Material transfer method, control equipment and material transfer system

Abstract

The invention discloses a material transfer method, control equipment and a material transfer system, and relates to the technical field of automatic material transfer, and the material transfer method comprises the steps that a clamping type automatic guide vehicle is controlled to clamp materials and move to a first preset position, so that the clamping type automatic guide vehicle sends a storage request to the control equipment after reaching the first preset position; under the condition that the storage request is received, the first portal frame is controlled to move to a second preset position; whether the current position of the second portal frame is located in the moving path of the clamping type automatic guiding vehicle or not is judged; the moving path is a path for the clamping type automatic guide vehicle to move from a first preset position to a second preset position; and under the condition that the current position of the second portal frame is not located in the moving path, the clamping type automatic guiding vehicle is controlled to transfer the materials to the first portal frame. The material transfer efficiency and safety can be improved.

Description

Technical Field

[0001] The present application relates to the technical field of automated material transfer, and in particular to a material transfer method, control equipment, and a material transfer system. Background Art

[0002] During the production process of products such as wires and cables, it is usually necessary to place materials such as cable reels in a gantry for cable reeling and pay-out operations to cooperate with production equipment to complete cable production; in related technologies, production personnel generally rely on material handling equipment such as cranes to move cable reels and other materials into the gantry.

[0003] However, manual transportation methods usually involve risks such as material dumping and falling, which threatens personnel safety, and the efficiency of transportation is difficult to guarantee; therefore, there is a need to seek a more intelligent material transfer method. Summary of the Invention

[0004] The main purpose of this application is to provide a material transfer method, control equipment and material transfer system, aiming to solve the technical problems of low safety and efficiency of manual material transfer in related technologies.

[0005] To achieve the above-mentioned object, the present application proposes a material transfer method that can be used for a control device of a material transfer system, the material transfer system also including a clamping automatic guided vehicle, a first gantry, and a second gantry, all connected to the control device;

[0006] Material transfer methods include:

[0007] Controlling the clamping automatic guided vehicle to clamp the material and move it to a first preset position, so that the clamping automatic guided vehicle sends a placement request to the control device after reaching the first preset position;

[0008] When receiving a placement request, controlling the first gantry to move to a second preset position;

[0009] Determining whether the current position of the second gantry is within the moving path of the clamping type automatic guided vehicle; the moving path is the path of the clamping type automatic guided vehicle moving from the first preset position to the second preset position;

[0010] When the current position of the second gantry is not within the moving path, the clamping automatic guided vehicle is controlled to transfer the material to the first gantry.

[0011] In one embodiment, after the step of determining whether the current position of the second gantry is within the moving path of the clamping automatic guided vehicle, the method further includes:

[0012] When the current position of the second gantry is within the moving path, the second gantry is controlled to move to a preset avoidance area, and avoidance feedback information is output to the clamping automatic guided vehicle.

[0013] In one embodiment, the first gantry includes a first ground rail, a first gantry frame, and a first gate, and the first gantry frame is slidably disposed on the first ground rail; the second gantry includes a second ground rail and a second gantry frame, and the second gantry frame is slidably disposed on the second ground rail;

[0014] The step of controlling the first gantry to move to the second preset position includes:

[0015] Controlling the first gantry frame to move along the first ground rail to a second preset position, and controlling the first gate to open;

[0016] The steps of controlling the second gantry to move to the preset avoidance area include:

[0017] Control the second gantry frame to move along the second ground rail to the preset avoidance area;

[0018] The step of controlling the clamping automatic guided vehicle to transfer the material to the first gantry includes:

[0019] When the first gate is opened and the second gantry frame has moved to the preset avoidance area, the clamping automatic guided vehicle is controlled to transfer the materials to the first gantry.

[0020] In one embodiment, the clamping automatic guided vehicle includes a vehicle body and a rocker mechanism and a lifting mechanism provided on the vehicle body; the step of controlling the clamping automatic guided vehicle to clamp a material and move it to a first preset position includes:

[0021] Control the vehicle to move to the material buffer location;

[0022] Control the lifting mechanism to adjust the swing arm mechanism to the preset material reclaiming height and control the swing arm mechanism to clamp the material;

[0023] After the swing arm mechanism completes clamping the material, the vehicle body is controlled to move to the first preset position.

