Cantilever type automatic guide transport vehicle and material coil carrying method

Abstract

The embodiment of the invention provides a cantilever type automatic guide transport vehicle and a material roll carrying method. The cantilever type automatic guide transport vehicle comprises a moving chassis, a frame type portal and at least two cantilever type goods taking and placing mechanisms. The at least two cantilever type goods picking and placing mechanisms are connected with different side surfaces of the frame type portal frame and can move up and down relative to the frame type portal frame; each cantilever type goods taking and placing mechanism is used for taking and placing an empty material coil or a full material coil; and the moving chassis can drive the frame type portal frame to move and can drive the frame type portal frame to rotate, so that the cantilever type goods taking and placing mechanism is in butt joint with a material taking point or a material placing point to take and place a material roll. According to the cantilever type automatic guide transport vehicle, due to the fact that the cantilever type automatic guide transport vehicle is provided with the at least two cantilever type goods taking and placing mechanisms, the function that at least two material coils are carried at the same time at a time is achieved, the utilization rate of the cantilever type automatic guide transport vehicle is increased, and the material coil taking and placing efficiency is improved.

Description

Technical Field

[0001] The present application relates to the technical field of automatic guided vehicles, and in particular to a cantilevered automatic guided vehicle and a roll handling method. Background Art

[0002] At present, in the lithium battery industry, cantilevered automatic guided vehicles are usually used to transport material rolls between the material picking point and the material unloading point. The cantilevered automatic guided vehicle usually includes a moving chassis, a gantry installed on the moving chassis, and a cantilever installed on the gantry. The cantilever is used to pick up and unload material rolls.

[0003] In related technologies, cantilevered AGVs primarily perform two types of handling tasks: transporting full rolls from the pick-up point to the unload point, and removing empty rolls from the unload point and transporting them to the pick-up point. These two handling tasks are typically accomplished by using one cantilevered AGV for round-trip transport, first removing an empty roll from the unload point and transporting it to the pick-up point, and then transporting a full roll from the pick-up point to the unload point. Alternatively, two cantilevered AGVs can perform simultaneous transport, with one removing an empty roll from the unload point and transporting it to the pick-up point, while the other transports a full roll from the pick-up point to the unload point.

[0004] The first method requires the cantilevered automated guided transport vehicle to move a longer distance; the second method requires two cantilevered automated guided transport vehicles to complete the handling task, resulting in a low utilization rate of the cantilevered automated guided transport vehicles. Both methods of completing the handling task result in low efficiency in the material roll picking and placing of the cantilevered automated guided transport vehicles. Summary of the Invention

[0005] The purpose of the embodiments of the present application is to provide a cantilevered automatic guided transport vehicle and a coil handling method to improve the efficiency of coil placement. The specific technical solution is as follows:

[0006] An embodiment of the present application provides a cantilevered automatic guided transport vehicle for transporting empty or full rolls of material, comprising: a moving chassis, a frame-type gantry and at least two cantilevered pick-up and place-back mechanisms; the frame-type gantry is fixed on the top of the moving chassis and has multiple side faces; the at least two cantilevered pick-up and place-back mechanisms are connected to different side faces of the frame-type gantry and can move up and down relative to the frame-type gantry; each cantilevered pick-up and place-back mechanism is used to pick up and place an empty roll of material or a full roll of material; the moving chassis can drive the frame-type gantry to move and can drive the frame-type gantry to rotate so that the cantilevered pick-up and place-back mechanisms can dock with the picking point or the placing point to pick up and place the rolls of material.

[0007] In some embodiments of the present application, the frame-type gantry has four side surfaces that are opposite to each other in pairs; the number of the cantilever-type cargo picking and placing mechanisms is two, which are arranged on two opposite side surfaces of the frame-type gantry facing each other.

[0008] In some embodiments of the present application, the cantilevered automated guided transport vehicle is configured to: based on the at least two cantilevered pick-up and delivery mechanisms, carry at least two full coils at a time from a pick-up point to corresponding delivery points; or carry at least two empty coils at a time from a delivery point and drive away from the delivery point;

[0009] And / or, the cantilevered automatic guided transport vehicle is configured as follows: at least one cantilevered pick-up and place-out mechanism carries a full roll at the pick-up point, and at least one cantilevered pick-up and place-out mechanism is empty; after moving to the discharge point, the empty cantilevered pick-up and place-out mechanism docks with the discharge point to remove the empty roll at the discharge point; the moving chassis drives the frame-type gantry to rotate, so that the cantilevered pick-up and place-out mechanism carrying the full roll docks with the discharge point, and moves the full roll to the discharge point.

[0010] In some embodiments of the present application, the cantilever cargo picking and placing mechanism is connected to the frame-type gantry through a connecting structure; the cantilever cargo picking and placing mechanism includes: a cantilever shaft and a pushing mechanism; one side of the connecting structure is connected to the cantilever shaft and the pushing mechanism; the other side is connected to a side surface of the frame-type gantry, and can drive the cantilever shaft and the pushing mechanism to move up and down relative to the frame-type gantry; the cantilever shaft and the pushing mechanism are adjacently arranged on the connecting structure, and extend vertically from the side surfaces of the frame-type gantry respectively; the cantilever shaft is used to dock with the picking point or the discharging point in an unloaded state, and to pick up the full roll pushed from the picking point or the empty roll pushed from the discharging point; it docks with the discharging point in a fully loaded state, and pushes the full roll on the cantilever shaft to the discharging point through the pushing mechanism.

[0011] In some embodiments of the present application, the cantilever shaft is equipped with a material blocking mechanism; a through slot is provided at the top of the cantilever shaft away from one end of the frame-type gantry; the material blocking mechanism includes: a first power assembly and a blocking rod; the blocking rod is drive-connected to the first power assembly and can be extended or retracted to the through slot under the drive of the first power assembly; when a material roll is carried on the cantilever shaft, the material pushing mechanism is against one side of the material roll, and the blocking rod extends out of the through slot and is against the other side of the material roll to cooperate in clamping the material roll.

[0012] In some embodiments of the present application, there is a accommodating space inside the cantilever shaft; the first power component is arranged in the accommodating space; the material blocking mechanism is eccentrically arranged in the cantilever shaft, located in the upper part of the accommodating space; the first end of the blocking rod is located in the accommodating space, fixedly connected to the output end of the first power component, and the second end extends toward the through slot; driven by the first power component, the blocking rod can rotate based on the first end, so that the second end can extend out of the through slot or retract into the through slot.

[0013] In some embodiments of the present application, the first power assembly includes: a material stopping motor, a coupling and a transmission shaft that are sequentially connected in a direction away from the frame-type gantry; a blocking rod support is provided on the output end of the transmission shaft; one end of the blocking rod support is rotatably connected to the transmission shaft and fixedly connected to the inner wall of the cantilever shaft; the other end of the blocking rod support extends to the bottom of the coupling, and the material stopping motor is fixedly connected to the blocking rod support through a motor mounting seat; the output end of the transmission shaft is fixedly connected to the first end of the blocking rod; the first power assembly is used to drive the transmission shaft to rotate by the material stopping motor to drive the blocking rod to rotate.

[0014] In some embodiments of the present application, the material blocking mechanism also includes: a slot-type photoelectric sensor; the slot-type photoelectric sensor is fixed next to the transmission shaft, and its opening faces the transmission shaft; an induction baffle is vertically arranged on the transmission shaft, corresponding to the opening of the slot-type photoelectric sensor; the induction baffle can rotate with the transmission shaft and enter and exit the opening, so that the slot-type photoelectric sensor can detect the position status of the baffle rod on the transmission shaft.

[0015] In some embodiments of the present application, the number of the slot-type photoelectric sensors and the sensing baffles is 2; the two slot-type photoelectric sensors are arranged side by side and spaced apart along the extension direction of the transmission shaft; the two sensing baffles respectively correspond to the opening of one slot-type photoelectric sensor, and the angle between the two sensing baffles is 90 degrees; when the barrier rod is rotated to a vertical state, one of the sensing baffles enters the opening of the corresponding slot-type photoelectric sensor; when the barrier rod is rotated to a horizontal state, the other sensing baffle enters the opening of the corresponding slot-type photoelectric sensor.

[0016] In some embodiments of the present application, the pushing mechanism includes: a pushing plate and a third power assembly; the pushing plate is located on the circumferential side of the cantilever shaft; the third power assembly is fixedly connected to the connecting structure and is drivingly connected to the pushing plate; under the drive of the third power assembly, the pushing plate can move horizontally along the extension direction of the cantilever shaft to push the material roll on the cantilever shaft.

[0017] In some embodiments of the present application, the third power assembly includes: an electric push cylinder and an auxiliary push rod; the cylinder body of the electric push cylinder is fixedly connected to the connecting structure; the telescopic rod of the electric push cylinder is fixedly connected to the push plate; the auxiliary push rod is arranged in a direction parallel to the telescopic rod, is slidingly connected to the cylinder body, and is fixedly connected to the push plate; the third power assembly is used to drive the push plate and the auxiliary push rod to move horizontally along the extension direction of the cantilever shaft through the telescopic rod of the electric push cylinder to push the material roll on the cantilever shaft.

