Cantilever shaft assembly, cantilever type AGV and feeding method

Abstract

The embodiment of the invention provides a cantilever shaft assembly, a cantilever type AGV and a feeding method. The cantilever shaft assembly comprises a cantilever shaft, a material pulling mechanism and a tensioning mechanism, the material pulling mechanism and the tensioning mechanism are mounted on the cantilever shaft; the tensioning mechanism is provided with at least one tensioning piece, and the tensioning piece is used for stretching out towards the coil stock in the direction perpendicular to the central axis of the cantilever shaft in the horizontal plane so as to tension the coil stock when the stretching-out end of the cantilever shaft stretches into the coil stock; the material pulling mechanism can move in a reciprocating mode in the axis direction of the cantilever shaft so as to pull the whole coil stock to the cantilever shaft after the coil stock is tensioned by the tensioning mechanism. Compared with a manner of tensioning the roll material in the vertical direction by the tensioning mechanism in the related technology, the tensioning manner of tensioning the roll material in the horizontal axial direction by the tensioning mechanism in the embodiment of the invention effectively reduces the risk of failure in material taking.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of warehouse logistics, in particular to a cantilever shaft assembly, a cantilever AGV and a feeding method. BACKGROUND

[0002] An automated guided vehicle (AGV for short) can travel along a specified navigation path and has the function of carrying materials.

[0003] In related technologies, there are various types of AGVs for carrying different types of materials. At present, in the lithium battery industry, a cantilever AGV is used to carry a roll material, hereinafter referred to as a roll material. In related technologies, the cantilever AGV usually takes and places the roll material through a cantilever shaft. The cantilever shaft is used to dock with a buffer rack or a machine device to take and place and carry the roll material. In order to be able to correctly take the roll material, a single-way tensioning mechanism and a shaft line material pulling mechanism with a relatively fixed shaft line position are arranged on the cantilever shaft in related technologies. When feeding, the cantilever shaft docks with the buffer rack or the machine device to take and place the roll material. First, the cantilever shaft is partially inserted into the roll material; then, the roll material is tensioned by the tensioning mechanism in a single direction downward to tension the roll material by increasing the effective diameter in the vertical direction; finally, the roll material is moved as a whole to the cantilever shaft by the material pulling mechanism.

[0004] The above feeding method, because the cantilever shaft tensions the roll material in the vertical direction, will apply additional vertical pressure to the roll material, increase the friction between the roll material and the supporting surface, and when the roll material needs to be pulled along the horizontal axial direction to separate from the supporting surface, the excessive friction makes it difficult or impossible to pull the roll material, resulting in a failed material taking. SUMMARY

[0005] The purpose of the embodiments of the present application is to provide a cantilever shaft assembly, a cantilever AGV and a feeding method to reduce the risk of material taking failure. The specific technical solutions are as follows:

[0006] The embodiments of the present application provide a cantilever shaft assembly applied to a cantilever AGV, the cantilever shaft assembly comprising: a cantilever shaft, a material pulling mechanism and a tensioning mechanism;

[0007] The material pulling mechanism and the tensioning mechanism are installed on the cantilever shaft.

[0008] The tensioning mechanism has at least one tensioning piece configured to make the tensioning piece move linearly away from the center axis of the cantilever shaft in a direction perpendicular to the center axis of the cantilever shaft in a horizontal plane, so as to tension the inner hole side wall of the roll material when the extended end of the cantilever shaft is located inside the roll material.

[0009] The pulling mechanism can reciprocate along the axis of the cantilever shaft to pull the whole roll to the cantilever shaft after the tensioning mechanism tightens the inner hole sidewall of the roll.

[0010] In some embodiments, the number of tensioning members of the tensioning mechanism is two.

[0011] The two tensioning members are symmetrically arranged relative to the axis of the cantilever shaft and can respectively move linearly away from the central axis perpendicular to the central axis of the cantilever shaft to tighten the inner hole sidewall of the roll in the diameter direction of the roll.

[0012] In some embodiments, the tensioning mechanism has a tensioning power assembly arranged in the cantilever shaft.

[0013] The tensioning power assembly is in transmission connection with the two tensioning members to provide power for the two tensioning members to extend or retract the cantilever shaft in the horizontal direction, so that the two tensioning members can synchronously extend or retract the cantilever shaft (210).

[0014] In some embodiments, the tensioning power assembly includes a tensioning motor driving assembly and a power transmission assembly. The power transmission assembly is in transmission connection with the two tensioning members to synchronously extend or retract the two tensioning members relative to the cantilever shaft under the driving of the tensioning motor driving assembly.

[0015] In some embodiments, the tensioning mechanism has two tensioning members arranged on a tensioning bottom plate and in sliding connection with the tensioning bottom plate in the horizontal direction. The tensioning bottom plate is arranged in the cantilever shaft.

[0016] The tensioning motor driving assembly is fixed on the tensioning bottom plate through a motor fixing frame. The power transmission assembly includes a horizontal transmission gear and two transmission racks. The horizontal transmission gear is rotationally arranged on the motor fixing frame. The output shaft of the tensioning motor driving assembly is fixedly connected with the horizontal transmission gear through the motor fixing frame to drive the horizontal transmission gear to rotate.

[0017] The two transmission racks are respectively fixedly connected with the two tensioning members. The two transmission racks are arranged at the upper and lower ends of the horizontal transmission gear to synchronously mesh with the horizontal transmission gear, so that the two tensioning members synchronously approach or move away in the horizontal direction.

[0018] In some embodiments, the tensioning bottom plate is provided with a tensioning sliding rail extending in the horizontal direction. The bottom of each of the two tensioning members is provided with a tensioning sliding block. The two tensioning members are in cooperation with the tensioning sliding rail based on the tensioning sliding blocks to realize the relative sliding with the pulling connecting member. And / or,

[0019] The tensioning member is plate-shaped or columnar; the end of the tensioning member, which is directed outward from the cantilever shaft, is provided with a soft material tensioning pad.

[0020] In some embodiments, the tensioning mechanism is mounted on the material pulling mechanism; the material pulling mechanism comprises a material pulling power assembly and a material pulling connecting member; the material pulling power assembly and the material pulling connecting member are arranged in the cantilever shaft;

[0021] The material pulling connecting member is arranged on the material pulling power assembly; the tensioning mechanism is mounted on the material pulling connecting member;

[0022] The material pulling power assembly is used to provide power for the reciprocating movement of the material pulling connecting member along the axis direction, so that the tensioning mechanism can reciprocate along the axis direction with the material pulling connecting member.

[0023] In some embodiments, the material pulling power assembly is mounted on a mounting base plate in the cantilever shaft; the material pulling connecting member is a connecting sliding table arranged on the material pulling power assembly; the material pulling power assembly comprises a lead screw linear module and a material pulling motor driving assembly;

[0024] The lead screw linear module and the material pulling driving assembly are arranged in sequence along the axis direction on the mounting base plate; the lead screw linear module has a material pulling lead screw arranged along the axis direction; the connecting sliding table is internally provided with a thread, which is sleeved on the material pulling lead screw, so that the connecting sliding table can reciprocate along the material pulling lead screw in cooperation with the material pulling lead screw; the output shaft of the material pulling motor driving assembly is connected with the material pulling lead screw to drive the material pulling lead screw to rotate, thereby realizing the reciprocating movement of the connecting sliding table along the material pulling lead screw.

[0025] In some embodiments, the lead screw linear module further comprises a linear support seat and a tensioning support frame; the linear support seat and the tensioning support frame are fixed in sequence along the axis direction on the mounting base plate; the linear support seat is used to support the connecting sliding table and the material pulling lead screw; the tensioning support frame is used to support the part of the tensioning mechanism that is away from the tensioning member along the axis direction.

[0026] In some embodiments, the cantilever shaft assembly further comprises a first position sensor arranged at the end of the extended end of the cantilever shaft, which is used to detect whether the extended end enters the inside of the material roll;

[0027] a plurality of second position sensors arranged on the cantilever shaft along the axial direction of the cantilever shaft, each of the second position sensors being predefined to correspond to a specific roll size and being arranged at a preset position corresponding to the required insertion depth of the roll of the specific size, and being configured to detect whether the cantilever shaft is inserted into the roll of the specific size to the preset depth;

[0028] a controller configured to:

[0029] receive the trigger signals from the first position sensor and the plurality of second position sensors, acquire the size information of the current roll to be carried, determine a target second position sensor corresponding to the size of the current roll to be carried, and when detecting the first trigger signal of the first position sensor and the second trigger signal of the target second position sensor, control the cantilever shaft to move upward by a first preset height along the gantry assembly, and control the tensioning mechanism to tension the current roll.

[0030] after confirming that the roll is tensioned, control the cantilever shaft to move upward by a second preset height along the gantry assembly of the cantilever AGV, and control the pulling mechanism to act to pull the tensioned roll to a predetermined position along the axial direction of the cantilever shaft.