[0024] In one embodiment, the material is a cable drum, a metal coil, or a textile roll.

[0025] In addition, to achieve the above-mentioned purpose, the present application also proposes a control device, which includes: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the computer program is configured to implement the steps of the material transfer method as described above.

[0026] In addition, to achieve the above objectives, the present application also proposes a material transfer system, which includes:

[0027] Control equipment as described above; and

[0028] A clamping automatic guided vehicle, a first gantry and a second gantry, all connected to the control equipment;

[0029] The clamping automatic guided vehicle is used to clamp materials to the first gantry and / or the second gantry.

[0030] In one embodiment, the clamping type automatic guided vehicle includes:

[0031] body;

[0032] The navigation module is installed on the top of the vehicle body and is used to locate the position of the clamping AGV in real time and perform path planning based on laser SLAM technology;

[0033] The swing arm mechanism is installed on both sides of the vehicle body. The swing arm mechanism includes a swing arm and a swing arm drive module. The swing arm drive module is used to drive the swing arm to rotate to clamp or release materials;

[0034] The lifting mechanism is connected to the rocker mechanism and is used to drive the rocker mechanism to move up and down to adjust the clamping height.

[0035] In one embodiment, the rocker drive module includes a worm gear transmission.

[0036] In one embodiment, the first gantry and the second gantry each include a ground rail, a gantry frame, a sleeve-type opening and closing mechanism, and a barrier gate;

[0037] Among them, the ground rail is installed on the ground and is flush with the ground; the gantry frame is slidably installed on the ground rail; the sleeve-type opening and closing mechanism is installed on the top of the gantry frame, which is used to drive the two sides of the gantry frame to open or close along the extension direction of the ground rail to adapt to the material size; the barrier is used to limit the passage status of the gantry frame.

[0038] One or more technical solutions proposed in this application have at least the following technical effects:

[0039] The material transfer method proposed in the present application can control the clamping automatic guided vehicle to clamp the material and move it to the first preset position, so that the clamping automatic guided vehicle sends a placement request to the control device after reaching the first preset position; when the control device receives the placement request, it can control the first gantry to move to the second preset position; and further determine whether the current position of the second gantry is within the moving path of the clamping automatic guided vehicle; the moving path is the path for the clamping automatic guided vehicle to move from the first preset position to the second preset position; if the current position of the second gantry is not within the moving path, the clamping automatic guided vehicle is controlled to transfer the material to the first gantry.

[0040] This application uses control equipment to coordinately control the clamping automatic guided vehicle and the gantry, and realizes automatic material handling through the clamping automatic guided vehicle. At the same time, after the material reaches the preset position, it can determine whether there is any equipment blocking its path and make timely adjustments to ensure that the material can be placed at the target position accurately and in a timely manner; through the collaborative control of the intelligent clamping automatic guided vehicle and the gantry, the need for manual handling is reduced, which not only improves the operational efficiency of material transfer, but also reduces the time that operators are exposed to potential dangers, which can effectively improve the safety of material transfer operations. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0042] In order to more clearly illustrate the technical solutions in the embodiments of the present application or related technologies, the following briefly introduces the drawings required for use in the embodiments or related technical descriptions. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0043] Figure 1 This is a schematic diagram of the material transfer system for this application;

[0044] Figure 2 A schematic diagram of the control device structure of the hardware operating environment involved in the material transfer method in an embodiment of the present application;

[0045] Figure 3 This is a structural diagram of a clamp-type AGV;

[0046] Figure 4 is a detailed structural diagram of an example rocker mechanism;

[0047] Figure 5 It is the structural diagram of the gantry;

[0048] Figure 6 A schematic diagram of the process flow provided for Example 1 of the material transfer method of this application;

[0049] Figure 7 A brief flow chart of the material transfer method provided in Example 1 of the present application.