[0018] In some embodiments of the present application, a lifting mechanism is provided on the frame-type gantry; the number of the lifting mechanisms is the same as the cantilever-type picking and placing cargo mechanisms; each of the cantilever-type picking and placing cargo mechanisms is driven and connected to the lifting mechanism through a connecting structure, and moves up and down driven by the lifting mechanism.

[0019] In some embodiments of the present application, the connecting structure includes: a lateral shifting mechanism; the lateral shifting mechanism is drive-connected to the lifting mechanism; the cantilever shaft and the pushing mechanism of the cantilever type picking and placing mechanism are installed on the lateral shifting mechanism, and can be moved laterally in the horizontal direction under the drive of the lateral shifting mechanism.

[0020] In some embodiments of the present application, the side shift mechanism includes: a fixed plate, a second power assembly and a movable plate arranged in sequence along a direction away from the frame-type gantry; the fixed plate is movably connected to the frame-type gantry along a vertical direction; the second power assembly is installed on the fixed plate and is driven and connected to the movable plate, and can drive the movable plate to move horizontally in a direction parallel to the fixed plate; the cantilever shaft and the pushing mechanism are fixed on the movable plate and can move horizontally with the movable plate.

[0021] In some embodiments of the present application, the second power assembly includes: a side-shift motor, a side-shift screw, a side-shift screw nut, a side-shift guide rail and a side-shift slider; the side-shift motor is fixed to the fixed plate and is drivingly connected to the side-shift screw; the side-shift screw nut is sleeved on the side-shift screw and is fixedly connected to the movable plate; the side-shift guide rail is fixed to the fixed plate in the horizontal direction, and the movable plate is slidingly connected to the side-shift guide rail through the side-shift slider; the second power assembly is used to drive the side-shift screw to rotate through the side-shift motor, so that the side-shift screw nut drives the movable plate and the cantilevered cargo picking and placing mechanism to move horizontally along the side-shift guide rail.

[0022] In some embodiments of the present application, the lifting mechanism includes: a lifting screw, a lifting screw nut, a lifting motor, a lifting guide rail and a lifting slider; the lifting screw is arranged in a vertical direction, the bottom end is rotatably connected to the moving chassis, the top end passes through the top plate of the frame-type gantry, and is driven and connected to the lifting motor fixed on the top plate; the lifting screw nut is sleeved on the lifting screw and fixedly connected to one of the side-shifting mechanisms; the lifting guide rail is fixed on the column of the frame-type gantry in the vertical direction, and the side-shifting mechanism is slidably connected to the lifting guide rail through a lifting slider; the lifting screw rotates under the drive of the lifting motor, so that the lifting screw nut drives the side-shifting mechanism and the cantilevered cargo picking and placing mechanism to move vertically along the lifting guide rail.

[0023] The present application also provides a coil handling method using the aforementioned cantilevered automated guided vehicle. The method includes:

[0024] Instruct the cantilevered automated guided vehicle to move to the material collection point, where all the cantilevered pick-up and release mechanisms respectively receive and carry a full roll; instruct the cantilevered automated guided vehicle to move to different unloading points of each full roll in sequence; instruct the cantilevered automated guided vehicle to have a cantilevered pick-up and release mechanism dock with the unloading point at each unloading point and move the full roll to the unloading point; or

[0025] When all cantilever pick-up and place mechanisms are empty, the cantilever automatic guided transport vehicle is instructed to move to each material discharge point in turn, and each cantilever pick-up and place mechanism respectively receives and carries an empty material roll and drives away from each material discharge point.

[0026] The present application also provides another method for handling a coil, using the aforementioned cantilevered automated guided vehicle, the method comprising:

[0027] Instructing the cantilevered automated guided vehicle to move to a material pickup point, where at least one cantilevered pickup and placement mechanism receives and carries a full roll; and at least one cantilevered pickup and placement mechanism is empty;

[0028] The cantilevered automatic guided transport vehicle is instructed to move to the unloading point corresponding to the full roll. At the unloading point, an unloaded cantilevered pick-up and release mechanism docks with the unloading point to take out and carry the empty roll at the unloading point. The frame-type gantry is driven to rotate based on the motion chassis, so that the cantilevered pick-up and release mechanism carrying the full roll docks with the unloading point, and the full roll is moved to the unloading point.

[0029] Beneficial effects of the embodiments of the present application:

[0030] The cantilevered automatic guided transport vehicle and the material roll handling method provided in the embodiments of the present application adopt a frame-type gantry with multiple sides to install at least two cantilevered pick-up and placement mechanisms. Each cantilevered pick-up and placement mechanism can pick up and place a material roll, and thus has the function of simultaneously handling at least two material rolls at a time; compared with the related art of completing the handling task by two cantilevered automatic guided transport vehicles, the utilization rate of the cantilevered automatic guided transport vehicles is improved, thereby improving the efficiency of material roll picking and placement.

[0031] In another coil handling method provided in an embodiment of the present application, the cantilevered automated guided transport vehicle can have one cantilevered pick-up and place mechanism carry a full coil, while the other cantilevered pick-up and place mechanism moves empty to a discharge point. At the discharge point, the empty cantilevered pick-up and place mechanism takes out the empty coil from the discharge point and carries it, rotating it and moving the full coil to the discharge point. In this way, the empty and full bins can be exchanged in a single transport, improving the efficiency of coil loading and unloading.

[0032] 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

[0033] 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.

[0034] Figure 1 A perspective view of a cantilevered automated guided vehicle provided in an embodiment of the present application;

[0035] Figure 2 for Figure 1 An exploded schematic diagram of the cantilevered automated guided transport vehicle shown;

[0036] Figure 3a for Figure 1 A perspective view of the cantilevered pick-and-place mechanism of the cantilevered automated guided vehicle carrying a material roll;

[0037] Figure 3b for Figure 3a A front view of the cantilevered automated guided transport vehicle shown;

[0038] Figure 4a for Figure 1 A perspective view of the cantilevered pick-and-place mechanism of the cantilevered automated guided transport vehicle when placing a coil;

[0039] Figure 4b for Figure 4a A front view of the cantilevered automated guided transport vehicle shown;

[0040] Figure 5 for Figure 1 A perspective view of the frame-type gantry and lifting mechanism of the cantilever-type automated guided transport vehicle shown;

[0041] Figure 6a for Figure 1 A perspective view of the frame-type gantry and side shift mechanism of the cantilever-type automated guided transport vehicle shown;

[0042] Figure 6b for Figure 6a A front view of the cantilevered automated guided transport vehicle shown;

[0043] Figure 6c for Figure 6a A top view of the cantilevered automated guided transport vehicle shown;

[0044] Figure 7a for Figure 1 A perspective view of the side shift mechanism and the cantilevered pick-and-place mechanism of the cantilevered automated guided transport vehicle;

[0045] Figure 7b for Figure 7a A side view of the cantilevered automated guided transport vehicle shown;

[0046] Figure 8a for Figure 7a A front view of the side shift mechanism shown;

[0047] Figure 8b for Figure 7a A side view of the side shift mechanism shown;

[0048] Figure 9 for Figure 7a A perspective view of the cantilevered pick-up and place mechanism (the pushing mechanism is not shown);

[0049] Figure 10 for Figure 9 An exploded schematic diagram of the cantilevered pick-up and place-out mechanism shown;

[0050] Figure 11 for Figure 9 A side view of the cantilevered pick-up and place mechanism shown;

[0051] Figure 12 for Figure 9 A cross-sectional view of the cantilevered pick-up and place-out mechanism shown;

[0052] Figure 13 for Figure 10 A three-dimensional diagram of the middle stop mechanism;

[0053] Figure 14a for Figure 7a A perspective view of the pusher mechanism shown in a retracted state;

[0054] Figure 14b for Figure 7a A three-dimensional view of the push mechanism shown in the extended state.

[0055] Reference numerals:

[0056] Material volume 1;

[0057] Sports chassis 100;

[0058] Frame-type door frame 200; top plate 210; column 220; bottom plate 230; protective cover 240; accordion cover 241;

[0059] Cantilevered loading and unloading mechanism 300; cantilevered shaft 310; through slot 311; main body 312; mounting plate 313; horizontal mounting platform 3131; end cover 314; pushing mechanism 320; pushing plate 321; third power assembly 322; electric push cylinder 3221; cylinder body 3221A; telescopic rod 3221B; auxiliary push rod 3222; L-shaped connector 323; material blocking mechanism 330; first power assembly 331; material blocking motor 3311; coupling 3312; transmission shaft 3313; motor mounting base 3314; blocking rod support 3315; blocking rod 332; slot-shaped photoelectric sensor 333; induction block 334; code reading camera 340; anti-collision detection sensor 350; in-position photoelectric sensor 360; out-of-limit photoelectric sensor 370; roller bearing 380;

[0060] Lifting mechanism 400; lifting screw 410; lifting screw nut 420; lifting motor 430; lifting guide rail 440; lifting slider 450; synchronous pulley transmission mechanism 460;

[0061] Lateral shift mechanism 500 ; fixed plate 510 ; second power assembly 520 ; lateral shift motor 521 ; lateral shift lead screw 522 ; lateral shift lead screw nut 523 ; lateral shift guide rail 524 ; lateral shift slider 525 ; movable plate 530 . DETAILED DESCRIPTION

[0062] 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.

