or pull to the transmission connecting rod (320) by driving the output shaft (311), so that the transmission connecting rod (320) rotates around the output shaft (311), thereby driving the cantilever shaft (210) to adjust the pitch angle around its rotation center.

18. A cantilevered automatic guided transport vehicle, characterized in that: include: The cantilever pick-and-place device according to any one of claims 1 to 16 above.

19. The cantilevered automated guided vehicle according to claim 18, characterized in that: The cantilevered automatic guided transport vehicle has a lifting mechanism (400); The lifting mechanism comprises: a column frame structure formed by two relatively spaced door frames (410), and a lifting drive assembly (420); Each of the door frames (410) comprises: two door posts (411) spaced apart in the front-rear direction extending along the cantilever shaft; The lifting drive assembly (420) is arranged on the first door frame (410a) of the two door frames; The cantilevered pick-and-place device is fixedly connected to the lifting drive assembly (420) and slidably connected to the first door frame (410a); the lifting drive assembly (420) is capable of driving the cantilevered pick-and-place device to move up and down along the height direction of the door frame (410); The cantilevered pick-and-place device is located between two door frames (410), and a cantilever shaft (210) of the cantilevered pick-and-place device extends outward from between the two door frames (410).

20. The cantilevered automated guided vehicle according to claim 19, characterized in that: A lifting sliding guide rail (401) is provided on each of the two upright columns (411) of the first door frame, and a lifting sliding block (402) for cooperating with the two lifting sliding guide rails (401) is provided on the first surface of the supporting base (100) of the cantilever pick-and-place device; A motor mounting plate (412) is connected between the two upright posts (411) of the first door frame; The lifting drive assembly (420) comprises: a lifting drive motor (421), a lifting drive lead screw (422) and a lifting drive nut (423); The lifting drive screw (422) is rotatably mounted between the two upright posts (411); The main body of the lifting drive motor (421) is fixedly mounted on the top of the crossbeam (412) of the first gantry, and the output shaft is transmission-connected to one end of the lifting drive screw (422); The lifting drive nut (423) is sleeved on the lifting drive screw (422) and is hingedly connected to the support base (100) of the cantilever pick-and-place device; The output shaft of the lifting drive motor (421) drives the lifting drive screw (422) to rotate, so that the lifting drive nut (423) drives the support base (100) of the cantilever pick-and-place device to move back and forth in the height direction.

21. The cantilevered automated guided vehicle according to claim 19, characterized in that: The cantilevered automatic guided transport vehicle further comprises: a side shift mechanism (600); The lifting mechanism (400) is installed on a mobile chassis (500); The side shift mechanism (600) is located between the lifting mechanism (400) and the movable chassis (500); the side shift mechanism (600) is used to drive the door frame (410) to move back and forth in a horizontal direction perpendicular to the cantilever axis.

22. The cantilevered automated guided vehicle according to claim 21, characterized in that: The side shift mechanism (600) comprises: a side shift base plate (610), a side shift driving device (620), a side shift sliding connection structure (630) and a side shift mounting plate (640); The side shift bottom plate (610) is fixedly mounted on the top of the mobile chassis (500); the side shift mounting plate (640) is fixedly connected to the lifting mechanism (400); The side shift driving device (620) and the side shift sliding connection structure (630) are located between the side shift base plate (610) and the side shift mounting plate (640); The lateral sliding connection structure (630) includes two lateral sliding rails (631) and two sets of lateral sliding blocks (632), and the two lateral sliding rails (631) are fixedly mounted on the upper surface of the lateral sliding base plate (610); The two groups of lateral sliding blocks (632) are respectively slidably connected to the two lateral sliding rails (631) and fixedly connected to the lateral mounting plate (640); The lateral shift driving device (620) is in transmission connection with the lateral shift mounting plate (640) and is used to drive the lateral shift mounting plate (640) to drive the lateral shift slider (632) to slide along the lateral shift slide rail (631).

23. The cantilevered automated guided vehicle according to claim 21, characterized in that: The side shift driving device (620) comprises: a side shift driving motor (621), a side shift driving screw (622) and a side shift driving nut (623); The side shift drive motor (621) is fixedly mounted on the side shift base plate, and the side shift drive screw (622) is rotatably connected to the side shift base plate (610); the side shift drive nut (623) is sleeved on the side shift drive screw (622) and fixedly connected to the side shift mounting plate (640); The output shaft of the side-shift drive motor (621) is in transmission connection with one end of the side-shift drive screw (622), and the output shaft of the side-shift drive motor (621) rotates to drive the side-shift drive screw (622) to rotate, thereby driving the side-shift drive nut (623) and the side-shift mounting plate (640) to reciprocate along the side-shift drive screw (622).

24. A method for dynamically adjusting the pitch angle of a cantilever pick-and-place device, characterized in that: The cantilever pick-and-place device according to any one of claims 1 to 16, The method comprises the following steps: An angle detection sensor (220) provided at the second end of the cantilever shaft (210) is used to detect in real time the pitch angle deflection value of the second end caused by the load of the material roll; Based on the angle deflection value, the main control system dynamically calculates the deviation between the current angle of the cantilever shaft (210) and the target docking angle, and generates a displacement control instruction for the power output unit (310); In response to the displacement control instruction, driving the output shaft (311) of the power output unit (310) to perform linear telescopic motion; The linear displacement of the output shaft (311) is converted into the rotational displacement of the first end of the cantilever shaft (210) through the transmission connecting rod (320), so that the cantilever shaft can be adjusted in pitch angle around its rotation center.

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