[0050] The realization of the objectives, functional features and advantages of this application will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0051] It should be understood that the specific embodiments described herein are merely used to explain the technical solutions of the present application and are not intended to limit the present application.

[0052] In order to better understand the technical solution of the present application, a detailed description will be given below in conjunction with the accompanying drawings and specific implementation methods.

[0053] The main solution of the embodiment of the present application is: controlling the clamping automatic guided vehicle to clamp the material and move it to a first preset position, so that the clamping automatic guided vehicle sends a placement request to the control device after reaching the first preset position; when the placement request is received, controlling the first gantry to move to the second preset position; judging whether the current position of the second gantry is within the moving path of the clamping automatic guided vehicle; the moving path is the path of the clamping automatic guided vehicle moving from the first preset position to the second preset position; when the current position of the second gantry is not within the moving path, controlling the clamping automatic guided vehicle to transfer the material to the first gantry.

[0054] In the production of products like wires and cables, the handling of materials like large cable reels is a critical step. For example, cable reels must be placed within a gantry for payout and retraction, enabling production equipment to complete cable production. To improve production efficiency, production equipment can utilize dual-station gantries at both the payout and takeup ends, providing a backup and alternate function.

[0055] Conventional technology relies primarily on production personnel using cranes and other material handling equipment to move large cable reels and other materials into the gantry. However, manual crane handling poses significant safety risks during transfer due to the heavy weight of large cable reels (e.g., improper crane operation can cause the reels to tip over or fall), posing a threat to personnel safety and compromising handling efficiency. Therefore, a more intelligent material transfer method is needed.

[0056] The present application provides a solution, which uses control equipment to coordinately control the clamping automatic guided vehicle and the gantry, realizes automatic material handling through the clamping automatic guided vehicle, and at the same time, after the material reaches the preset position, it can determine whether there is any equipment blocking its path and make timely adjustments to ensure that the material can be placed at the target position accurately and in a timely manner; through the collaborative control of the intelligent clamping automatic guided vehicle and the gantry, the need for manual handling is reduced, which not only improves the operational efficiency of material transfer, but also reduces the time that operators are exposed to potential dangers, which can effectively improve the safety of material transfer operations.

[0057] The following will provide an expanded description and introduction through multiple embodiments.

[0058] Reference Figure 1 , Figure 1 This is a structural diagram of the material transfer system involved in the embodiment of the present application.

[0059] like Figure 1 As shown, the material transfer system in this embodiment may include a control device, a clamping type automatic guided vehicle (AGV), a first gantry and a second gantry; the control device is communicatively connected with the clamping type AGV, the first gantry and the second gantry, and the first gantry and the second gantry form a dual-station gantry structure with one in use and one in reserve.

[0060] The control device includes at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions that can be executed by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the material transfer method in Example 1 as described below.

[0061] Reference below Figure 2 , which shows a schematic diagram of the structure of a control device suitable for implementing the embodiments of the present application. The control device in the embodiments of the present application may include, but is not limited to, mobile terminals such as laptop computers, digital broadcast receivers, PDAs (Personal Digital Assistants), and PADs (Portable Application Descriptions), as well as fixed terminals such as desktop computers and PLC controllers. Figure 2 The control device shown is merely an example and should not limit the functions and scope of use of the embodiments of the present application.

[0062] like Figure 2As shown, the control device may include a processing device 1001 (e.g., a central processing unit, a graphics processing unit, etc.), which can perform various appropriate actions and processes based on programs stored in a read-only memory (ROM) 1002 or programs loaded from a storage device 1003 into a random access memory (RAM) 1004. RAM 1004 also stores various programs and data required for the operation of the control device. Processing device 1001, ROM 1002, and RAM 1004 are connected to each other via a bus 1005. An input / output (I / O) interface 1006 is also connected to the bus. Typically, the following systems can be connected to I / O interface 1006: input devices 1007 including, for example, a touch screen, touchpad, keyboard, mouse, image sensor, microphone, accelerometer, gyroscope, etc.; output devices 1008 including, for example, a liquid crystal display (LCD), speaker, vibrator, etc.; storage device 1003 including, for example, a magnetic tape, hard disk, etc.; and communication device 1009. The communication device 1009 can allow the control device to communicate with other devices wirelessly or wired to exchange data. Although the figure shows a control device with various systems, it should be understood that it is not required to implement or have all the systems shown. More or fewer systems can be implemented or have instead.