[0031] In some embodiments, the cantilever shaft assembly further comprises a pushing mechanism and a blocking mechanism. The pushing mechanism is movable along the axial direction of the cantilever shaft and is configured to push the roll. The blocking mechanism is installed at the end of the extended end of the cantilever shaft and has a blocking member that can extend out of the extended end to block the roll on the cantilever shaft or retract into the extended end to not block the roll. In the case where the roll is completely located on the cantilever shaft, the roll is located inside the blocking mechanism.

[0032] The cantilever shaft assembly further comprises a mounting stand. The cantilever shaft is mounted on the mounting stand and is slidably connected to the gantry assembly of the cantilever AGV based on the mounting stand.

[0033] In some embodiments, the cantilever shaft has a receiving cavity formed along the axial direction thereof. The pulling mechanism and the tensioning mechanism are installed in the receiving cavity. At least one side wall of the cantilever shaft in the horizontal direction is provided with a tensioning avoiding slot. The at least one tensioning member can extend out of the cantilever shaft through the tensioning avoiding slot to tension the roll.

[0034] The embodiments of the present application also provide a cantilever AGV, which comprises a moving chassis, a gantry assembly, and any of the aforementioned cantilever shaft assemblies. The cantilever shaft assembly is slidably connected to the gantry assembly in the height direction. The gantry assembly is installed on the moving chassis. The moving chassis can drive the gantry assembly and the cantilever shaft assembly to move to carry the roll.

[0035] The application further provides a coil loading method based on a cantilever AGV, applied to the cantilever AGV, and the method comprises the following steps:

[0036] The cantilever AGV moves to a position corresponding to a buffer frame in which at least one coil is stored, so that the cantilever shaft extends into a first preset distance inside the outermost coil on the buffer frame;

[0037] The cantilever shaft is controlled to move upward along the portal assembly by a first preset height, so that the weight of the coil is transferred to the cantilever shaft, and the tensioning mechanism is controlled to tension the current coil;

[0038] The cantilever shaft is controlled to move upward along the portal assembly by a second preset height, and the current coil is pulled as a whole toward the portal assembly by a second preset distance, so that the current coil moves as a whole on the cantilever shaft.

[0039] In some embodiments, the cantilever shaft is provided with a first position sensor and a plurality of second position sensors corresponding to different sizes of coils;

[0040] In the case that the first position sensor and the second position sensor corresponding to the size of the current coil are both triggered, it is determined that the cantilever shaft extends into the first preset distance inside the outermost coil on the buffer frame;

[0041] In the case that the first position sensor is not triggered and the second position sensor corresponding to the size of the current coil is triggered, it is determined that the current coil is pulled as a whole toward the portal assembly by the second preset distance.

[0042] In some embodiments, the cantilever shaft assembly further comprises a pushing mechanism and a blocking mechanism.

[0043] After the current coil moves as a whole on the cantilever shaft, the method further comprises the following steps:

[0044] The blocking part of the blocking mechanism is controlled to extend out of the extension end of the cantilever shaft to block the coil on the cantilever shaft, and each tensioning part of the tensioning mechanism is controlled to retract into the cantilever shaft;

[0045] The pushing mechanism is controlled to push the current coil, so that the pushing mechanism and the blocking mechanism clamp the current coil;

[0046] The cantilever AGV carries the current coil to a destination.

[0047] The application has the following beneficial effects:

[0048] The embodiment of the present application provides a cantilever shaft assembly, a cantilever AGV and a feeding method. The cantilever shaft assembly is provided with a material pulling mechanism and a tensioning mechanism. The tensioning mechanism has at least one tensioning piece, which can extend towards the roll material in the horizontal direction to tension the roll material when the extension end of the cantilever shaft extends into the roll material. The material pulling mechanism can pull the roll material as a whole to the cantilever shaft after the tensioning mechanism tensions the roll material. Compared with the way of tensioning the roll material in the vertical direction of the tensioning mechanism in the related art, the tensioning way of the tensioning mechanism in the embodiment of the present application tensioning the roll material in the horizontal direction effectively reduces the risk of material taking failure, and has the following advantages:

[0049] 1. The resistance to material taking is reduced: the tensioning way of the embodiment of the present application changes the force applying way, and the roll material is tensioned in the horizontal direction. This tensioning way does not generate additional force perpendicular to the supporting surface. Therefore, when the roll material needs to be pulled in the axial direction in the subsequent process until it is completely located on the cantilever shaft, the problem that the friction force is significantly increased due to the additional downward force in the traditional downward tensioning way is avoided. This greatly reduces the driving force required for pulling the roll material.

[0050] 2. Reliable axial traction is realized: due to the significant reduction of resistance, the material pulling mechanism only needs to apply a small pulling force to easily pull the roll material in the axial direction to the cantilever shaft of the cantilever AGV. This two-step method of “first horizontal tensioning and then axial traction” solves the pain point that the friction force is increased and the roll material is difficult to be pulled due to the tensioning of the roll material in the vertical direction in the related art.

[0051] 3. The application scenarios are widened: the embodiment of the present application is suitable for taking the outermost roll material from closely arranged roll materials, and can effectively pull the roll material in the axial direction to separate from the supporting position, solving the difficulty of material taking in the existing technology in this scenario.

[0052] In summary, the present application replaces the traditional downward tensioning with horizontal tensioning of the tensioning mechanism, which fundamentally eliminates the defect that the friction resistance is increased due to the material taking action itself, and realizes the displacement of the roll material under low resistance by the axial movement of the material pulling mechanism, thereby effectively solving the problem of large material taking resistance in the prior art.

[0053] Of course, implementing any product or method of the present application does not necessarily require all the advantages described above. BRIEF DESCRIPTION OF DRAWINGS

[0054] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the drawings needed in the embodiment or prior art description will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present application, and other embodiments can also be obtained by those skilled in the art based on these drawings.

[0055] Figure 1a The first angle structure diagram of the cantilever shaft assembly provided by the embodiment of the present application is shown in the figure;

[0056] Figure 1b The exploded structure diagram of the structure shown in the figure is shown in the figure; Figure 1a

[0057] Figure 2a The second angle structure diagram of the cantilever shaft assembly provided by the embodiment of the present application is shown in the figure;

[0058] Figure 2b The exploded structure diagram of the structure shown in the figure is shown in the figure; Figure 2a

[0059] Figure 2c The local enlarged view of the extension end of the cantilever shaft in the structure shown in the figure is shown in the figure; Figure 2a

[0060] The first angle structure diagram of the tensioning mechanism installed on the material pulling mechanism in the structure shown in the figure is shown in the figure; Figure 3a Figure 2a The schematic diagram of the structure shown in the figure when the material pulling mechanism is in the pulling back state is shown in the figure;

[0061] Figure 3b Figure 3a The exploded structure diagram of the structure shown in the figure is shown in the figure;

[0062] Figure 3c The second angle structure diagram of the tensioning mechanism installed on the material pulling mechanism in the structure shown in the figure is shown in the figure; Figure 3a

[0063] The mechanism diagram of the tensioning mechanism in the structure shown in the figure is shown in the figure; Figure 4 Figure 2a The exploded structure diagram of the tensioning mechanism shown in the figure is shown in the figure;

[0064] Figure 5a Figure 3a The overall structure diagram of the cantilever AGV provided by the embodiment of the present application is shown in the figure;

[0065] Figure 5b The structure diagram of the portal assembly in the embodiment shown in the figure is shown in the figure; Figure 5a

[0066] The flowchart of the material winding feeding method based on the cantilever AGV provided by the embodiment of the present application is shown in the figure; Figure 6

[0067] The structure diagram of the portal assembly in the embodiment shown in the figure is shown in the figure; Figure 7 Figure 6 The flowchart of the material winding feeding method based on the cantilever AGV provided by the embodiment of the present application is shown in the figure;

[0068] Figure 8

[0069] ​​​​​​​​Figure 9 A schematic diagram of the cantilever AGV moving to the vicinity of the buffer rack is provided for the embodiments of the present application;

[0070] Figure 10a A simplified schematic diagram of the cantilever shaft of the cantilever AGV extending into the roll material by a first preset distance is provided for the embodiments of the present application;

[0071] Figure 10b A simplified schematic diagram of the pulling mechanism of the cantilever shaft of the cantilever AGV pulling the roll material to move a second preset distance is provided for the embodiments of the present application.