[0063] As mentioned in the background technology, in the related art, the handling tasks of cantilevered automated guided vehicles mainly include two types: transporting full rolls from the material collection point to the material discharge point and removing empty rolls from the material discharge point and transporting them to the material collection point. The two methods usually used to complete these two handling tasks are: one cantilevered automated guided vehicle performs round-trip transportation, first unloaded, removing an empty roll from the material discharge point and transporting it to the material collection point, and then transporting a full roll from the material collection point to the material discharge point; or two cantilevered automated guided vehicles carry the materials simultaneously, one removing an empty roll from the material discharge point and transporting it to the material collection point, and the other transporting a full roll from the material collection point to the material discharge point.

[0064] The first method requires the cantilevered automated guided transport vehicle to move a longer distance; the second method requires two cantilevered automated guided transport vehicles to complete the handling task, resulting in a low utilization rate of the cantilevered automated guided transport vehicles. Both methods of completing the handling task result in low efficiency in the material roll picking and placing of the cantilevered automated guided transport vehicles.

[0065] In order to solve the above technical problems, the embodiment of the present application provides a cantilevered automatic guided transport vehicle and a coil handling method to improve the efficiency of coil picking and placing. The cantilevered automatic guided transport vehicle provided by the embodiment of the present application is first described in detail below.

[0066] See also Figures 1 to 4b , Figure 1 A perspective view of a cantilevered automated guided vehicle provided in an embodiment of the present application; Figure 2 for Figure 1 An exploded schematic diagram of the cantilevered automated guided transport vehicle shown; Figure 3a for Figure 1 A perspective view of the cantilevered pick-and-place mechanism of the cantilevered automated guided vehicle carrying a material roll; Figure 3b for Figure 3a A front view of the cantilevered automated guided transport vehicle shown; Figure 4a for Figure 1 A perspective view of the cantilevered pick-and-place mechanism of the cantilevered automated guided transport vehicle when placing a coil; Figure 4b for Figure 4a A front view of the cantilevered automated guided transport vehicle is shown.

[0067] like Figures 1 to 4b As shown, the cantilevered automatic guided transport vehicle provided in the embodiment of the present application is used to transport empty rolls 1 or full rolls 1, and includes: a moving chassis 100, a frame-type gantry 200 and at least two cantilevered picking and placing mechanisms 300.

[0068] The frame-type gantry 200 is fixed on the top of the moving chassis 100 and has multiple side surfaces.

[0069] At least two cantilevered cargo picking and placing mechanisms 300 are connected to different sides of the frame-type door frame 200 and can move up and down relative to the frame-type door frame 200 .

[0070] Each cantilever type picking and placing mechanism 300 is used to pick and place an empty material roll 1 or a full material roll 1 .

[0071] The moving chassis 100 can drive the frame-type gantry 200 to move and can drive the frame-type gantry 200 to rotate, so that the cantilevered picking and placing mechanism 300 can dock with the picking point or the placing point to pick up and place the material roll 1.

[0072] The embodiment of the present application provides such a cantilevered automatic guided transport vehicle, which adopts a frame-type gantry 200 with multiple sides to install at least two cantilevered pick-up and placement mechanisms 300. Each cantilevered pick-up and placement mechanism 300 can pick up and place a material roll 1, and thus has the function of simultaneously transporting at least two material rolls at a time; compared with the related art in which two cantilevered automatic guided transport vehicles are used to complete the transportation task, the utilization rate of the cantilevered automatic guided transport vehicles is improved, thereby improving the efficiency of picking up and placing the material rolls.

[0073] Specifically, a buffer rack can be provided at the material collection point to interface with a cantilevered automated guided vehicle. A machine platform can be provided at the material discharge point to interface with the cantilevered automated guided vehicle. The cantilevered automated guided vehicle can drive a frame-type gantry 200 via a motion chassis 100 to move between the buffer rack and the machine platform to facilitate the transport of the material roll 1.

[0074] The cantilevered automatic guided transport vehicle can directly dock with the machine and the cache rack to pick up and put the material roll 1, or the cantilevered automatic guided transport vehicle can be moved to the machine and the cache rack for staff to pick up and put.

[0075] When the direct docking method is adopted, the structure of the machine and the buffer rack for docking with the cantilevered automatic guided transport vehicle is also in the form of a cantilever to receive and carry the material roll 1.

[0076] Among them, after the machine receives the full roll 1 brought by the cantilevered automatic guided transport vehicle, it performs peeling processing on the full roll 1. After the processing is completed, only one roll is left in the full roll 1, which is the empty roll 1. The cantilevered automatic guided transport vehicle then exchanges the empty and full rolls, removes the empty roll 1, and places the full roll 1, and the machine continues processing.

[0077] A portion of the docking structure on the cache rack is used to store full rolls 1, waiting for the cantilevered automated guided vehicle to transport them to the machine, and another portion of the empty docking structure is used to receive the empty rolls 1 transported by the cantilevered automated guided vehicle.

[0078] like Figure 1 and Figure 2 In the embodiment shown, the frame-type door frame 200 has four side surfaces that are opposite to each other. There are two cantilever-type loading and unloading mechanisms 300 that are disposed on two opposite side surfaces of the frame-type door frame 200 facing each other.

[0079] Specifically, if Figure 1 and Figure 2 As shown, the frame-type gantry 200 includes a top plate 210, four columns 220, and a bottom plate 230. The bottom plate 230 is fixedly connected to the moving chassis 100. The top plate 210, four columns 220, and bottom plate 230 form a frame with four sides and a rectangular cross section.

[0080] In other embodiments of the present application, the frame-type gantry 200 may have other numbers of columns 220 to enclose other numbers of sides, and the cantilevered cargo pickup and placement mechanism 300 may also be arranged on adjacent or separated sides. The present application does not limit the number of sides of the frame-type gantry 200 and the number and location of the cantilevered cargo pickup and placement mechanism 300. Figure 1 The illustrated embodiment is used as an example for description.

[0081] The motion chassis 100 may be a differential motion chassis or an omnidirectional motion chassis. The present application does not limit the specific form of the motion chassis 100 , and any motion chassis that can achieve translation and rotation may be applied to the present application.

[0082] In some embodiments of the present application, Figure 1 、 Figure 3a and Figure 4a As shown, the cantilevered automatic guided transport vehicle is configured to: based on at least two cantilevered pick-up and discharge mechanisms 300, transport at least two full rolls 1 at a time from the pick-up point and transport them to the corresponding discharge points respectively; or, transport at least two empty rolls 1 at a time from the discharge point and drive away from the discharge point.

[0083] By applying this transport process, the cantilevered automatic guided vehicle can transport at least two material rolls 1 at the same time.

[0084] And / or, the cantilevered automatic guided transport vehicle is configured as follows: at least one cantilevered pick-up and place mechanism 300 carries a full roll 1 at the pick-up point, and at least one cantilevered pick-up and place mechanism 300 is empty; after moving to the discharge point, the empty cantilevered pick-up and place mechanism 300 docks with the discharge point and takes down the empty roll 1 at the discharge point; the moving chassis 100 drives the frame-type gantry 200 to rotate, so that the cantilevered pick-up and place mechanism 300 carrying the full roll 1 docks with the discharge point and moves the full roll 1 to the discharge point.

[0085] This handling process enables the cantilevered AGV to exchange empty and full coils 1 with the unloading point. Compared to the related art method of using a single cantilevered AGV for round-trip handling, first removing the empty coils from the unloading point and then transporting the full coils to the unloading point, this shortens the cantilevered AGV's travel distance, thereby improving coil loading and unloading efficiency.

[0086] like Figure 1 、 Figure 3a and Figure 4a As shown in the figure, the specific process of exchanging empty and full coils between the cantilevered automatic guided transport vehicle and the unloading point is as follows:

[0087] The moving chassis 100 moves to the docking point with the cache rack, and a cantilevered pick-up and release mechanism 300 receives the full roll 1 on the cache rack; then the moving chassis 100 moves to the docking point with the machine platform, so that the other cantilevered pick-up and release mechanism 300 is opposite to the machine platform and receives the empty roll 1 on the machine platform; then, the moving chassis 100 rotates, so that the cantilevered pick-up and release mechanism 300 carrying the full roll 1 is opposite to the machine platform, and the full roll 1 is moved to the machine platform.

[0088] In some embodiments of the present application, Figures 1 to 4b As shown, the cantilevered cargo picking and placing mechanism 300 is connected to the frame-type door frame 200 via a connecting structure.

[0089] The cantilever type picking and placing mechanism 300 includes a cantilever shaft 310 and a pushing mechanism 320 .

[0090] One side of the connecting structure is connected to the cantilever shaft 310 and the pushing mechanism 320; the other side is connected to a side surface of the frame-type gantry 200, which can drive the cantilever shaft 310 and the pushing mechanism 320 to move up and down relative to the frame-type gantry 200.