[0063] The clamping AGV is mainly used to clamp materials such as cable reels to be transferred to the first gantry and / or second gantry to cooperate with production equipment to perform operations such as reeling and unreeling. The clamping AGV and control equipment can be connected through wireless communication. Figure 3 This is a schematic diagram of the structure of the clamping AGV, as shown in Figure 3 As shown, the clamping AGV may include a vehicle body 1, a navigation module 2, a swing arm mechanism 3, and a lifting mechanism 4. The vehicle body 1 is the basic structure of the clamping AGV and is used to carry the other components of the clamping AGV. The navigation module 2 can be installed on the top of the vehicle body. It has a pre-installed positioning algorithm and can use laser SLAM (Simultaneous Localization and Mapping) technology to locate the position of the clamping AGV in real time and plan the forward path of the clamping AGV, ensuring that it can travel automatically in complex environments without relying on manual control. The swing arm mechanism 3 can be installed on both sides of the vehicle body and is mainly responsible for clamping and releasing materials. Figure 4 is a detailed structural diagram of an example rocking rod mechanism 3, as shown in FIG. Figure 4As shown, the rocker mechanism 3 may include a rocker 31 and a rocker drive module 32; the rocker mechanism 3 drives the rocker 31 to rotate via the rocker drive module 32 to grab or release materials, thereby realizing the automated material handling function. The lifting mechanism 4 is installed on the vehicle body and connected to the rocker mechanism 3. It can control the lifting and lowering of the rocker mechanism 3 to adjust the clamping height of the clamping AGV to adapt to materials of different heights or working environments. Since the clamping AGV generally clamps heavy materials such as cable reels and metal coils, in order to improve the carrying capacity of the clamping AGV, the clamping AGV can also be provided with a support block 5, such as Figure 3 As shown, when the clamping AGV clamps the cable reel A through the rocker mechanism 3 , the support block 5 can support the cable reel A.

[0064] The coordinated design of the various components of the aforementioned clamp-type AGV enables a more precise and automated material grabbing and releasing process. The combination of the navigation module and laser SLAM technology enables the AGV to navigate freely in complex environments, while the lifting mechanism provides flexible material handling capabilities to adapt to different operational requirements. It is worth mentioning that, in order to reduce the size of the clamp-type AGV and achieve space optimization, the aforementioned rocker drive module 32 can be a worm gear transmission, which consists of a worm wheel (disc-shaped) and a worm (helical). When the worm rotates, the helical teeth on the worm push the tooth surface of the worm wheel, causing the worm wheel to rotate and drive the rocker 31. Worm gear transmissions can achieve a larger reduction ratio in a smaller space, effectively reducing the overall size of clamp-type AGVs. Worm gear transmissions can also disperse force across multiple tooth surfaces, allowing them to withstand relatively high loads. Therefore, they can be used to handle large materials such as cable reels and metal coils. Clamp-type AGVs use worm gear transmissions to drive the rotation of a rocker arm to pick up materials. This has a simple structure and stable operation, while also saving space and reducing the size of the AGV body, making it an optimal choice for a rocker arm drive module.