[0072] Reference signs:

[0073] gantry assembly 100, gantry 110, first gantry upright 111, second gantry upright 112, lifting mechanism 120, lifting motor 121, lifting reducer 122, lifting coupler 123, lead screw assembly 124, lead screw nut 125, lifting slide rail 126, lifting slide block 127;

[0074] cantilever shaft assembly 200, cantilever shaft 210, cantilever shaft main body 2101, mounting bottom plate 2102, mounting groove body 2103, mounting side plate 2104, second position sensor 2105, containing cavity 211, extension end 212, first position sensor 2121, side wall 213, tensioning avoidance groove 214, cantilever end cover 215, distance measuring sensor 2151, code reading camera 2152, roller bearing 2153;

[0075] pulling mechanism 220, pulling power assembly 221, lead screw linear module 2211, pulling lead screw 22110, linear support seat 22111, two end plates a1 / a2 of linear support seat, guide groove a3, output shaft a4, tensioning support frame 22112, pulling motor drive assembly 2212, pulling motor 22121, pulling reducer 22122, pulling coupler 22123, pulling connecting piece 222, connecting sliding table 2220;

[0076] tensioning mechanism 230, tensioning piece 231, tensioning pad 2310, tensioning slide block 2311, tensioning limit block 2312, tensioning power assembly 232, tensioning motor drive assembly 2321, tensioning reducer motor 23211, motor mounting frame 23212, drag chain mounting plate 23213, drag chain 23214, power transmission assembly 2322, tensioning bottom plate 233, tensioning slide rail 2331, motor fixing frame 2323, horizontal transmission gear 2324, horizontal transmission rack 2325, bending connecting piece 2326;

[0077] The pushing mechanism 240, the pushing plate 241, the pushing driving assembly 242, the pushing motor 2421, the pushing reducer 2422, the pushing gear 2423, the pushing rack 2424, the pushing guide rail 2425, the pushing frame 243, the gear support frame 2431, the pushing cover 244, the blocking mechanism 250, the blocking piece 251;

[0078] The mounting vertical plate 300, the lifting pin shaft 301, and the moving chassis 400. DETAILED DESCRIPTION

[0079] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art based on the present application belong to the scope of protection of the present application.

[0080] In order to reduce the risk of loading failure of the cantilever AGV, the present application provides a cantilever shaft assembly, a cantilever AGV and a loading method, which are described in detail below.

[0081] First, the cantilever shaft assembly provided by the present embodiment is described in detail. The cantilever shaft assembly provided by the present embodiment is applied to a cantilever AGV.

[0082] Referring to Figures 1a to 2b , wherein, Figure 1a is a structural schematic diagram of a first angle of the cantilever shaft assembly provided by the present embodiment; Figure 1b is an exploded structural schematic diagram of the structure shown in Figure 1a ; Figure 2a is a structural schematic diagram of a second angle of the cantilever shaft assembly provided by the present embodiment; Figure 2b is an exploded structural schematic diagram of the structure shown in Figure 2a .

[0083] As Figures 1a to 2b shown, the cantilever shaft assembly 200 provided by the present embodiment comprises a cantilever shaft 210, a pulling mechanism 220 and a tensioning mechanism 230. The pulling mechanism 220 and the tensioning mechanism 230 are installed on the cantilever shaft 210; the tensioning mechanism 230 has at least one tensioning piece 231, which is configured to make the tensioning piece 231 move linearly away from the center axis of the cantilever shaft 210 in a direction perpendicular to the center axis in a horizontal plane, so as to tension the inner hole side wall of the roll when the extended end 212 of the cantilever shaft 210 is located inside the roll; the pulling mechanism 220 can reciprocate along the axis direction of the cantilever shaft 210, so as to pull the roll as a whole onto the cantilever shaft after the tensioning mechanism tensions the inner hole side wall of the roll.

[0084] Compared with the way of vertically tensioning the roll material by the tensioning mechanism in the related art, the tensioning mechanism in the embodiment of the present application tension the roll material along the horizontal axis, effectively reduces the risk of failure to take the material, and has the following advantages:

[0085] 1. Reducing the resistance to take the material: the tensioning method of the embodiment of the present application changes the force application method, which tension the roll material in the horizontal direction. This tensioning method will not generate additional force perpendicular to the support surface. Therefore, when the roll material needs to be pulled along the axis subsequently until it is completely located on the cantilever shaft, the problem of significantly increased friction caused by additional downward force in the traditional downward tensioning method is avoided. This greatly reduces the driving force required to pull the roll material.

[0086] 2. Realizing reliable axial traction: due to the significant reduction of resistance, the material pulling mechanism only needs to apply a small pulling force to easily pull the roll material along its axis to the cantilever shaft of the cantilever AGV. This two-step method of "first horizontal tensioning and then axial traction" solves the pain point that the friction increases and the roll material is difficult to be pulled due to the tensioning of the roll material in the vertical direction in the related art.

[0087] 3. Widening the application scenarios: the embodiment of the present application is suitable for taking the outermost roll material from the closely arranged roll materials, and can effectively pull the roll material along the axis to separate from the support position, solving the difficulty of taking the material in the existing technology in this scenario.

[0088] In summary, the present application replaces the traditional downward tensioning with horizontal tensioning of the tensioning mechanism, which physically eliminates the defect of increasing frictional resistance due to the taking action itself, and realizes the displacement of the roll material under low resistance by the axial movement of the material pulling mechanism, thereby effectively solving the problem of high resistance of the existing technology.

[0089] In the embodiment of the present application, the number of tensioning pieces 231 of the tensioning mechanism 230 is not limited, which can be one, two or more, as long as it can move linearly away from the center axis perpendicular to the center axis of the cantilever shaft to tension the inner hole side wall of the roll material in the diameter direction of the roll material.

[0090] For example, referring to Figure 1b and Figure 2b In the embodiment, the number of tensioning pieces 231 of the tensioning mechanism 230 can be two; the two tensioning pieces 231 are symmetrically arranged relative to the axis of the cantilever shaft 210, and can respectively move linearly away from the center axis perpendicular to the center axis of the cantilever shaft 210 to tension the inner hole side wall of the roll material in the diameter direction of the roll material.

[0091] In the embodiment, the tensioning mechanism 230 horizontally extends the cantilever shaft 210 along the diameter direction of the roll material to tension the roll material through the two tensioning pieces 231 symmetrically arranged relative to the axis of the cantilever shaft 210, thereby ensuring the force balance of the roll material and preventing the roll material from being deviated or tilted during the pulling process.

[0092] In the embodiment, the pulling mechanism 220 and the tensioning mechanism 230 are both mounted on the cantilever shaft 210, and the specific mounting position is not limited as long as the pulling and tensioning functions can be realized.

[0093] For example, as shown in Figures 1a to 2b In the embodiment, the cantilever shaft 210 has an accommodating cavity 211 formed along the axial direction thereof, the pulling mechanism 220 and the tensioning mechanism 230 can be mounted in the accommodating cavity 211, and the tensioning mechanism 230 can be mounted on the pulling mechanism 220. In this way, the pulling mechanism 220 can drive the tensioning mechanism 230 to reciprocate along the axial direction, and after the tensioning mechanism 230 tensions the roll material, the pulling mechanism 220 can pull the roll material as a whole to the cantilever shaft 210 based on the tensioning mechanism 230.

[0094] In the embodiment, the pulling mechanism 220 and the tensioning mechanism 230 of the cantilever shaft assembly 200 are both mounted in the accommodating cavity 211 of the cantilever shaft 210, the tensioning mechanism 230 is mounted on the pulling mechanism 220, the tensioning piece 231 of the tensioning mechanism 230 can horizontally tension the roll material, and the pulling mechanism 220 can drive the tensioning mechanism 230 to reciprocate along the axial direction. In this way, after the tensioning mechanism 230 tensions the roll material, the pulling mechanism 220 can pull the roll material as a whole to the cantilever shaft 210 based on the tensioning mechanism 230.

[0095] In the embodiment, the tensioning mechanism 230 can reciprocate along the axial direction with the pulling mechanism 220, and compared with the related art in which the tensioning mechanism is arranged at a fixed position on the cantilever shaft and is separately arranged from the pulling mechanism, the structure is more compact, and the roll material can be tensioned during the pulling process of the pulling mechanism 220.

[0096] The cantilever shaft 210 of the cantilever shaft assembly provided in the embodiment can be applied to the single-roll material carrying and pulling scene, and the tensioning mechanism 230 and the pulling mechanism 220 can be used to realize the automatic transfer and carrying of the non-powered buffer rack (i.e., the buffer rack that cannot push out the roll material) and the stroke insufficient equipment that pushes the roll material.

[0097] As shown in Figures 1a to 2bAs shown, in this embodiment, the cantilever shaft 210 includes: a cantilever shaft body 2101 and a mounting base plate 2102; the cantilever shaft body 2101 has a mounting groove 2103 facing its bottom and arranged along the axial direction of the cantilever shaft 210; the mounting base plate 2102 is fastened to the mounting groove 2103 to form a receiving cavity 211; and a material pulling mechanism 220 is mounted on the mounting base plate 2102. Thus, the material pulling mechanism 220 and its tensioning mechanism 230 are both installed in the receiving cavity 211, making the structure of the cantilever shaft 210 simple and compact.