[0091] The cantilever shaft 310 and the pushing mechanism 320 are adjacently arranged on the connecting structure and extend vertically from the side surfaces of the frame-type gantry 200 respectively.

[0092] The cantilever shaft 310 is used to dock with the material taking point or the material discharge point in an unloaded state, and to receive the full material roll 1 pushed from the material taking point or the empty material roll 1 pushed from the material discharge point; in a fully loaded state, it docks with the material discharge point, and pushes the full material roll 1 on the cantilever shaft 310 to the material discharge point through the pushing mechanism 320.

[0093] By applying the embodiment of the present application, the material roll 1 is carried by the cantilever shaft 310, and the pushing mechanism 320 pushes the material roll 1, thereby realizing the transfer of the full material roll 1 between the material picking point and the cantilever automatic guided transport vehicle and between the material discharge point and the cantilever automatic guided transport vehicle, making the cantilever picking and discharge mechanism 300 simple in structure and easy to operate.

[0094] Specifically, a mechanism for pushing materials is provided on the cache rack at the material taking point and the machine at the material discharging point. After the cantilever shaft 310 is docked with the cantilever structure on the cache rack or the machine, the mechanism for pushing materials on the cache rack or the machine pushes the material roll 1 onto the cantilever shaft 310.

[0095] The present application does not limit the specific form of the connection structure. The connection structure can be a connection plate or a connection block, etc., as long as one side can be connected to the cantilever shaft 310 and the pushing mechanism 320 of the cantilevered loading and unloading mechanism 300, and the other side can be movably connected to the frame-type door frame 200 in the vertical direction. Figure 1 In the illustrated embodiment, the connection structure can be understood as a side shift mechanism 500. The specific structure of the side shift mechanism 500 will be described in detail in the subsequent description.

[0096] In some embodiments of the present application, Figure 1 and Figure 2 As shown, a lifting mechanism 400 is provided on the frame-type door frame 200. The number of the lifting mechanisms 400 is the same as that of the cantilever type picking and placing mechanism 300.

[0097] Each cantilever type picking and placing mechanism 300 is drivingly connected to the lifting mechanism 400 through a connecting structure, and moves up and down under the drive of the lifting mechanism 400.

[0098] Specifically, the lifting mechanism 400 can use a screw drive to drive the connecting structure and the cantilevered loading and unloading mechanism 300 to move up and down, or can use an electric push cylinder, a hydraulic cylinder, or other structure as a power source to drive the connecting structure and the cantilevered loading and unloading mechanism 300 to move up and down. This application does not limit the specific form of the lifting mechanism 400.

[0099] By using the embodiment of the present application, the lifting mechanism 400 drives the cantilevered pick-up and place mechanism 300 to move up and down, so that the cantilevered pick-up and place mechanism 300 can flexibly dock and pick up and place the material rolls 1 at different heights.

[0100] In some embodiments of the present application, Figure 1 and Figure 2 As shown, the connection structure includes: a side shift mechanism 500.

[0101] The lateral shift mechanism 500 is drivably connected to the lifting mechanism 400 ; the cantilever shaft 310 and the pushing mechanism 320 are mounted on the lateral shift mechanism 500 , and can be moved left and right in the horizontal direction under the drive of the lateral shift mechanism 500 .

[0102] Specifically, if Figure 1 and Figure 2 As shown, each cantilever type loading and unloading mechanism 300 is movably connected to the frame type door frame 200 along the vertical direction through a side shift mechanism 500.

[0103] The cantilevered loading and unloading mechanism 300 and the side shifting mechanism 500 can move up and down along the column 220 of the frame-type door frame 200 driven by the lifting mechanism 400. The cantilevered loading and unloading mechanism 300 can move left and right relative to the frame-type door frame 200 in the horizontal direction driven by the side shifting mechanism 500. Figure 1 The x-direction shown is a forward or reverse movement, and the x-direction is a horizontal direction parallel to the side of the frame-type door frame 200 where the cantilever type picking and placing mechanism 300 is located.

[0104] By applying the embodiments of the present application, when docking with a machine or a cache rack, if there is a horizontal deviation between the cantilevered cargo pick-up and placement mechanism 300 and the cantilever structure of the machine or the cache rack, the side shift mechanism 500 can be used to drive the cantilevered cargo pick-up and placement mechanism 300 to move laterally to eliminate the deviation, thereby avoiding docking failure caused by the cantilevered cargo pick-up and placement mechanism 300 and the cantilever structure not being aligned. Compared with eliminating the deviation by moving the motion chassis 100, the docking accuracy and docking flexibility of the cantilevered automated guided transport vehicle are improved.

[0105] The lifting mechanism 400, the side shifting mechanism 500, and the pushing mechanism 320 corresponding to each cantilevered pick-up and place mechanism 300 all use independent power sources, so that when one cantilevered pick-up and place mechanism 300 is working, it will not affect the posture of other cantilevered pick-up and place mechanisms 300. If other cantilevered pick-up and place mechanisms 300 are loaded with material rolls 1, the posture of the material rolls 1 will not be affected, thereby improving the safety of the entire machine operation.

[0106] In some embodiments of this application, see Figures 5 to 6c , Figure 5 for Figure 1 A perspective view of the frame-type gantry and lifting mechanism of the cantilever-type automated guided transport vehicle shown; Figure 6a for Figure 1 A perspective view of the frame-type gantry and the side shift mechanism of the cantilever-type automated guided transport vehicle; Figure 6b for Figure 6a A front view of the cantilevered automated guided transport vehicle shown; Figure 6c for Figure 6a The top view of the cantilevered automatic guided transport vehicle is shown in FIG. Figures 5 to 6c As shown, the lifting mechanism 400 includes: a lifting screw 410, a lifting screw nut 420, a lifting motor 430, a lifting guide rail 440 and a lifting slider 450.

[0107] The lifting screw 410 is arranged in the vertical direction, with the bottom end being rotatably connected to the moving chassis 100 , and the top end passing through the top plate 210 of the frame-type gantry 200 and being driven and connected to the lifting motor 430 fixed on the top plate 210 .

[0108] The lifting screw nut 420 is sleeved on the lifting screw 410 and fixedly connected to a side shift mechanism 500 .

[0109] The lifting guide rail 440 is fixed on the column 220 of the frame-type door frame 200 along the vertical direction, and the side shift mechanism 500 is slidably connected to the lifting guide rail 440 through the lifting slider 450.

[0110] The lifting screw 410 rotates under the drive of the lifting motor 430, so that the lifting screw nut 420 drives the side shift mechanism 500 and the cantilevered picking and placing mechanism 300 to move vertically along the lifting guide rail 440.

[0111] Specifically, if Figure 5 As shown, the output end of the lifting motor 430 and the top end of the lifting screw 410 can be connected through a synchronous pulley transmission mechanism 460.

[0112] A lifting guide rail 440 is fixed to each column 220. The lifting guide rails 440 on two adjacent columns 220 are slidably connected to a fixing plate 510 of a side shift mechanism 500. Each lifting screw nut 420 is fixedly connected to a side shift mechanism 500.

[0113] By applying the embodiment of the present application, the side shift mechanism 500 and the cantilevered cargo pick-up and release mechanism 300 are lifted by screw transmission, thereby improving the position adjustment accuracy of the lifting mechanism 400 and making the lifting mechanism 400 simple in structure, capable of withstanding a large load and having a long service life.

[0114] like Figure 3a 、 Figure 6a and Figure 6b As shown, the frame-type gantry 200 further includes a protective cover 240 , which is arranged outside the column 220 to protect the structure inside the frame-type gantry 200 .

[0115] On the side of the frame-type gantry 200 where the lateral shift mechanism 500 is not installed, the protective cover 240 is in a completely covered state; on the side where the lateral shift mechanism 500 is installed, the protective cover 240 adopts an accordion cover 241 .

[0116] like Figure 3a As shown, the lateral shift mechanism 500 is provided with an accordion cover 241 at the upper and lower parts thereof. The accordion cover 241 can be extended and retracted in the vertical direction so that the edge of the accordion cover 241 in contact with the lateral shift mechanism 500 can move up and down with the lateral shift mechanism 500, thereby protecting the internal structure of the frame-type gantry 200 and avoiding obstruction to the up and down movement of the lateral shift mechanism 500.

[0117] In some embodiments of this application, see Figures 7a to 8b , Figure 7a for Figure 1 A perspective view of the side shift mechanism and the cantilevered pick-and-place mechanism of the cantilevered automated guided transport vehicle; Figure 7b for Figure 7a A side view of the cantilevered automated guided transport vehicle shown;

[0118] Figure 8a for Figure 7a A front view of the side shift mechanism shown; Figure 8b for Figure 7a The side view of the side shift mechanism is shown in FIG. Figures 7a to 8b As shown, the side shift mechanism 500 includes: a fixed plate 510 , a second power assembly 520 and a movable plate 530 which are sequentially arranged in a direction away from the frame-type gantry 200 .

[0119] The fixing plate 510 is movably connected to the frame-type door frame 200 along the vertical direction.