[0065] The gantry is a type of lifting equipment used in industrial production, construction sites and other occasions; for example, in cable production, the gantry can carry heavy cable reels. By adjusting the position of the gantry, the central axis of the cable reel can be made coaxial with the production equipment (such as a take-up machine, extruder, etc.) to complete the take-up or pay-out process. The structures of the above-mentioned first gantry and the second gantry are basically the same. The two form a dual-station gantry structure with one backup and one use in the material transfer system. When a gantry fails, the other can be put into use immediately, which can ensure the production and transfer efficiency. The first gantry and the second gantry are connected to the control equipment via PROFINET communication. In a feasible embodiment, the first gantry and the second gantry can both include a ground rail 6, a gantry frame 7, a sleeve-type opening and closing mechanism 8 and a gate 9; Figure 5is a structural diagram of the gantry, as shown in Figure 5 As shown, the ground rail 6 can be installed on the ground and flush with the ground, and the gantry frame 7 can be slidably installed on the ground rail 6. As a result, the gantry frame 7 can slide along the ground rail 6 to adjust the position of the gantry frame at any time to align it with the production equipment; a sleeve-type opening and closing mechanism 8 is installed on the top of the gantry frame 7, which is used to drive the two sides of the gantry frame 7 to open or close along the extension direction of the ground rail 6 to adapt to the size of the material; and the gate 9 is used to limit the passage of the gantry frame 7. For example, when the clamping AGV needs to transport the cable reel A to the gantry, the gate 9 of the gantry is opened, and the sleeve-type opening and closing mechanism 8 can be opened and closed according to the size of the cable reel A, so that the clamping AGV can accurately place the cable reel A on the gantry and complete the transfer of the cable reel A.

[0066] The aforementioned control device can be a master PLC (Programmable Logic Controller). The master PLC can communicate with the clamping AGV, the first gantry and the second gantry through industrial Ethernet. When material transfer is required, the master PLC can send control instructions to the clamping AGV to make the clamping AGV reach the designated docking position with the gantry. At the same time, the master PLC can also send control instructions to the first gantry that needs to be docked with the clamping AGV to control the gate of the first gantry to open so that the clamping AGV can hold the material and enter the gantry frame to complete the material transfer.

[0067] It can be understood that the above-mentioned material transfer system can coordinately control the clamping AGV and the gantry through the control equipment. The clamping AGV can realize the automatic transfer of large materials (such as cable reels, etc.), and the control equipment can realize the automatic docking of the clamping AGV and the gantry. The coordinated work of various components greatly improves the reliability and flexibility of the system, and at the same time eliminates the safety hazards of manual use of cranes to transfer large materials, making material transfer safer and more efficient.

[0068] Based on the above-mentioned material transfer system, the present application embodiment provides a material transfer method, referring to Figure 6 , Figure 6 This is a flow chart of Example 1 of the material transfer method of this application.

[0069] In this embodiment, the material transfer method includes steps S100 to S400:

[0070] Step S100: Control the clamping automatic guided vehicle to clamp the material and move it to a first preset position, so that the clamping automatic guided vehicle sends a placement request to the control device after reaching the first preset position.

[0071] Step S200: When a placement request is received, the first gantry is controlled to move to a second preset position.

[0072] Step S300, determining whether the current position of the second gantry is within the moving path of the clamping type automatic guided vehicle; the moving path is the path of the clamping type automatic guided vehicle moving from the first preset position to the second preset position.

[0073] Step S400: When the current position of the second gantry is not within the moving path, control the clamping automatic guided vehicle to transfer the material to the first gantry.

[0074] It should be noted that the execution entity of the material transfer method of this embodiment can be a computing service device with data processing, network communication, and program execution capabilities, such as a tablet computer, personal computer, etc., or an electronic device capable of performing the aforementioned functions. This embodiment and the following embodiments will be described below using a control device as an example.

[0075] Specifically, when a material transfer task occurs, the clamping AGV can be controlled by connecting the control device to the clamping AGV to perform a material clamping operation, clamping the material to a first preset position. The first preset position is a preset waiting position for the clamping AGV before docking with the first gantry. The first preset position can be set 3 to 5 meters in front of the first gantry, so that the clamping AGV can complete docking with the first gantry in a timely manner when the docking conditions between the clamping AGV and the gantry are met. As described in the aforementioned material transfer system embodiment, the clamping AGV can specifically include a vehicle body, a rocker mechanism and a lifting mechanism provided on the vehicle body; thus, the step of controlling the clamping AGV to clamp the material and move it to the first preset position can specifically include: controlling the vehicle body to move to the material buffer position; controlling the lifting mechanism to adjust the rocker mechanism to a preset material picking height and controlling the rocker mechanism to clamp the material; after the rocker mechanism completes clamping the material, controlling the vehicle body to move to the first preset position. The aforementioned material can be any of cable reels, metal coils, or textile rollers.