[0098] See Figures 3a to 4 ,in, Figure 3a for Figure 2a A schematic diagram of the tensioning mechanism installed on the pulling mechanism at the first angle in the structure shown; Figure 3b for Figure 3a The diagram shown illustrates the structure in the pull-back state of the material pulling mechanism; Figure 3c for Figure 3a A schematic diagram of the exploded structure shown; Figure 4 for Figure 1a The diagram shows the second angle of the tensioning mechanism mounted on the pulling mechanism.

[0099] like Figures 3a to 4 As shown, the material pulling mechanism 220 includes: a material pulling power assembly 221 and a material pulling connector 222; the material pulling power assembly 221 and the material pulling connector 222 are disposed within the cantilever shaft 210, specifically installed within the receiving cavity 211; the material pulling connector 222 is disposed on the material pulling power assembly 221; and a tensioning mechanism 230 is installed on the material pulling connector 222. The material pulling power assembly 221 provides power for the reciprocating movement of the material pulling connector 222 along the axial direction of the cantilever shaft 210, so that the tensioning mechanism 230 can reciprocate along the axial direction with the material pulling connector 222.

[0100] In this embodiment, the pulling mechanism 220 is connected to the tensioning mechanism 230 via a pulling connector 222 disposed on the pulling power assembly 221. The pulling power assembly 221 provides power for the pulling connector 222 to reciprocate along the axial direction, so that the tensioning mechanism 230 can reciprocate along the axial direction with the pulling connector 222. That is, the tensioning mechanism 230 and the pulling mechanism are powered by the same pulling power assembly 221 to reciprocate along the axial direction. Compared with the method where the two are powered by different power assemblies, the structure is simpler and more compact, ensuring that both the pulling mechanism 220 and the tensioning mechanism 230 can be installed in the receiving cavity 211 of the cantilever shaft 210.

[0101] like Figures 3a to 4As shown, in this embodiment, the tensioning mechanism 230 has two tensioning members 231; the two tensioning members 231 are slidably mounted on the material pulling connector 222 in the horizontal direction. In this embodiment, the mounting groove 2103 of the cantilever shaft 210 can be formed from the lower part of the two opposing side walls 213 in the horizontal direction of the cantilever shaft body 2101. Tensioning clearance grooves 214 are provided at the lower part of the two side walls 213 of the cantilever shaft 210, near the extended end 212 of the cantilever shaft 210; the two tensioning members 231 are symmetrically arranged with respect to the axis of the cantilever shaft 210, and can extend horizontally through the tensioning clearance grooves 214 to tension the coiled material along the diameter direction.

[0102] In this embodiment, the tensioning mechanism 230, through two tensioning members 231 symmetrically arranged relative to the axis of the cantilever shaft 210, can extend horizontally out of the cantilever shaft 210 along the diameter direction of the coil to tension the coil material via the tensioning relief groove 214. This not only ensures the force balance of the coil material and prevents the coil material from shifting or tilting during the pulling process, but also allows it to retract into the cantilever shaft 210 via the tensioning relief groove 214 when tensioning is not required.

[0103] See Figure 2c , Figure 2c for Figure 2a A partially enlarged view of the extended end of the cantilever shaft in the structure shown. (See attached image.) Figure 2c As shown, the cantilever shaft assembly further includes: a first position sensor 2121, a plurality of second position sensors 2105, and a controller (not shown in the figure); wherein, the first position sensor 2121 is disposed at the end of the protruding end 212 of the cantilever shaft 210, and is used to detect whether the protruding end 212 enters the interior of the roll material; the plurality of second position sensors 2105 are arranged on the cantilever shaft 210 along the axial direction of the cantilever shaft 210, and each second position sensor 2105 is predefined to correspond to a specific roll material size and is set at a preset position corresponding to the required insertion depth of the roll material of its corresponding size, and is used to detect whether the depth of insertion of the cantilever shaft 210 into the roll material of the specific size reaches the preset depth;

[0104] The controller is configured to: receive trigger signals from a first position sensor 2121 and multiple second position sensors 2105; acquire the size information of the current roll material to be transported; determine a target second position sensor 2105 corresponding to the size of the current roll material to be transported; when a first trigger signal from the first position sensor 2121 and a second trigger signal from the target second position sensor 2105 are detected: control the cantilever shaft 210 to move upward along the gantry assembly 100 by a first preset height; control the tensioning mechanism 230 to tension the current roll material; after confirming that the roll material is tensioned, control the cantilever shaft 210 to move upward along the gantry assembly 100 of the cantilever AGV by a second preset height; control the pulling mechanism 220 to pull the tensioned roll material along the axial direction of the cantilever shaft 210 to a predetermined position.

[0105] In this embodiment, by setting multiple second position sensors 2105 on the cantilever shaft 210, which cooperate with the first position sensor 2121, not only can precise feeding be achieved, but also feeding and unloading of rolls of more sizes can be achieved.

[0106] Specifically, such as Figure 2c As shown, in this embodiment, the mounting base plate 2102, corresponding to both sides of the cantilever shaft body 2101 perpendicular to the axial direction, is provided with mounting side plates 2104 facing the cantilever shaft body 2101. Some second position sensors 2105 can be mounted on one of the mounting side plates 2104, while others can be mounted on the cantilever shaft body 2101 on the same side as the mounting side plate 2104. This ensures that multiple second position sensors 2105 are located on the same side of the cantilever shaft 210, guaranteeing the consistency of the second trigger signals generated by each second position sensor 2105.

[0107] In this embodiment, each second position sensor 2105 corresponds to a roll of material of a certain size and can detect whether the distance from which the protruding end 212 of the cantilever shaft 210 extends into the roll of material of the corresponding size reaches a preset distance. For example, four second position sensors 2105 can be set for common axial dimensions of rolls: 185mm, 200mm, 240mm, and 500mm. Among them, for rolls of 185mm, 200mm, and 240mm size, the second position sensor 2105 can be set on the mounting side plate 2104, while for larger rolls of 500mm size, the second position sensor 2105 can be set on the cantilever shaft body 2101. The specific position is set according to the actual size of the roll and is not limited here.

[0108] In the embodiment, the first position sensor 2121 and each second position sensor 2105 are configured to send a trigger signal to the controller of the cantilever AGV when triggered, so that the controller determines that the first preset distance of the extension end 212 of the cantilever shaft 210 into the current roll material when both the first position sensor 2121 and the second position sensor 2105 corresponding to the current roll material size are triggered, i.e., the extension end 212 reaches the preset position of the required insertion depth of the roll material; controls the cantilever shaft 210 to move upward along the gantry assembly 100 by a first preset height, and controls the tensioning mechanism 230 to tension the current roll material; and controls the cantilever shaft 210 to move upward along the gantry assembly 100 by a second preset height, and controls the roll material pulling mechanism 220 to act to pull the tensioned roll material along the axis direction of the cantilever shaft 210 to a predetermined position.

[0109] As shown in Figures 3a to 4 , the tensioning mechanism 230 in the embodiment has a tensioning power assembly 232; the tensioning power assembly 232 is arranged above the roll material pulling mechanism 220 in the cantilever shaft 210 and is located on the side of the two tensioning members 231 away from the extension end 212 of the cantilever shaft 210; the tensioning power assembly 232 is in transmission connection with the two tensioning members 231 and is configured to provide power for the two tensioning members 231 to extend or retract the cantilever shaft 210 in the horizontal direction, so that the two tensioning members 231 can synchronously extend or retract the cantilever shaft 210.

[0110] In the embodiment, the two tensioning members 231 are powered by one tensioning power assembly 232, so that the two tensioning members 231 can synchronously extend or retract the cantilever shaft 210, which not only ensures the force balance of the roll material, but also has a simple and compact structure and is easier to realize.

[0111] As shown in Figures 3a to 4 , the roll material connecting member 222 is a connecting sliding table 2220 arranged on the roll material power assembly 221; the connecting sliding table 2220 can reciprocate along the axis direction relative to the mounting bottom plate 2102 under the driving of the roll material power assembly 221.

[0112] Referring to Figure 5a and Figure 5b , wherein, Figure 5a is Figure 3a a schematic diagram of the mechanism of the tensioning mechanism in the structure shown in Figure 5b is Figure 5a a schematic diagram of the exploded structure of the tensioning mechanism. As shown in Figure 5a and Figure 5b , the tensioning power assembly 232 in the embodiment includes a tensioning motor driving assembly 2321 and a power transmission assembly 2322; the power transmission assembly 2322 is arranged between the two tensioning members 231 and the roll material motor driving assembly 2212;

[0113] The power transmission assembly 2322 is in transmission connection with the two tensioning members 231, so as to synchronously extend or retract the cantilever shaft 210 along the diameter direction of the cantilever shaft under the driving of the tensioning motor driving assembly 2321.

[0114] In the embodiment, the two tensioning members 231 are in transmission connection with the tensioning motor driving assembly 2321 through the power transmission assembly 2322, so as to realize that the tensioning motor driving assembly 2321 drives the two tensioning members 231 to synchronously extend or retract the cantilever shaft 210.