[0120] The second power assembly 520 is mounted on the fixed plate 510 and is drivingly connected to the movable plate 530 , and can drive the movable plate 530 to move horizontally in a direction parallel to the fixed plate 510 .

[0121] The cantilever shaft 310 and the pushing mechanism 320 of the cantilever type picking and placing mechanism 300 are fixed on the movable plate 530 and can move horizontally along with the movable plate 530 .

[0122] Specifically, a lifting slider 450 is installed on the fixed plate 510, and the fixed plate 510 is slidingly connected to the lifting guide rail 440 installed on the column 220 of the frame-type gantry 200 through the lifting slider 450; and the fixed plate 510 is also fixedly connected to the lifting screw nut 420 of the lifting mechanism 400, so as to realize up and down movement along the lifting guide rail 440 under the drive of the lifting mechanism 400.

[0123] By applying the embodiment of the present application, the second power component 520 drives the movable plate 530 to move horizontally relative to the fixed plate 510, thereby realizing the adjustment of the horizontal position of the cantilevered picking and placing mechanism 300; the use of two plates, the fixed plate 510 and the movable plate 530, also makes the side shift mechanism 500 simple in structure and small in size, thereby reducing the load on the frame-type gantry 200 and increasing the maximum load of the frame-type gantry 200 on the material roll 1.

[0124] In some embodiments of the present application, Figure 8a and Figure 8b As shown, the second power assembly 520 includes: a side-shift motor 521 , a side-shift screw 522 , a side-shift screw nut 523 , a side-shift guide rail 524 and a side-shift slider 525 .

[0125] The side shift motor 521 is fixed to the fixed plate 510 and is drivingly connected to the side shift screw 522. The side shift screw nut 523 is sleeved on the side shift screw 522 and is fixedly connected to the movable plate 530.

[0126] The lateral guide rail 524 is fixed on the fixed plate 510 in the horizontal direction, and the movable plate 530 is slidably connected to the lateral guide rail 524 via the lateral slider 525 .

[0127] The second power assembly 520 is used to drive the side-shift screw 522 to rotate through the side-shift motor 521, so that the side-shift screw nut 523 drives the movable plate 530 and the cantilevered pick-up and place mechanism 300 to move horizontally along the side-shift guide rail 524.

[0128] By using the embodiment of the present application, the movable plate 530 is moved horizontally relative to the fixed plate 510 by means of a screw drive, thereby improving the position adjustment accuracy of the lateral shift structure 500 and making the second power assembly 520 simple in structure and having a long service life. The lateral shift guide rail 524 is provided to slidably connect the movable plate 530 and the fixed plate 510, which can not only guide the movable plate 530 to prevent it from deflecting, but also prevent the edge of the movable plate 530 from shaking when it moves, thereby improving the structural stability of the lateral shift structure 500. The number of lateral shift guide rails 524 is not limited in this application. Figure 8a In the illustrated embodiment, there are two side guide rails 524 fixed to the top and bottom edges of the fixed plate 510 to improve the stability of the movement of the movable plate 530 .

[0129] like Figure 7a As shown, the cantilever shaft 310 and the pushing mechanism 320 are both fixedly connected to the movable plate 530 of the lateral shift mechanism 500 and can move laterally along with the movable plate 530 .

[0130] like Figure 7a and Figure 7b As shown, a code reading camera 340 is provided at one end of the cantilever shaft 310 away from the frame-type gantry 200, which is used to identify the QR code on the cantilever structure of the machine and the cache rack, and the deviation between the cantilever shaft 310 and the cantilever structure is determined by reading the position of the QR code. Then, the lifting mechanism 400 is used to adjust and eliminate the deviation in the vertical direction, and the side shift mechanism 500 is used to adjust and eliminate the deviation in the horizontal direction, so as to complete the docking of the cantilever shaft 310 with the machine or the cache rack.

[0131] An anti-collision detection sensor 350 adjacent to the code reading camera 340 is also provided at the end of the cantilever shaft 310 away from the frame-type gantry 200. The sensor can detect the distance between the cantilever shaft 310 and various objects in the working environment, thereby preventing the cantilever shaft 310 from colliding with people or machines, thereby improving the safety of the entire machine operation.

[0132] A photoelectric sensor 360 is provided on the outer wall of the cantilever shaft 310, close to the side of the frame-type gantry 200. When receiving the material roll 1, when the photoelectric sensor 360 detects that the material roll 1 moves to its own position, it determines that the material roll 1 has been pushed into place and is completely located on the cantilever shaft 310, so as to ensure the safety of docking and taking materials.

[0133] In some embodiments of this application, see Figure 9 and Figure 10 , Figure 9 for Figure 7a A perspective view of the cantilevered pick-up and place mechanism (the pushing mechanism is not shown); Figure 10 for Figure 9 The exploded diagram of the cantilevered pick-up and place mechanism is shown in FIG. Figure 9 and Figure 10As shown, the cantilever shaft 310 is installed with a material blocking mechanism 330. A through slot 311 is provided at the top of the cantilever shaft 310 away from one end of the frame-type door frame 200.

[0134] The material blocking mechanism 330 includes a first power assembly 331 and a blocking rod 332. The blocking rod 332 is drivingly connected to the first power assembly 331 and can be extended or retracted into the through slot 311 under the drive of the first power assembly 331.

[0135] When the cantilever shaft 310 carries the material roll 1 , the pushing mechanism 320 abuts against one side of the material roll 1 , and the blocking rod 332 extends out of the through slot 311 and abuts against the other side of the material roll 1 to clamp the material roll 1 .

[0136] An over-limit photoelectric sensor 370 is provided on the outer side wall of the cantilever shaft 310 at one end away from the frame-type gantry 200. When placing the material roll 1, when the over-limit photoelectric sensor 370 detects that the moving end of the material roll 1 has passed by itself, it determines that the material roll 1 has been completely pushed out of the cantilever shaft 310 by the pushing mechanism 320; when receiving the material roll 1, when the over-limit photoelectric sensor 370 detects that the moving end of the material roll 1 has passed by itself, it determines that the material roll 1 has been moved onto the cantilever shaft 310. At this time, the material blocking mechanism 330 starts to work and extends the blocking rod 332 out of the through slot 311 to prevent the material roll 1 from falling from the cantilever shaft 310, thereby ensuring operation safety.

[0137] In this embodiment of the present application, the blocking mechanism 330 and the pushing mechanism 320 cooperate to clamp the material roll 1, preventing the material roll 1 from moving back and forth on the cantilever shaft 310 during the movement of the moving chassis 100, thereby preventing safety hazards and ensuring safe operation. The coordination of the blocking mechanism 330 and the pushing mechanism 320 also allows for the conveyance of material rolls 1 of varying diameters and thicknesses.

[0138] like Figure 9 and Figure 10 As shown, a plurality of roller bearings 380 are further provided on the outer side wall of the cantilever shaft 310 . The plurality of roller bearings 380 are distributed at intervals along the axial direction of the cantilever shaft 310 and are evenly distributed along the circumference of the cantilever shaft 310 .

[0139] A portion of the roller bearing 380 protrudes from the outer sidewall of the cantilever shaft 310 , and the axis of the roller bearing 380 is perpendicular to the extending direction of the cantilever shaft 310 .

[0140] The roller bearing 380 is provided to convert the sliding friction between the cantilever shaft 310 and the material roll 1 into rolling friction between the roller bearing 380 and the material roll 1, which can improve the efficiency of docking and feeding materials and also increase the service life of the cantilever shaft 310.

[0141] The blocking rod 332 can be a telescopic blocking rod 332 that extends vertically upward from the through slot 311 under the drive of the first power assembly 331, or a rotating blocking rod 332 that rotates upward and extends from the through slot 311. This application does not limit the specific form of the blocking rod 332. The rotating blocking rod 332 is described in detail below.

[0142] In some embodiments of this application, see Figures 11 to 13 , Figure 11 for Figure 9 A side view of the cantilevered pick-up and place mechanism shown; Figure 12 for Figure 9 A cross-sectional view of the cantilevered pick-up and place-out mechanism shown; Figure 13 for Figure 10 The three-dimensional diagram of the material blocking mechanism is shown in FIG. Figures 10 to 13 As shown, the cantilever shaft 310 has an accommodation space inside, the first power assembly 331 is disposed in the accommodation space, and the material blocking mechanism 330 is eccentrically disposed in the cantilever shaft 310 and located at the upper part of the accommodation space.

[0143] The first end of the blocking rod 332 is located in the accommodating space and is fixedly connected to the output end of the first power assembly 331 , and the second end extends toward the through slot 311 .

[0144] Driven by the first power assembly 331 , the blocking rod 332 can rotate based on the first end, so that the second end can extend out of the through slot 311 or retract into the through slot 311 .

[0145] Specifically, the range of the rotation angle of the lever 332 can be 180 degrees, at which time the opening angle of the through slot 311 is also 180 degrees; the range of the rotation angle of the lever 332 can also be 90 degrees, at which time the opening angle of the through slot 311 is as follows: Figure 9 90 degrees is shown. Figure 9 In the illustrated embodiment, the blocking rod 332 is rotated upward to a vertical position to extend out of the through slot 311 ; and is rotated downward to a horizontal position to be retracted into the through slot 311 .