[0076] When a clamping AGV receives a material transfer task, it controls the vehicle body to move to the material buffer using laser SLAM positioning. It should be noted that the material transfer task can be initiated by a control device or by a production worker using a handheld terminal. Upon receiving the material transfer task, the clamping AGV enters the material buffer. Upon reaching the material buffer, the lifting mechanism adjusts the swing arm mechanism to a preset material retrieving height. The swing arm drive module then rotates the swing arm to clamp the material. The lifting mechanism then drives the swing arm mechanism upward, lifting the material. The clamping AGV successfully completes the material clamping operation. After clamping the material, the vehicle body carrying the material is moved to the first preset position using laser SLAM positioning. Upon reaching the first preset position, the clamping AGV sends a placement request to the control device via its onboard PLC. The control device then controls the first and / or second gantry according to the placement request to complete the material transfer.

[0077] After receiving the placement request, the control device can control the first gantry docked with the clamping AGV to move to the second preset position; the second preset position can be a working position adapted to the production equipment. For example, in the cable reeling and unreeling task, the second preset position can be set on the central axis of the production equipment (such as a wire take-up machine, an extruder, etc.) to facilitate the coordinated operation of the gantry and the production equipment. At the same time, the control device can also detect the position of the second gantry through real-time positioning technology (such as positioning sensors, lidar, etc.) and compare its positional relationship with the moving path of the clamping AGV. The moving path is composed of the route of the clamping AGV from the first preset position to the second preset position; the control device can pre-determine the moving trajectory of the clamping AGV and determine whether the second gantry is within the path, so that preventive measures can be taken in time to avoid collisions when the paths overlap. When the current position of the second gantry is not within the moving path, the clamping automatic guided vehicle can be controlled to transfer the material to the first gantry to complete the docking.

[0078] It is not difficult to understand that when the material transfer system is equipped with a dual-station gantry with one backup and one standby, the clamping AGV path is easily blocked during the material transfer process. Once the path is blocked, human intervention may be required, which will affect the material handling efficiency. Therefore, in a feasible embodiment, after the step of determining whether the current position of the second gantry is within the moving path of the clamping AGV, the method may also include: if the current position of the second gantry is within the moving path, controlling the second gantry to move to a preset avoidance area and outputting avoidance feedback information to the clamping AGV. That is, when it is detected that the second gantry is currently in the moving path of the clamp-type AGV and there is a risk of path blockage, the second gantry can be controlled to move to the preset avoidance area to provide a smooth docking path for the clamp-type AGV. At the same time, after detecting that the second gantry has completed the avoidance, the avoidance feedback information can be output to the clamp-type AGV so that the clamp-type AGV can perform subsequent actions in time; automatic avoidance of the double-station gantry is achieved through the control equipment, eliminating the situation where the spare gantry (second gantry) blocks the moving path of the clamp-type AGV, thereby improving production efficiency and reducing human intervention.

[0079] In a feasible embodiment, the first gantry may include a first ground rail, a first gantry frame and a first barrier gate, and the first gantry frame may be slidably set on the first ground rail; the second gantry may include a second ground rail and a second gantry frame, and the second gantry frame may be slidably set on the second ground rail; thus, when a placement request is received, the first gantry frame may be controlled to move along the first ground rail to the second preset position, and the first barrier gate may be controlled to open; in actual application, the first gantry frame may be driven by a motor to move along the ground rail to a preset docking position (i.e., the second preset position), and the sleeve-type opening and closing mechanism of the first gantry may be controlled to drive the first gantry frame to automatically open to the maximum position with the material (such as a cable reel) as the center, and the first barrier gate may be controlled to open (to facilitate the subsequent clamping AGV to enter the first gantry to complete the docking operation). After the barrier gate is opened, a signal allowing entry may be fed back to the clamping AGV. The control device can detect whether the second gantry is located within the moving path of the clamping AGV through sensors, etc. If the second gantry is located within the moving path and forms a path obstruction, an avoidance instruction can be sent to the second gantry to control the second gantry to move along the second ground rail to the preset avoidance area. After the avoidance is completed, avoidance feedback information can be sent to the clamping AGV. It should be noted that the above-mentioned preset avoidance area can be an area set along the direction of the second ground rail that does not block the moving path, such as Figure 1 The preset avoidance areas shown are examples only.