[0115] Specifically, as shown in Figures 5a to 5b In the embodiment, the two tensioning members 231 of the tensioning mechanism 230 are arranged on the tensioning bottom plate 233 in the cantilever shaft 210, and the two tensioning members 231 are in sliding connection with the tensioning bottom plate 233 in the horizontal direction. The tensioning bottom plate 233 is fixedly connected with the material pulling connecting member 222. The tensioning bottom plate 233 is provided with a tensioning sliding rail 2331 extending in the horizontal direction; the bottom of each of the two tensioning members 231 is provided with a tensioning sliding block 2311; and the two tensioning members 231 are in relative sliding connection with the material pulling connecting member 222 based on the cooperation of the tensioning sliding blocks 2311 and the tensioning sliding rail 2331.

[0116] As shown in Figures 3a to 5b The tensioning motor driving assembly 2321 is fixed on the tensioning bottom plate 233 through a motor fixing frame 2323; and the tensioning motor driving assembly 2321 can include a tensioning reduction motor 23211. The power transmission assembly 2322 includes a horizontal transmission gear 2324 and two horizontal transmission racks 2325; the horizontal transmission gear 2324 is rotationally arranged on the motor fixing frame 2323; the output shaft of the tensioning motor driving assembly 2321, such as the motor shaft of the tensioning reduction motor 23211, can be fixedly connected with the horizontal transmission gear 2324 through the motor fixing frame 2323, so as to drive the horizontal transmission gear 2324 to rotate; the two horizontal transmission racks 2325 are respectively fixedly connected with the two tensioning members 231; and the two horizontal transmission racks 2325 are located at the upper and lower ends of the horizontal transmission gear 2324, so as to be synchronously engaged with the horizontal transmission gear 2324, so that the two tensioning members 231 are synchronously close to or away from each other in the horizontal direction.

[0117] As shown in Figure 5bAs shown, the tensioning slide rail 2331 can be arranged at the front side of the tensioning bottom plate 233, and the motor fixing frame 2323 is an L-shaped support including a horizontal plate and a vertical plate connected with each other, the horizontal plate is arranged at the rear side of the tensioning bottom plate 233 and used for fixing the motor fixing frame 2323 on the tensioning bottom plate 233. The vertical plate is provided with a shaft hole, and the motor shaft of the tensioning reduction motor 23211 passes through the vertical plate and is fixedly connected with the horizontal transmission gear 2324 to drive the horizontal transmission gear 2324 to rotate. The two tensioning members 231 are engaged with the two horizontal transmission racks 2325 at the upper and lower ends of the horizontal transmission gear 2324 through two different bending connecting members 2326. The two horizontal transmission racks 2325 extend along the horizontal direction, so that, after the two horizontal transmission racks 2325 are engaged with the horizontal transmission gear 2324, the two horizontal transmission racks 2325 can rotate with the horizontal transmission gear 2324 and simultaneously generate horizontal displacement in opposite directions, thereby driving the two tensioning members 231 to synchronously approach or move away from each other in the horizontal direction.

[0118] In the embodiment, the two tensioning members 231 are driven to synchronously approach or move away from each other in the horizontal direction through the simple cooperation of the gear and the rack, so that the stress of the two tensioning members 231 is balanced, and the structure is simple and compact.

[0119] In the embodiment, the tensioning member 231 can be a plate or a column. As shown in Figure 5b , the two tensioning members 231 can be horizontal plates, i.e., horizontal tensioning plates. Compared with the column, the horizontal tensioning plate does not need to occupy more space in the height direction, and has a certain width in the width direction, so that the horizontal tensioning plate can generate greater horizontal tensioning force when tensioning the roll material.

[0120] In addition, the end of the tensioning member 231 outside the cantilever shaft 210 is provided with a tensioning pad 2310 made of soft material. Since the soft material has good elasticity and flexibility, the tensioning member 231 has greater friction when extending out of the cantilever shaft 210 to tension the roll material, thereby preventing tensioning failure. In the embodiment, a tensioning limiting block 2312 can also be arranged at the inner side of the end of the tensioning member 231 to prevent the two tensioning members 231 from colliding when approaching each other. In the embodiment, the soft material mainly refers to a material with a compression rate of more than 50% and a Shore hardness of about 30°. For example, the soft material includes rubber, silicone, TPE (thermoplastic elastomer), TPU (thermoplastic polyurethane), soft PVC and other high molecular materials.

[0121] As shown in Figure 3c and Figure 5bAs shown in the drawings, the tensioning deceleration motor 23211 of the tensioning mechanism 230 in the embodiment of the present application can be installed in the motor installation frame 23212; the cable connected with the tensioning deceleration motor 23211 can be accommodated in the drag chain 23214; the drag chain 23214 is connected with the motor installation frame 23212 through the drag chain installation plate 23213; the drag chain installation plate 23213 can be supported and fixed by the tensioning support frame 22112 arranged on the installation bottom plate 2102 of the cantilever shaft 210, so that the motor installation frame 23212 and the tensioning deceleration motor 23211 are both located above the material pulling mechanism 220.

[0122] As shown in the drawings, Figures 3a to 4 In the embodiment, the material pulling power assembly 221 of the material pulling mechanism 220 can include a lead screw linear module 2211 and a material pulling motor driving assembly 2212; the lead screw linear module 2211 and the material pulling driving assembly 2212 are sequentially arranged on the installation bottom plate 2102 along the axial direction; the lead screw linear module 2211 has a material pulling lead screw 22110 arranged along the axial direction; a threaded hole is arranged in the inside of the connecting sliding table 2220, which is sleeved on the material pulling lead screw 22110, so that the connecting sliding table 2220 can cooperate with the material pulling lead screw 22110 to move reciprocally along the material pulling lead screw 22110; the output shaft of the material pulling motor driving assembly 2212 is connected with the material pulling lead screw 22110 to drive the material pulling lead screw 22110 to rotate, thereby realizing the reciprocating movement of the connecting sliding table 2220 along the material pulling lead screw 22110.

[0123] In the embodiment, the tensioning mechanism 230 adopting horizontal gear and rack cooperates with the lead screw linear module 2211 to realize the function of pulling the material along the axial direction after tensioning the single material roll.

[0124] In the embodiment, as shown in the drawings, Figure 3c and Figure 4 The lead screw linear module 2211 also has a linear support seat 22111 and a tensioning support frame 22112; the linear support seat 22111 and the tensioning support frame 22112 are sequentially fixed on the installation bottom plate 2102 along the axial direction; the linear support seat 22111 is used to support the connecting sliding table 2220 and the material pulling lead screw 22110; the tensioning support frame 22112 is used to support the part of the tensioning mechanism 230 away from the tensioning member 231 along the axial direction, which can be the aforementioned drag chain installation plate 23213.

[0125] In the embodiment, the lead screw linear module 2211 and the tensioning mechanism 230 can be guaranteed stable during the material pulling process by supporting the material pulling lead screw 22110 and the connecting sliding table 2220 through the linear support seat 22111 and supporting the drag chain installation plate 23213 through the tensioning support frame 22112.

[0126] As shown in the drawings, Figure 3cAs shown, the linear support base 22111 has two end plates, and the pull screw 22110 is disposed between the two end plates a1 / a2. One end plate a1 is close to the extended end 212 of the cantilever shaft 210, and the other end plate a2 is fixedly connected to the tension support frame 22112. The tension support frame 22112 can be a hollow rectangular frame. In addition, a guide groove a3 can be provided between the two end plates of the linear support base 22111 to guide the movement of the connecting slide 2220 on the pull screw 22110.

[0127] like Figure 3c As shown, in this embodiment, the material pulling motor drive assembly 2212 may include: a material pulling motor 22121, a material pulling reducer 22122, and a material pulling coupling 22123, which are sequentially arranged on the mounting base plate 2102 along the axial direction; wherein, the motor shaft of the material pulling motor 22121 is connected to the material pulling reducer 22122, and the output shaft a4 of the material pulling reducer 22122 serves as the output shaft of the material pulling motor drive assembly 2212, and is shaft-connected to the material pulling screw 22110 through the material pulling coupling 22123 to drive the material pulling screw 22110 to rotate. Specifically, the material pulling coupling 22123 is installed inside the tensioning support frame 22112, and one end of the material pulling screw 22110 away from the cantilever shaft 210 passes through the other end plate a2 of the linear support seat 22111 and is connected to the material pulling coupling 22123.

[0128] In this embodiment, by sequentially arranging the linear support base 22111, the tensioning support frame 22112, and the material pulling motor drive assembly 2212 along the axial direction on the mounting base plate 2102, it is ensured that the material pulling mechanism 220 can smoothly drive the tensioning mechanism 230 to pull the coiled material, and the structure is simple and compact.