[0146] In the embodiment of the present application, the eccentric positioning of the material blocking mechanism 330 prevents the blocking rod 332 from extending out of the through slot 311 when in the horizontal position, allowing the roll 1 to move on the cantilever shaft 310 during loading and unloading. When in the vertical position, the blocking rod 332 extends out of the through slot 311 to block the roll 1. Compared to a telescopic blocking rod 332, the rotating blocking rod 332 takes up less space in the vertical direction, eliminating the need for a thicker cantilever shaft 310, allowing it to accommodate rolls 1 of a wider variety of sizes. This makes the cantilever loading and unloading mechanism more structurally simpler and easier to control.

[0147] In some embodiments of the present application, Figure 12 and Figure 13As shown, the first power assembly 331 includes: a material blocking motor 3311, a coupling 3312 and a transmission shaft 3313 which are sequentially connected in a direction away from the frame-type gantry 200.

[0148] The output end of the transmission shaft 3313 is sleeved with a baffle support 3315, which is rotatably connected to the transmission shaft 3313 and fixedly connected to the inner wall of the cantilever shaft 310. The other end of the baffle support 3315 extends below the coupling 3312, and the material stop motor 3311 is fixedly connected to the baffle support 3315 via the motor mounting base 3314.

[0149] The output end of the transmission shaft 3313 is fixedly connected to the first end of the blocking rod 332 .

[0150] The first power assembly 331 is used to drive the transmission shaft 3313 to rotate via the material blocking motor 3311 , thereby driving the blocking rod 332 to rotate.

[0151] Specifically, if Figure 10 and Figure 12 As shown, the cantilever shaft 310 includes: a main body 312 , a mounting plate 313 and an end cover 314 which are sequentially connected in a direction away from the frame-type gantry 200 .

[0152] The first power assembly 331 is located within the main body 312 and is fixedly connected to a horizontal mounting platform 3131 extending from the mounting plate 313 via the bottom plate of the barrier support 3315, thereby achieving a fixed connection to the inner sidewall of the cantilever shaft 310. The mounting plate 313 also has mounting locations for a code reading camera 340 and an anti-collision detection sensor 350 to secure them.

[0153] By using the embodiment of the present application, the material blocking motor 3311 drives the transmission shaft 3313 to rotate forward, thereby driving the blocking rod 332 to rotate and extend out of the through slot 311, preventing the material roll 1 from falling from the cantilever shaft 310 and ensuring operational safety.

[0154] In some embodiments of the present application, Figure 12 and Figure 13 As shown, the material blocking mechanism 330 further includes: a slot-shaped photoelectric sensor 333 ; the slot-shaped photoelectric sensor 333 is fixed beside the transmission shaft 3313 , and its opening faces the transmission shaft 3313 .

[0155] An inductive baffle 334 is vertically arranged on the transmission shaft 3313, corresponding to the opening of the slot-shaped photoelectric sensor 333; the inductive baffle 334 can rotate with the transmission shaft 3313 and enter and exit the opening so that the slot-shaped photoelectric sensor 333 can detect the position status of the baffle 332 on the transmission shaft 3313.

[0156] Specifically, if Figure 13As shown, the bottom plate of the lever support 3315 extends horizontally below the coupling 3312 and is fixedly connected to the motor mounting base 3314. A groove is provided on the bottom plate of the lever support 3315 corresponding to the transmission shaft 3313 to accommodate the slot-type photoelectric sensor 333. The slot-type photoelectric sensor 333 is fixed to the groove in the bottom plate of the lever support 3315 and is located at the bottom of the transmission shaft 3313.

[0157] By applying the embodiment of the present application, a slot-type photoelectric sensor 333 and an induction baffle 334 are set up to detect the position status of the baffle rod 332. When it is detected that the baffle rod 332 is in a vertical state, the moving chassis 100 can start to move; when it is detected that the baffle rod 332 is in a horizontal state, the material can be received or fed, ensuring the safety of the operation.

[0158] In some embodiments of the present application, Figure 12 and Figure 13 As shown, the number of the slot-type photoelectric sensors 333 and the sensing baffles 334 is two.

[0159] The two slot-shaped photoelectric sensors 333 are arranged side by side and spaced apart along the extending direction of the transmission shaft 3313 .

[0160] The two sensing blocks 334 correspond to an opening of a slot-shaped photoelectric sensor 333 respectively, and the included angle between the two sensing blocks 334 is 90 degrees.

[0161] When the blocking rod 332 rotates to a vertical state, one of the sensing blocking pieces 334 enters the opening of the corresponding slot-shaped photoelectric sensor 333 ; when the blocking rod 332 rotates to a horizontal state, the other sensing blocking piece 334 enters the opening of the corresponding slot-shaped photoelectric sensor 333 .

[0162] One of the sensing baffles 334 is set opposite to the baffle rod 332. When the baffle rod 332 is rotated to a vertical state, the sensing baffle 334 just enters the opening of the slot-shaped photoelectric sensor 333, thereby detecting that the baffle rod 332 has moved into place, and the moving chassis 100 can start to move to the machine or cache rack.

[0163] Another sensing baffle 334 is arranged vertically with the baffle rod 332. When the baffle rod 332 rotates to a horizontal state, the sensing baffle 334 just enters the opening of the slot-shaped photoelectric sensor 333, thereby detecting and determining that the baffle rod 332 has been retracted to the through slot 311, and can start receiving or feeding materials.

[0164] By using the embodiment of the present application, two groups of slot-shaped photoelectric sensors 333 and inductive baffles 334 are provided, which can detect the two states of the baffle rod 332 , thereby improving the accuracy of the detection results and ensuring operational safety.

[0165] In some embodiments of this application, see Figure 14a and Figure 14b , Figure 14a for Figure 7a A perspective view of the pusher mechanism shown in a retracted state; Figure 14b for Figure 7a The three-dimensional diagram of the push mechanism in the extended state is shown. Figure 7a 、 Figure 7b 、 Figure 14a and Figure 14b As shown, the pushing mechanism 320 includes a pushing plate 321 and a third power assembly 322. The pushing plate 321 is located around the cantilever shaft 310; the third power assembly 322 is fixedly connected to the connecting structure and is drivingly connected to the pushing plate 321.

[0166] Driven by the third power assembly 322 , the pusher plate 321 can move horizontally along the extension direction of the cantilever shaft 310 to push the material roll 1 on the cantilever shaft 310 .

[0167] Specifically, the third power assembly 322 and the cantilever shaft 310 are both fixed on the movable plate 530 of the side shift mechanism 500 .

[0168] The shape of the push plate 321 is not limited in this application and can be square or round. Figure 7a In the embodiment shown, the push plate 321 is located below the cantilever shaft 310, and its top shape is an arc with a diameter larger than the cantilever shaft 310. The cantilever shaft 310 can not only ensure the contact area between the push plate 321 and the material roll 1, but also make the cantilever shaft 310 and the pushing mechanism 320 more compact, thereby reducing the size of the cantilever pick-up and release mechanism 300.

[0169] In the embodiment of the present application, the pushing mechanism 320 pushes or clamps the material roll 1 through the pushing plate 321, so that the contact area between the pushing mechanism 320 and the material roll 1 is larger, thereby improving the stability during docking feeding and transportation of the material roll 1.

[0170] In some embodiments of the present application, Figure 14a and Figure 14b As shown, the third power assembly 322 includes: an electric push cylinder 3221 and an auxiliary push rod 3222 .

[0171] The cylinder body 3221A of the electric push cylinder 3221 is fixedly connected to the connecting structure; the telescopic rod 3221B of the electric push cylinder 3221 is fixedly connected to the push plate 321 .

[0172] The auxiliary push rod 3222 is arranged in a direction parallel to the telescopic rod 3221B, is slidably connected to the cylinder body 3221A, and is fixedly connected to the push plate 321.

[0173] The third power assembly 322 is used to drive the push plate 321 and the auxiliary push rod 3222 to move horizontally along the extension direction of the cantilever shaft 310 through the telescopic rod 3221B of the electric push cylinder 3221 to push the material roll 1 on the cantilever shaft 310.

[0174] Specifically, the third power assembly 322 can be used Figure 14a The electric push cylinder 3221 shown is used as the power source. In other embodiments of the present application, an electric push rod or a cylinder can also be used as the power source.

[0175] like Figure 1 、 Figure 7a 、 Figure 14a and Figure 14b As shown, both the fixed plate 510 and the movable plate 530 of the side shift mechanism 500 are provided with through holes for the third power assembly 322 to pass through and extend into the frame-type gantry 200. Among them, the cylinder body 3221A of the electric push cylinder 3221 of the third power assembly 322 is fixed to the movable plate 530 via an L-shaped connector 323.

[0176] The present application does not limit the number of auxiliary push rods 3222, which can be one or more. Figure 14a In the illustrated embodiment, there are two auxiliary push rods 3222 , and the two auxiliary push rods 3222 are respectively connected to the top surface and the bottom surface of the cylinder body 3221A via a slide rail and a slider.