[0080] When the first gate is open and the second gantry frame has moved to the preset avoidance area, the clamping AGV can be controlled to transfer the material to the first gantry. When the first gate is open and the second gantry frame has moved to the preset avoidance area, the clamping AGV can receive the permission to enter signal and avoidance feedback information, thereby entering the first gantry through laser SLAM positioning and stopping at the material connection position. The lifting mechanism of the clamping AGV can drive the swing arm mechanism and the material to descend. After the material falls to the ground, the swing arm drive module drives the swing arm to complete the rotation and retraction action, completing the material placement. The clamping AGV then exits the first gantry. The control device can also send a material placement completion signal to the first gantry. After receiving the material placement completion signal, the first gantry can control its gate to close, ending this material transfer task.

[0081] Based on the above content, it is not difficult to see that the material transfer method provided in the embodiment of the present application uses a control device to collaboratively control the clamping automatic guided vehicle and the gantry, and realizes automatic material transportation through the clamping automatic guided vehicle. At the same time, after the material reaches the preset position, it can determine whether there is any equipment blocking its path and make timely adjustments to ensure that the material can be placed at the target position accurately and in a timely manner; through the collaborative control of the intelligent clamping automatic guided vehicle and the gantry, the need for manual handling is reduced, which not only improves the operational efficiency of material transfer, but also reduces the time the operator is exposed to potential dangers, which can effectively improve the safety of material transfer operations.

[0082] For example, to help understand the overall implementation process of the material transfer method in this embodiment, please refer to Figure 7 , Figure 7 A brief flow diagram of a material transfer method is provided, specifically:

[0083] Taking the cable reel transfer as an example, the control device can send a reel transfer task to the clamping AGV, and the clamping AGV will execute the task to complete the cable reel clamping operation, and then control the clamping AGV to reach the first preset position. The current position information of the clamping AGV can be determined by the navigation module. When the positioning error between it and the first preset position does not exceed 5mm, it can be determined that the clamping AGV has successfully reached the first preset position. At this time, a placement request can be sent to the first gantry. After receiving the placement request, the first gantry can move to the second preset position (docking position) through the ground rail and open it to the maximum position. At the same time, it controls the gate to open and sends an entry permission signal to the clamping AGV; in the clamping While the clamp-type AGV sends a placement request, it can also detect whether the second gantry is within the moving path of the clamp-type AGV; if it is not within the moving path, the avoidance operation is skipped; if it is within the moving path, an avoidance instruction is sent to the second gantry through the control device to control the second gantry to move to the preset avoidance area. At the same time, after the avoidance is completed, an avoidance feedback information is sent to the clamp-type AGV. After receiving the avoidance feedback information and the entry permission signal, the clamp-type AGV is controlled to enter the first gantry and place the cable reel. After the cable reel is placed, the clamp-type AGV is controlled to exit the first gantry and feedback a task completion signal to the first gantry, controlling the gate of the first gantry to close, and the cable reel transfer task is completed.

[0084] It should be noted that the above examples are only used to understand the present application and do not constitute a limitation on the material transfer method of the present application. More simple transformations based on this technical concept are all within the scope of protection of the present application.

[0085] The above descriptions are only some embodiments of the present application and do not limit the scope of protection. All equivalent structural transformations made using the contents of the present application specification and drawings under the technical concept of the present application, or direct / indirect application in other related technical fields are included in the scope of protection.