[0129] In some embodiments, such as Figures 2a to 3b As shown, the cantilever shaft assembly 200 also includes a pushing mechanism 240 and a blocking mechanism 250; wherein, the pushing mechanism 240 can be disposed on the cantilever shaft body 2101, and the pushing mechanism 240 can move along the axial direction of the cantilever shaft 210 to push the rolled material during the unloading process and move it to the target position.

[0130] Specifically, such as Figures 1a to 2bAs shown, the pushing mechanism 240 includes a pushing plate 241, a pushing drive assembly 242, and a pushing frame 243. Driven by the pushing drive assembly 242, the pushing frame 243, through a pushing gear 2423 located within the pushing frame 243 and a pushing rack 2424 located on the side wall 213 of the cantilever shaft, drives the pushing plate 241 mounted on the pushing frame 243 to move along the axial direction of the cantilever shaft 210, thereby pushing the wound material on the cantilever shaft 210. The pushing mechanism 240 may further include a pushing cover 244, which covers the pushing drive assembly 242 to protect it.

[0131] like Figures 2a to 2b As shown, the pusher drive assembly 242 drives the pusher gear 2423 to rotate via the pusher motor 2421 and the pusher reducer 2422, so as to cooperate with the pusher rack 2424 set on the side wall 213 of the cantilever shaft to push the pusher frame 243. The pusher motor 2421 and the pusher reducer 2422 are mounted on the top of the pusher frame 243; the pusher gear 2423 is mounted on the inner side of the pusher frame 243 at a position corresponding to the pusher rack 2424 via the gear support frame 2431.

[0132] like Figures 1a to 2b As shown, both side walls 213 of the cantilever shaft 210 are provided with pusher guide rails 2425 arranged along the axial direction. The pusher slider arranged inside the pusher frame 243 cooperates with the pusher guide rails 2425 to realize the sliding connection between the pusher mechanism 240 and the cantilever shaft 210.

[0133] In this embodiment, the pushing mechanism adopts an external single-stage gear and rack structure, which is simple in structure, easy to replace and maintain, and can achieve a large pushing force.

[0134] like Figures 1a to 2b As shown, a material-stopping mechanism 250 is disposed at the extended end 212 of the cantilever shaft 210. The material-stopping mechanism 250 has a material-stopping element 251, which can extend out of the extended end 212 to block the wound material on the cantilever shaft 210, or retract to the extended end 212 to not block the wound material. Specifically, the material-stopping mechanism 250 can be disposed between the cantilever end cap 215 and the cantilever shaft body 2101. After the coiled material is completely pulled onto the cantilever shaft 210 and located inside the material blocking mechanism 250, the material blocking member 251 of the material blocking mechanism 250 can be extended out of the protruding end 212 to block the coiled material on the cantilever shaft 210. Then, the tensioning member 231 of the tensioning mechanism 230 can be retracted into the cantilever shaft 210, and the material pushing mechanism 240 pushes the coiled material toward the material blocking mechanism 250 so that the material blocking mechanism 250 and the material pushing mechanism 240 clamp the coiled material on the cantilever shaft 210.

[0135] In addition, the cantilever end cover 215 in the embodiment is further provided with a distance measuring sensor 2151 and a code reading camera 2152. A roller bearing 2153 is arranged on the top of the connection between the cantilever shaft body 2101 and the cantilever end cover 215. The distance measuring sensor 2151 is used to detect the distance between the end of the cantilever shaft 210 and the buffer rack storing the roll material or the working machine table. The code reading camera 2152 is used to read the identification code on the buffer rack or the working machine table to confirm the roll material that needs to be moved and carried. The roller bearing 2153 arranged on the cantilever shaft body 2101 can smoothly extend the cantilever shaft 210 into the roll material.

[0136] In the embodiment, the code reading camera 2152 is arranged at the center of the end surface of the cantilever shaft 210, and the working machine table / buffer rack is provided with an identification code that can be recognized by the code reading camera. The code reading camera determines the deviation between the cantilever shaft and the working machine table / buffer rack shaft by reading the position of the identification code, and eliminates the deviation by adjusting the lifting mechanism of the gantry assembly 100 and the omnidirectional mobile chassis.

[0137] Next, the cantilever AGV provided by the embodiment of the application will be described in detail.

[0138] Referring to Figure 6 and Figure 7 , wherein, Figure 6 is a schematic diagram of the overall structure of the cantilever AGV provided by the embodiment of the application; Figure 7 is Figure 6 a schematic diagram of the structure of the gantry assembly in the embodiment.

[0139] The cantilever AGV provided by the embodiment of the application comprises a mobile chassis 400, a gantry assembly 100 and any one of the cantilever shaft assemblies 200 described above; the cantilever shaft assembly 200 is slidably connected to the gantry assembly 100 in the height direction; the gantry assembly 100 is installed on the mobile chassis 400; and the mobile chassis 400 can drive the gantry assembly 100 and the cantilever shaft assembly 200 to move to carry the roll material.

[0140] As shown in Figure 6 , the cantilever shaft 210 of the cantilever shaft assembly 200 can be slidably connected to the gantry assembly 100 in the height direction based on the mounting stand 300 of the cantilever shaft assembly 200. The cantilever AGV can realize the functions of feeding and discharging the roll material based on the cantilever shaft assembly 200, and can move based on the mobile chassis 400 to realize the roll material carrying.

[0141] As shown in Figure 7As shown, the gantry assembly 100 can include a gantry 110 and a lifting mechanism 120; the first surface of the mounting stand 300 is fixedly connected with the lifting mechanism 120 and slidably connected with the gantry 110, and the second surface of the mounting stand 300 is fixedly connected with the cantilever shaft 210 of the cantilever shaft assembly 200. The gantry 110 includes two first gantry uprights 111 and one second gantry upright 112. The lifting mechanism 120 can drive the mounting stand 300 to move up and down along the height direction of the gantry 110, so that the mounting stand 300 drives the cantilever shaft assembly 200 to move up and down along the height direction of the gantry 110.

[0142] Specifically, the lifting mechanism 120 includes a lifting motor 121, a lifting reducer 122, a lifting coupling 123, a lead screw assembly 124, a lead screw nut 125, a lifting sliding block 127 on a lifting sliding rail 126 and a first gantry upright 111, and a lifting sliding block 127 on a lifting sliding rail 126 and a first gantry upright 111, which are arranged between the two first gantry uprights 111. The mounting stand 300 is slidably lifted along the gantry assembly 100.

[0143] Specifically, as shown Figures 2a to 2b The mounting stand 300 is fixedly connected with the end of the cantilever shaft 210 away from the cantilever end cover 215. The mounting stand 300 is provided with a lifting pin shaft 301; the lifting pin shaft 301 is fixedly connected with the connecting hole provided on the lifting sliding block 127, so that the mounting stand 300 drives the cantilever shaft 210 to move up and down along the height direction of the gantry assembly 100.

[0144] The cantilever AGV provided by the embodiment of the application can be applied to single-roll material carrying and pulling scenes based on the aforementioned gantry assembly 100, cantilever shaft assembly 200 and mobile chassis 400, and can realize automatic transfer and carrying of unpowered buffer racks and devices with insufficient roll material pushing stroke.

[0145] Specifically, the cantilever AGV provided by the embodiment of the application can realize the action of pushing the roll material from the cantilever shaft of the cantilever AGV to the working machine table / buffer rack by assembling gears, racks and guide rails outside the cantilever shaft body.

[0146] When the cantilever AGV takes the outermost coil from the buffer rack, the material blocking mechanism at the end of the cantilever shaft is lowered, the cantilever shaft is lifted to the target height to read the buffer table identification code, and after adjusting the cantilever shaft height and position angle, it is inserted into the middle hole of the outermost coil of the buffer rack, and the insertion depth is 4 / 5 of the axial length of the coil. Then the cantilever AGV lifts the cantilever shaft height to the coil just above the buffer rack. Then the horizontal bidirectional tensioning mechanism extends two tensioning plates to the circumferential fixation of the coil. Then the cantilever shaft is lifted to completely separate the coil from the buffer rack; at this time, the tensioning mechanism remains in the tensioning state to fix the circumferential coil, and the material pulling mechanism works to pull the tensioning mechanism along the axial direction, and uses the friction force of the tensioned coil to pull the coil to the inside of the cantilever shaft; until the coil is completely pulled back into the cantilever shaft, and the material blocking mechanism can work to rise.

[0147] Because the cantilever AGV has the above-mentioned function of carrying and tensioning and pulling a single coil, the cantilever AGV can realize the business function of carrying multiple coils of the outermost material of the buffer rack. In particular, the cantilever AGV and the cantilever shaft assembly thereof, because the extension direction of the tensioning mechanism is in the horizontal radial direction, the tensioning mechanism will not generate additional vertical pressure on the material, so the size of the tensioning force will not affect the resistance of the material pulling, and the resistance is only related to the size of the load. Therefore, the combination of such a tensioning mechanism and a material pulling mechanism is suitable for various load occasions, and has good scene applicability. In summary, the cantilever AGV has a good application prospect in multiple load scenarios, and is suitable for scenarios of unpowered buffer racks or insufficient material pushing distance of the docking equipment.