[0177] In this embodiment, the third power assembly 322 uses an electric push cylinder 3221 as its power source, making the push mechanism 320 simple to replace and maintain, and easy to operate. An auxiliary push rod 3222 assists the telescopic rod 3221B in driving the push plate 321. The auxiliary push rod 3222 is slidably connected to the cylinder 3221A, making the push mechanism 320's push motion smoother.

[0178] Below, Figure 1 Taking the embodiment in which the number of cantilever-type pick-up and place mechanisms 300 is two as an example, the process of exchanging empty and full rolls 1 of the cantilever-type automatic guided transport vehicle is described in detail.

[0179] Step A: The moving chassis 100 drives the frame-type gantry 200 to the docking point with the buffer rack. The lifting mechanism 400 and the side shifting mechanism 500 respectively move the cantilevered loading and unloading mechanism 300 up and down and sideways. After its cantilever shaft 310 is aligned with the cantilever structure on the buffer rack, it begins to receive the full roll 1.

[0180] Step B: After the full roll 1 is moved onto the cantilever shaft 310 , the stopper rod 332 of the material blocking mechanism 330 extends out of the through slot 311 , and the pusher plate 321 of the material pushing mechanism 320 extends horizontally to clamp the full roll 1 ;

[0181] Step C: The moving chassis 100 drives the frame-type gantry 200 to move to the connection with the machine platform, so that the other unloaded cantilevered loading and unloading mechanism 300 faces the machine platform. After the lifting mechanism 400 and the side shifting mechanism 500 align their cantilever shafts 310 with the cantilever structure on the machine platform, they begin to pick up the empty material roll 1.

[0182] Step D: After the empty roll 1 is moved onto the cantilever shaft 310, the stopper rod 332 of the stopper mechanism 330 extends out of the through slot 311 to prevent the empty roll 1 from falling;

[0183] Step E: The moving chassis 100 drives the frame-type gantry 200 to rotate, so that the cantilevered pick-up and place mechanism 300 carrying the full roll 1 faces the machine platform. The lifting mechanism 400 and the side shift mechanism 500 align their cantilever shaft 310 with the cantilever structure on the machine platform. The shift rod 332 of the blocking mechanism 330 is retracted, and the pushing plate 321 of the pushing mechanism 320 is extended horizontally to push the full roll 1 to the cantilever structure of the machine platform.

[0184] Below, the two roll handling methods provided in the embodiments of the present application are described in detail.

[0185] The first coil handling method provided in the embodiments of the present application uses a cantilevered automatic guided transport vehicle according to any of the above embodiments, and the method includes:

[0186] Instruct the cantilevered automated guided vehicle to move to the material collection point, where all the cantilevered pick-up and release mechanisms 300 respectively receive and carry a full roll 1; instruct the cantilevered automated guided vehicle to move to different unloading points of each full roll 1 in sequence; instruct the cantilevered automated guided vehicle to dock with a cantilevered pick-up and release mechanism 300 at each unloading point and move the full roll to the unloading point; or

[0187] When all cantilevered pick-up and place mechanisms 300 are empty, the cantilevered automatic guided transport vehicles are instructed to move to each material discharge point in sequence, and each cantilevered pick-up and place mechanism 300 respectively receives and carries an empty material roll 1 and drives away from each material discharge point.

[0188] The application of the first material roll handling method mentioned above can realize the function of the cantilevered automatic guided transport vehicle to carry at least two material rolls at a time. Compared with the related technology of using two cantilevered automatic guided transport vehicles to complete the handling task, the utilization rate of the cantilevered automatic guided transport vehicle is improved, thereby improving the efficiency of material roll picking and placing.

[0189] A second coil handling method provided in an embodiment of the present application uses a cantilevered automated guided transport vehicle according to any of the above embodiments, the method comprising:

[0190] Instruct the cantilevered automatic guided transport vehicle to move to the material picking point, where at least one cantilevered pick-up and place mechanism 300 picks up and carries a full roll 1; and at least one cantilevered pick-up and place mechanism 300 is empty;

[0191] The cantilevered automatic guided transport vehicle is instructed to move to the unloading point corresponding to the full roll 1. At the unloading point, the unloaded cantilevered pick-up and release mechanism 300 is docked with the unloading point to take out and carry the empty roll 1 at the unloading point. Based on the motion chassis 100, the frame-type gantry 200 is driven to rotate, so that the cantilevered pick-up and release mechanism 300 carrying the full roll 1 is docked with the unloading point, and the full roll 1 is moved to the said unloading point.

[0192] The second coil handling method described above enables the cantilevered AGV to exchange empty and full coils 1 with the unloading point. Compared to the related art method of using a single cantilevered AGV for round-trip transport, this method first removes empty coils from the unloading point and then transports full coils to the unloading point. This shortens the travel distance of the cantilevered AGV, thereby improving coil loading and unloading efficiency.

[0193] The above description is only a preferred embodiment of the present application and is not intended to limit the scope of protection of the present application. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present application are included in the scope of protection of the present application.

Claims

1. A cantilevered automatic guided transport vehicle, characterized in that: Used for transporting empty material rolls (1) or full material rolls (1), comprising: a moving chassis (100), a frame-type door frame (200) and at least two cantilevered picking and placing mechanisms (300); The frame-type door frame (200) is fixed on the top of the moving chassis (100) and has multiple side surfaces; The at least two cantilevered cargo picking and placing mechanisms (300) are connected to different sides of the frame-type door frame (200) and are capable of moving up and down relative to the frame-type door frame (200); Each cantilevered pick-up and place mechanism (300) is used to pick up and place an empty material roll (1) or a full material roll (1); The moving chassis (100) can drive the frame-type gantry (200) to move and can drive the frame-type gantry (200) to rotate, so that the cantilevered picking and placing mechanism (300) can dock with a picking point or a placing point to pick up and place the material roll (1).

2. The cantilevered automatic guided vehicle according to claim 1, characterized in that: The frame-type door frame (200) has four side surfaces that are opposite to each other; There are two cantilevered cargo picking and placing mechanisms (300), which are arranged on two opposite sides of the frame-type door frame (200) facing each other.

3. The cantilevered automatic guided vehicle according to claim 1, characterized in that: The cantilevered automatic guided transport vehicle is configured to: based on the at least two cantilevered pick-up and discharge mechanisms (300), transport at least two full rolls (1) from a pick-up point at a time and transport them to corresponding discharge points respectively; or transport at least two empty rolls (1) from a discharge point at a time and drive away from the discharge point; And / or, the cantilever-type automatic guided transport vehicle is configured as follows: at least one cantilever-type pickup and delivery mechanism (300) carries a full roll (1) at a pickup point, and at least one cantilever-type pickup and delivery mechanism (300) is empty; after moving to a delivery point, the empty cantilever-type pickup and delivery mechanism (300) docks with the delivery point and takes down the empty roll (1) at the delivery point; the moving chassis (100) drives the frame-type gantry (200) to rotate, so that the cantilever-type pickup and delivery mechanism (300) carrying the full roll (1) docks with the delivery point and moves the full roll (1) to the delivery point.

4. The cantilevered automatic guided vehicle according to claim 3, characterized in that: The cantilevered cargo picking and placing mechanism (300) is connected to the frame-type door frame (200) via a connecting structure; The cantilever type picking and placing mechanism (300) comprises: a cantilever shaft (310) and a material pushing mechanism (320); One side of the connection structure is connected to the cantilever shaft (310) and the pushing mechanism (320); the other side is connected to a side surface of the frame-type door frame (200), and can drive the cantilever shaft (310) and the pushing mechanism (320) to move up and down relative to the frame-type door frame (200); The cantilever shaft (310) and the material pushing mechanism (320) are adjacently arranged on the connection structure and respectively extend vertically from the side surfaces of the frame-type door frame (200); The cantilever shaft (310) is used to dock with the material taking point or the material discharge point in an unloaded state, and receive a full material roll (1) pushed from the material taking point or an empty material roll (1) pushed from the material discharge point; and dock with the material discharge point in a fully loaded state, and push the full material roll (1) on the cantilever shaft (310) to the material discharge point through the pushing mechanism (320).

5. The cantilevered automatic guided vehicle according to claim 4, characterized in that: The cantilever shaft (310) is equipped with a material blocking mechanism (330); a through slot (311) is provided at the top of one end of the cantilever shaft (310) away from the frame-type door frame (200); The material blocking mechanism (330) comprises: a first power assembly (331) and a blocking rod (332); the blocking rod (332) is drivingly connected to the first power assembly (331) and can be extended or retracted into the through slot (311) under the drive of the first power assembly (331); When the cantilever shaft (310) carries a material roll (1), the pushing mechanism (320) abuts against one side of the material roll (1), and the blocking rod (332) extends out of the through slot (311) and abuts against the other side of the material roll (1) to cooperate in clamping the material roll (1).