Claims

1. A material transfer method, characterized in that: a control device for a material transfer system, the material transfer system further comprising a clamping automatic guided vehicle, a first gantry, and a second gantry, all connected to the control device; The material transfer method comprises: Controlling the clamping automatic guided vehicle to clamp the material and move it to a first preset position, so that the clamping automatic guided vehicle sends a placement request to the control device after reaching the first preset position; Upon receiving the placement request, controlling the first gantry to move to a second preset position; Determining whether the current position of the second gantry is within a moving path of the clamping-type automatic guided vehicle; the moving path is a path for the clamping-type automatic guided vehicle to move from the first preset position to the second preset position; When the current position of the second gantry is not within the moving path, the clamping automatic guided vehicle is controlled to transfer the material to the first gantry.

2. The material transfer method according to claim 1, wherein: After the step of determining whether the current position of the second gantry is within the moving path of the clamping automatic guided vehicle, the method further includes: When the current position of the second gantry is within the moving path, the second gantry is controlled to move to a preset avoidance area, and avoidance feedback information is output to the clamping automatic guided vehicle.

3. The material transfer method according to claim 2, wherein: The first gantry includes a first ground rail, a first gantry frame and a first gate, and the first gantry frame is slidably arranged on the first ground rail; the second gantry includes a second ground rail and a second gantry frame, and the second gantry frame is slidably arranged on the second ground rail; The step of controlling the first gantry to move to a second preset position includes: Controlling the first gantry frame to move along the first ground rail to the second preset position, and controlling the first gate to open; The step of controlling the second gantry to move to a preset avoidance area includes: Controlling the second gantry frame to move along the second ground rail to the preset avoidance area; The step of controlling the clamping automatic guided vehicle to transfer the material to the first gantry includes: When the first gate is opened and the second gantry frame has moved to the preset avoidance area, the clamping automatic guided vehicle is controlled to transfer the material to the first gantry.

4. The material transfer method according to claim 1, wherein: The clamping automatic guided vehicle includes a vehicle body and a rocker mechanism and a lifting mechanism provided on the vehicle body; the step of controlling the clamping automatic guided vehicle to clamp the material and move it to the first preset position includes: Controlling the vehicle body to move to a material buffer position; Controlling the lifting mechanism to adjust the swing arm mechanism to a preset material taking height and controlling the swing arm mechanism to clamp the material; After the rocker mechanism completes clamping the material, the vehicle body is controlled to move to a first preset position.

5. The material transfer method according to any one of claims 1 to 4, characterized in that: The material is a cable reel, a metal coil or a textile roller.

6. A control device, characterized in that: The device includes: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the computer program is configured to implement the steps of the material transfer method according to any one of claims 1 to 5.

7. A material transfer system, characterized in that: The material transfer system includes: The control device according to claim 6; and A clamping automatic guided vehicle, a first gantry, and a second gantry, all connected to the control device; The clamping automatic guided vehicle is used to clamp materials to the first gantry and / or the second gantry.

8. The material transfer system according to claim 7, wherein: The clamping type automatic guided vehicle comprises: body; A navigation module is installed on the top of the vehicle body and is used to locate the position of the clamping automatic guided vehicle in real time and perform path planning based on laser SLAM technology; A rocker mechanism is installed on both sides of the vehicle body. The rocker mechanism includes a rocker and a rocker drive module. The rocker drive module is used to drive the rocker to rotate to clamp or release materials. The lifting mechanism is connected to the rocker mechanism and is used to drive the rocker mechanism to move up and down to adjust the clamping height.

9. The material transfer system according to claim 8, wherein: The rocker drive module includes a worm gear transmission component.

10. The material transfer system according to claim 7, wherein: The first gantry and the second gantry both include a ground rail, a gantry frame, a sleeve-type opening and closing mechanism, and a barrier gate; Among them, the ground rail is installed on the ground and is flush with the ground; the gantry frame is slidably installed on the ground rail; the sleeve-type opening and closing mechanism is installed on the top of the gantry frame, and is used to drive the two sides of the gantry frame to open or close along the extension direction of the ground rail to adapt to the material size; the barrier is used to limit the passage state of the gantry frame.

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