[0148] Finally, the coil loading method of the cantilever AGV provided by the embodiment of the present application is described in detail. The method is realized based on the aforementioned cantilever AGV.

[0149] Referring to Figure 8 , Figure 8 The flowchart of the coil loading method based on the cantilever AGV provided by the embodiment of the present application is shown in the figure; the flowchart includes the following steps:

[0150] Step S101, the cantilever AGV moves to the position corresponding to the buffer rack where at least one coil is stored, so that the cantilever shaft extends into the first preset distance inside the outermost coil on the buffer rack;

[0151] In this step, after receiving the loading instruction sent by the control platform, the cantilever AGV first moves near the buffer rack. The loading instruction can include coil information of the coil to be carried, such as position information of the target buffer rack, height information and identification information of the coil center on the target buffer rack, etc.

[0152] Referring to Figure 9 , Figure 9 The schematic diagram of the cantilever AGV moving to the buffer rack provided by the embodiment of the present application is shown in the figure; as Figure 9As shown, the buffer rack has 4 workstations, and 4 workstations are continuously placed with 4 coils.

[0153] Then, according to the height of the coil center, the cantilever shaft is controlled to move upward along the portal assembly to correspond to the coil center; then, the ranging sensor and the code reading camera are used to determine the target coil on the buffer rack that needs to be moved and carried.

[0154] Then, the cantilever AGV moves towards the target buffer rack, so that the cantilever shaft penetrates into the first preset distance inside the middle hole of the outermost coil on the buffer rack. The first preset distance is set according to the position of the target coil on the buffer rack. Specifically, it can be obtained by the following formula:

[0155] The first preset distance L1 = the coil length * N + the distance between the outer coil and the edge of the buffer rack L0 - the safety distance. The outer coil here refers to the coil on the outermost workstation. After the coil on the outermost workstation is taken away, the coil on the second workstation is the outermost coil.

[0156] In the above formula, N is the position of the target coil on the buffer rack. The safety distance can be set according to different sizes of coils, for example: for a 185mm coil, it can be 25mm.

[0157] As described above, the end of the cantilever shaft is provided with a first position sensor and a plurality of second position sensors corresponding to different sizes of coils.

[0158] In this step, when the first position sensor and the second position sensor corresponding to the current coil size are triggered, it is determined that the cantilever shaft penetrates into the first preset distance of the outermost coil on the buffer rack. At this time, the state of the cantilever shaft is shown in Figure 10a , Figure 10a The simplified schematic diagram of the cantilever shaft of the cantilever AGV provided by the embodiment of the present application penetrating into the coil by the first preset distance; as shown in Figure 10a The end of the cantilever shaft and the tensioning mechanism penetrate into the inside of the middle hole of the coil. The penetration depth can be 4 / 5 of the axial length of the coil.

[0159] Since the cantilever shaft only penetrates 4 / 5 of the axial length of the coil and does not penetrate through the cantilever shaft, when the coil is moved and carried, it will not interfere with the next coil closely attached to the coil, ensuring that the next coil is not affected by the movement and carrying of the coil.

[0160] Step S102, control the cantilever shaft to move upward along the portal assembly by a first preset height, so that the coil weight is transferred to the cantilever shaft, and control the tensioning mechanism to tension the current coil;

[0161] In this step, the cantilever AGV lifts the cantilever shaft to a height at which the coil is just above the height of the buffer rack. Then, the horizontal bidirectional tensioning mechanism extends the two tensioning plates to fix the coil in the circumferential direction.

[0162] In step S103, the cantilever shaft is controlled to move upward along the portal assembly by a second preset height, and the current coil is pulled as a whole toward the portal assembly by a second preset distance, so that the current coil moves onto the cantilever shaft.

[0163] In this step, the cantilever shaft is lifted by a second preset height to completely separate the coil from the buffer rack. In the case where the tensioning mechanism fixes the coil in the circumferential direction while maintaining the tensioning state, the current coil is pulled as a whole toward the portal assembly by a second preset distance until the coil is completely pulled back into the cantilever shaft, and the blocking member of the blocking mechanism can be raised and extended out of the cantilever shaft to prevent the coil from falling.

[0164] Referring to Figure 10b , Figure 10b A simplified schematic diagram of the coil pulling mechanism of the cantilever shaft of the cantilever AGV provided by the embodiment of the present application is shown in FIG. 6. As shown in FIG. 6, after the coil pulling mechanism pulls the coil by a second preset distance, the end of the cantilever shaft completely extends out of the middle hole of the coil, and the coil as a whole moves onto the cantilever shaft. Figure 10b

[0165] During the process of pulling the coil back into the cantilever shaft, if the first position sensor is not triggered and the second position sensor corresponding to the size of the current coil is triggered, it is determined that the current coil has been pulled as a whole toward the portal assembly by a second preset distance. The blocking member of the blocking mechanism can be controlled to extend out of the extended end of the cantilever shaft to block the coil on the cantilever shaft, and then the tensioning members of the tensioning mechanism can be controlled to retract into the cantilever shaft.

[0166] Then, the pushing mechanism is controlled to push the current coil, so that the pushing mechanism and the blocking mechanism clamp the current coil.

[0167] Finally, the cantilever AGV can carry the current coil to the destination.

[0168] As described above, the cantilever AGV provided by the embodiment of the present application can realize the business function of carrying the coil closest to the outside of the material on the buffer rack. Specifically, after one coil on the buffer rack is carried by the cantilever AGV to the destination, if other coils adjacent to the carried coil on the buffer rack need to be carried, the cantilever AGV is moved again to the position corresponding to the buffer rack, the cantilever shaft is inserted into the first preset distance inside the outermost coil on the buffer rack, and the coil adjacent to the carried coil is carried.

[0169] ​It is to be noted that, as used in this document, the term "indicates a relationship of, such as first and second, is merely used to distinguish one entity or action from another entity or action, and does not necessarily require or imply that there is any such actual relationship or order between the entities or actions. Also, the terms "comprises", "comprising", or any other variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but can also include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element preceded by "comprises a" does not, without more limitations, preclude the existence of additional identical elements in the process, method, article, or apparatus that comprises the recited element.

[0170] Each of the embodiments in the specification is described in a relevant manner, and the same or similar parts between the embodiments can be referred to each other. Each of the embodiments focuses on the difference from other embodiments.

[0171] The above only describes the preferred embodiments of the present application, and is not intended to limit the protection scope of the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A cantilever shaft assembly characterized by, The application is applied to a cantilever AGV, and the cantilever shaft assembly (200) comprises: a cantilever shaft (210), a material pulling mechanism (220) and a tensioning mechanism (230); the material pulling mechanism (220) and the tensioning mechanism (230) are installed on the cantilever shaft (210); the tensioning mechanism (230) has at least one tensioning piece (231) configured to make the tensioning piece (231) move linearly away from the central axis of the cantilever shaft (210) in a direction perpendicular to the central axis of the cantilever shaft (210) in a horizontal plane to tension the inner hole side wall of the material roll when the extension end (212) of the cantilever shaft (210) is located inside the material roll; the material pulling mechanism (220) is capable of reciprocating along the axis direction of the cantilever shaft (210) to pull the material roll as a whole onto the cantilever shaft (210) after the tensioning mechanism (230) tensions the inner hole side wall of the material roll.

2. The cantilever shaft assembly according to claim 1, wherein the number of the tensioning pieces (231) of the tensioning mechanism (230) is two; the two tensioning pieces (231) are symmetrically arranged with respect to the axis of the cantilever shaft (210) and are capable of moving linearly away from the central axis of the cantilever shaft (210) in a direction perpendicular to the central axis of the cantilever shaft (210) to tension the inner hole side wall of the material roll in the diameter direction of the material roll.

3. The cantilever shaft assembly according to claim 2, wherein the tensioning mechanism (230) has a tensioning power assembly (232) arranged in the cantilever shaft (210); the tensioning power assembly (232) is in transmission connection with the two tensioning pieces (231) and is used to provide power for the two tensioning pieces (231) to extend or retract in the horizontal direction of the cantilever shaft (210) so that the two tensioning pieces (231) can synchronously extend or retract in the horizontal direction of the cantilever shaft (210).

4. The cantilever shaft assembly according to claim 3, wherein the tensioning power assembly (232) comprises a tensioning motor driving assembly (2321) and a power transmission assembly (2322); the power transmission assembly (2322) is in transmission connection with the two tensioning pieces (231) to synchronously extend or retract the two tensioning pieces (231) in the horizontal direction of the cantilever shaft (210) under the driving of the tensioning motor driving assembly (2321).