6. The cantilevered automated guided vehicle according to claim 5, characterized in that: The cantilever shaft (310) has an interior containing space; the first power assembly (331) is arranged in the containing space; The material blocking mechanism (330) is eccentrically arranged in the cantilever shaft (310) and is located in the upper part of the accommodating space; The first end of the blocking rod (332) is located in the accommodating space and is fixedly connected to the output end of the first power assembly (331), and the second end extends toward the through slot (311); Driven by the first power assembly (331), the blocking rod (332) can rotate based on the first end, so that the second end can extend out of the through slot (311) or be retracted into the through slot (311).

7. The cantilevered automated guided vehicle according to claim 6, characterized in that: The first power assembly (331) comprises: a material blocking motor (3311), a coupling (3312), and a transmission shaft (3313) which are sequentially connected in a direction away from the frame-type gantry (200); The output end of the transmission shaft (3313) is sleeved with a blocking rod support (3315); one end of the blocking rod support (3315) is rotatably connected to the transmission shaft (3313) and fixedly connected to the inner side wall of the cantilever shaft (310); The other end of the blocking rod support (3315) extends to below the coupling (3312), and the material blocking motor (3311) is fixedly connected to the blocking rod support (3315) via a motor mounting base (3314); The output end of the transmission shaft (3313) is fixedly connected to the first end of the blocking rod (332); The first power assembly (331) is used to drive the transmission shaft (3313) to rotate via the material blocking motor (3311), thereby driving the blocking rod (332) to rotate.

8. The cantilevered automated guided vehicle according to claim 7, characterized in that: The material blocking mechanism (330) further includes: a slot-shaped photoelectric sensor (333); the slot-shaped photoelectric sensor (333) is fixed beside the transmission shaft (3313), with its opening facing the transmission shaft (3313); A sensing baffle (334) is vertically arranged on the transmission shaft (3313) and corresponds to the opening of the slot-shaped photoelectric sensor (333); the sensing baffle (334) can rotate with the transmission shaft (3313) and enter and exit the opening, so that the slot-shaped photoelectric sensor (333) can detect the position state of the baffle (332) on the transmission shaft (3313).

9. The cantilevered automated guided vehicle according to claim 8, characterized in that: The number of the slot-shaped photoelectric sensors (333) and the induction baffles (334) is 2; The two slot-shaped photoelectric sensors (333) are arranged side by side and spaced apart along the extending direction of the transmission shaft (3313); The two sensing baffles (334) respectively correspond to an opening of the slot-shaped photoelectric sensor (333), and the included angle between the two sensing baffles (334) is 90 degrees; When the blocking rod (332) is rotated to a vertical state, one of the sensing blocking pieces (334) enters the opening of the corresponding slot-shaped photoelectric sensor (333); when the blocking rod (332) is rotated to a horizontal state, the other sensing blocking piece (334) enters the opening of the corresponding slot-shaped photoelectric sensor (333).

10. The cantilevered automated guided vehicle according to claim 4, characterized in that: The pushing mechanism (320) comprises: a pushing plate (321) and a third power assembly (322); The push plate (321) is located on the circumference of the cantilever shaft (310); The third power assembly (322) is fixedly connected to the connection structure and is drivingly connected to the push plate (321); Driven by the third power assembly (322), the push plate (321) can move horizontally along the extension direction of the cantilever shaft (310) to push the material roll (1) on the cantilever shaft (310).

11. The cantilevered automated guided vehicle according to claim 10, characterized in that: The third power assembly (322) includes: an electric push cylinder (3221) and an auxiliary push rod (3222); The cylinder body (3221A) of the electric push cylinder (3221) is fixedly connected to the connection structure; the telescopic rod (3221B) of the electric push cylinder (3221) is fixedly connected to the push plate (321); The auxiliary push rod (3222) is arranged in a direction parallel to the telescopic rod (3221B), is slidably connected to the cylinder body (3221A), and is fixedly connected to the push plate (321); The third power assembly (322) is used to drive the push plate (321) and the auxiliary push rod (3222) to move horizontally along the extension direction of the cantilever shaft (310) through the telescopic rod (3221B) of the electric push cylinder (3221) to push the material roll (1) on the cantilever shaft (310).

12. The cantilevered automated guided vehicle according to claim 4, characterized in that: The frame-type door frame (200) is provided with a lifting mechanism (400); the number of the lifting mechanisms (400) is the same as that of the cantilever-type loading and unloading mechanisms (300); Each of the cantilevered cargo picking and placing mechanisms (300) is drivingly connected to the lifting mechanism (400) via a connecting structure, and moves up and down under the drive of the lifting mechanism (400).

13. The cantilevered automated guided vehicle according to claim 12, characterized in that: The connecting structure comprises: a side shift mechanism (500); The side shift mechanism (500) is drivingly connected to the lifting mechanism (400); the cantilever shaft (310) and the pushing mechanism (320) of the cantilever type picking and placing mechanism (300) are installed on the side shift mechanism (500) and can be moved sideways in the horizontal direction under the drive of the side shift mechanism (500).

14. The cantilevered automated guided vehicle according to claim 13, characterized in that: The side shift mechanism (500) comprises: a fixed plate (510), a second power assembly (520), and a movable plate (530) which are sequentially arranged in a direction away from the frame-type door frame (200); The fixing plate (510) is movably connected to the frame-type door frame (200) along the vertical direction; The second power assembly (520) is mounted on the fixed plate (510) and is drivingly connected to the movable plate (530), and is capable of driving the movable plate (530) to move horizontally in a direction parallel to the fixed plate (510); The cantilever shaft (310) and the material pushing mechanism (320) are fixed on the movable plate (530) and can move horizontally following the movable plate (530).

15. The cantilevered automated guided vehicle according to claim 14, characterized in that: The second power assembly (520) includes: a side shift motor (521), a side shift lead screw (522), a side shift lead screw nut (523), a side shift guide rail (524) and a side shift slider (525); The side shift motor (521) is fixed to the fixed plate (510) and is drivingly connected to the side shift lead screw (522); The side-shift screw nut (523) is sleeved on the side-shift screw (522) and fixedly connected to the movable plate (530); The side shift guide rail (524) is fixed on the fixed plate (510) in the horizontal direction, and the movable plate (530) is slidably connected to the side shift guide rail (524) via a side shift slider (525); The second power assembly (520) is used to drive the side shift screw (522) to rotate through the side shift motor (521), so that the side shift screw nut (523) drives the movable plate (530) and the cantilevered pick-up and place mechanism (300) to move horizontally along the side shift guide rail (524).

16. The cantilevered automated guided vehicle according to claim 13, characterized in that: The lifting mechanism (400) comprises: a lifting screw (410), a lifting screw nut (420), a lifting motor (430), a lifting guide rail (440) and a lifting slider (450); The lifting screw (410) is arranged in a vertical direction, with its bottom end being rotatably connected to the moving chassis (100), and its top end passing through the top plate (210) of the frame-type door frame (200) and being drivingly connected to a lifting motor (430) fixed on the top plate (210); The lifting screw nut (420) is sleeved on the lifting screw (410) and fixedly connected to one of the side shift mechanisms (500); The lifting guide rail (440) is fixed on the column (220) of the frame-type door frame (200) in a vertical direction, and the side shift mechanism (500) is slidably connected to the lifting guide rail (440) via a lifting slider (450); The lifting screw (410) rotates under the drive of the lifting motor (430), so that the lifting screw nut (420) drives the side shift mechanism (500) and the cantilevered picking and placing mechanism (300) to move vertically along the lifting guide rail (440).

17. A method for handling a coil, characterized in that: Using the cantilevered automated guided transport vehicle according to any one of claims 1 to 16, the method comprises: Instructing the cantilevered automatic guided transport vehicle to move to a material pickup point, at which all cantilevered pick-up and release mechanisms (300) respectively pick up and carry a full roll (1); instructing the cantilevered automatic guided transport vehicle to move to different discharge points of each full roll (1) in sequence; instructing the cantilevered automatic guided transport vehicle to dock with a cantilevered pick-up and release mechanism (300) at each discharge point to move the full roll to the discharge point; or, When all cantilevered pick-up and place-out mechanisms (300) are empty, the cantilevered automatic guided transport vehicle is instructed to move to each material discharge point in sequence, and each cantilevered pick-up and place-out mechanism (300) respectively receives and carries an empty material roll (1) and drives away from each material discharge point.

18. A method for handling a coil, characterized in that: Using the cantilevered automated guided transport vehicle according to any one of claims 1 to 16, the method comprises: Instructing the cantilevered automatic guided transport vehicle to move to a material pickup point, at which at least one cantilevered pickup and placement mechanism (300) receives and carries a full material roll (1); and at least one cantilevered pickup and placement mechanism (300) is empty; The cantilevered automatic guided transport vehicle is instructed to move to a discharge point corresponding to a full roll (1); at the discharge point, an unloaded cantilevered pick-up and discharge mechanism (300) docks with the discharge point, takes out and carries the empty roll (1) at the discharge point; based on the motion chassis (100), the frame-type gantry (200) is driven to rotate, so that the cantilevered pick-up and discharge mechanism (300) carrying the full roll (1) docks with the discharge point, and the full roll (1) is moved to the discharge point.

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