5. The cantilever shaft assembly according to claim 4, wherein the two tensioning pieces (231) of the tensioning mechanism (230) are arranged on a tensioning bottom plate (233) and are in sliding connection with the tensioning bottom plate (233) in the horizontal direction; and the tensioning bottom plate (233) is located in the cantilever shaft (210); the tensioning motor driving assembly (2321) is fixed on the tensioning bottom plate (233) through a motor fixing frame (2323); and the power transmission assembly (2322) comprises a horizontal transmission gear (2324) and two transmission racks (2325). The horizontal transmission gear (2324) is rotationally arranged on the motor fixing frame (2323); the output shaft of the tensioning motor driving assembly (2321) is fixedly connected with the horizontal transmission gear (2324) through the motor fixing frame (2323) to drive the horizontal transmission gear (2324) to rotate; The two transmission racks (2325) are fixedly connected with the two tensioning members (231) respectively; the two transmission racks (2325) are located at the upper and lower ends of the horizontal transmission gear (2324) to be engaged with the horizontal transmission gear (2324) synchronously so that the two tensioning members (231) synchronously approach or move away in the horizontal direction.

6. The cantilever shaft assembly according to claim 5, wherein, A tensioning sliding rail (2331) extending in the horizontal direction is arranged on the tensioning bottom plate (233); The bottom of each of the two tensioning members (231) is provided with a tensioning sliding block (2311); The two tensioning members (231) realize relative sliding with the material pulling connecting member (222) based on cooperation of the tensioning sliding blocks (2311) with the tensioning sliding rail (2331); and / or, The tensioning member (231) is a plate or a column; A soft material tensioning pad (2310) is arranged at the end of the tensioning member (231) facing the outside of the cantilever shaft (210).

7. The cantilever shaft assembly according to claim 1, wherein, The tensioning mechanism (230) is mounted on the material pulling mechanism (220); The material pulling mechanism (220) comprises a material pulling power assembly (221) and a material pulling connecting member (222); the material pulling power assembly (221) and the material pulling connecting member (222) are arranged in the cantilever shaft (210); The material pulling connecting member (222) is arranged on the material pulling power assembly (221); the tensioning mechanism (230) is mounted on the material pulling connecting member (222); The material pulling power assembly (221) is used to provide power for the material pulling connecting member (222) to reciprocate along the axis direction, so that the tensioning mechanism (230) can reciprocate along the axis direction with the material pulling connecting member (222).

8. The cantilever shaft assembly according to claim 7, wherein, The material pulling power assembly (221) is mounted on a mounting bottom plate (2102) in the cantilever shaft (210); The material pulling connecting member (222) is a connecting sliding table (2220) arranged on the material pulling power assembly (221); The material pulling power assembly (221) comprises a lead screw linear module (2211) and a material pulling motor driving assembly (2212); The lead screw linear module (2211) and the material pulling driving assembly (2212) are sequentially arranged on the mounting bottom plate (2102) along the axis direction; The lead screw linear module (2211) has a material pulling lead screw (22110) arranged along the axis direction. The connecting sliding table (2220) is internally provided with a thread, which is sleeved on the pulling wire rod (22110), so that the connecting sliding table (2220) can cooperate with the pulling wire rod (22110) to move reciprocally along the pulling wire rod (22110); The output shaft of the pulling motor driving assembly (2212) is connected with the pulling wire rod (22110) to drive the pulling wire rod (22110) to rotate, so that the connecting sliding table (2220) moves reciprocally along the pulling wire rod (22110).

9. The cantilever shaft assembly according to claim 8, wherein, The lead screw linear module (2211) further has a linear support seat (22111) and a tensioning support frame (22112); The linear support seat (22111) and the tensioning support frame (22112) are sequentially fixed on the mounting bottom plate (2102) along the axial direction; The linear support seat (22111) is used for supporting the connecting sliding table (2220) and the pulling wire rod (22110), and the tensioning support frame (22112) is used for supporting the part of the tensioning mechanism (230) away from the tensioning part (231) along the axial direction.

10. The cantilever shaft assembly of claim 1, wherein, The cantilever shaft assembly further comprises: A first position sensor (2121) is arranged at the end of the extension end (212) of the cantilever shaft (210) to detect whether the extension end (212) enters the inside of the roll material; A plurality of second position sensors (2105) are arranged on the cantilever shaft (210) along the axial direction of the cantilever shaft (210), each second position sensor (2105) is predefined to correspond to a specific roll material size and is arranged at a preset position of the required insertion depth of the roll material of the corresponding size, and is used to detect whether the depth of the cantilever shaft (210) inserted into the roll material of the specific size reaches the preset depth; The controller is configured to: receive trigger signals from the first position sensor (2121) and the plurality of second position sensors (2105); obtain the size information of the current roll material to be carried; determine the target second position sensor (2105) corresponding to the size of the current roll material to be carried; when the first trigger signal of the first position sensor (2121) and the second trigger signal of the target second position sensor (2105) are detected: control the cantilever shaft (210) to move upward by a first preset height along the mast assembly (100) of the cantilever AGV; control the tensioning mechanism (230) to tension the current roll material; after confirming that the roll material is tensioned, control the cantilever shaft (210) to move upward by a second preset height along the mast assembly (100) of the cantilever AGV; control the pulling mechanism (220) to act to pull the tensioned roll material to a predetermined position along the axial direction of the cantilever shaft (210).

11. The cantilever shaft assembly according to claim 1, wherein, The cantilever shaft assembly (200) further comprises a pushing mechanism (240) and a blocking mechanism (250). The pushing mechanism (240) is movable along the axis of the cantilever shaft (210) for pushing the roll material; The material blocking mechanism (250) is installed at the end of the extended end (212) of the cantilever shaft (210) and has a blocking piece (251) capable of extending out of the extended end (212) to block the roll material on the cantilever shaft (210) or retracting into the extended end (212) to not block the roll material; in the case that the roll material is completely located on the cantilever shaft (210), the roll material is located on the inner side of the material blocking mechanism (250); and / or The cantilever shaft assembly (200) further comprises a mounting vertical plate (300); The cantilever shaft (210) is mounted on the mounting vertical plate (300) and is in sliding connection with the gantry assembly (100) of the cantilever AGV based on the mounting vertical plate (300).

12. The cantilever shaft assembly according to any one of claims 1-11, wherein, The cantilever shaft (210) has a receiving cavity (211) formed along the axis direction thereof; The pulling mechanism (220) and the tensioning mechanism (230) are installed in the receiving cavity (211); At least one side wall (213) of the cantilever shaft (210) in the horizontal direction is provided with a tensioning avoiding groove (214); The at least one tensioning piece (231) is capable of extending out of the cantilever shaft (210) through the tensioning avoiding groove (214) to tension the roll material.

13. A jib AGV, characterized by, The cantilever AGV comprises a mobile chassis (400), a gantry assembly (100) and the cantilever shaft assembly (200) according to any one of claims 1-12; The cantilever shaft assembly (200) is in sliding connection with the gantry assembly (100) in the height direction; The gantry assembly (100) is mounted on the mobile chassis (400); The mobile chassis (400) is capable of moving the gantry assembly (100) and the cantilever shaft assembly (200) to carry the roll material.

14. A method for feeding a roll material based on a cantilever AGV, characterized by, The method is applied to the cantilever AGV according to claim 13 and comprises the following steps: The cantilever AGV moves to the position corresponding to the buffer rack storing at least one roll material in the empty state, so that the cantilever shaft extends into the first preset distance inside the outermost roll material on the buffer rack; The cantilever shaft is controlled to move upward along the gantry assembly by the first preset height, so that the weight of the roll material is transferred to the cantilever shaft, and the tensioning mechanism is controlled to tension the current roll material; The cantilever shaft is controlled to move upward along the gantry assembly by the second preset height, and the current roll material is pulled by the second preset distance towards the gantry assembly, so that the current roll material is moved onto the cantilever shaft.

15. The roll material feeding method based on the cantilever AGV according to claim 14, wherein, The cantilever shaft is provided with a first position sensor and a plurality of second position sensors corresponding to different sizes of roll materials; In the case that the first position sensor and the second position sensor corresponding to the size of the current roll material are both triggered, it is determined that the cantilever shaft extends into the first preset distance inside the outermost roll material on the buffer rack. In a case that the first position sensor is not triggered and a second position sensor corresponding to a current coil size is triggered, it is determined that the current coil is pulled by a second preset distance towards the gantry assembly as a whole.

16. The method according to claim 14, wherein the cantilevered AGV is characterized in that, the cantilevered shaft assembly further comprises a pushing mechanism and a blocking mechanism; after the current coil as a whole is moved onto the cantilevered shaft, the method further comprises: controlling the blocking member of the blocking mechanism to extend out of the extended end of the cantilevered shaft to block the coil on the cantilevered shaft, and controlling each of the tensioning members of the tensioning mechanism to retract into the cantilevered shaft; controlling the pushing mechanism to push the current coil so that the pushing mechanism and the blocking mechanism clamp the current coil; the cantilevered AGV carries the current coil to a destination.

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