Cantilever type automatic guide transport vehicle and material coil taking and placing method

Abstract

The embodiment of the invention provides a cantilever type automatic guiding transport vehicle and a material coil taking and placing method, the cantilever type automatic guiding transport vehicle comprises a movable chassis, a vehicle body and two cantilever shaft assemblies, the vehicle body is connected with the movable chassis, and the movable chassis can drive the vehicle body to move; the two cantilever shaft assemblies are connected with the vehicle body, each cantilever shaft assembly comprises a cantilever shaft, at least one of the cantilever shaft assemblies further comprises a telescopic assembly, and the cantilever shaft can stretch out and draw back in a reciprocating mode relative to the vehicle body in the axis direction of the cantilever shaft under the action of the telescopic assembly so that the length of the cantilever shaft assembly can be adjusted when material coil taking and placing operation is executed.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of warehouse systems, in particular to a cantilever type automatic guided vehicle and a coil taking and placing method. BACKGROUND

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

[0003] At present, in the lithium battery industry, a cantilever type automatic guided vehicle is usually used to carry coils between a taking point and a placing point. The taking point is usually a buffer rack, which is a device for storing coils and is mainly used in industrial production, especially on an automatic production line, to temporarily store and buffer coils to ensure the continuous operation of the production line. The placing point is usually a machine table, which is a mechanical device for processing and processing coiled materials and is mainly used in the automatic production process to realize the automatic production of metal coils. The conventional cantilever type automatic guided vehicle usually adopts a single cantilever structure and can only carry a full coil or recover an empty coil on one side at a time, and needs to repeatedly go back and forth between the machine table and the buffer rack. In a typical operation process, the single cantilever type automatic guided vehicle needs to take down an empty coil from the machine table and transport it to the buffer rack for storage, and then take out a full coil from the buffer rack and transport it back to the machine table. In the above operation process, the single cantilever type automatic guided vehicle needs to take and place coils repeatedly, and the machine table cannot work during the process of taking and placing coils, resulting in a long waiting time and low efficiency of the operation process, which cannot meet the coil carrying demand under high efficiency production rhythm.

[0004] Although the existing double cantilever type automatic guided vehicle has the ability to carry two coils at the same time (for example, one full coil and one empty coil), in theory, it can reduce the number of round trips, but in actual operation, especially when the coils are replaced simultaneously at the machine table (i.e. after taking down an empty coil, a full coil is installed), its flexibility is seriously insufficient. This is mainly because the cantilever shaft assembly is usually fixed in length and cannot be flexibly adjusted. If the double cantilever type automatic guided vehicle needs to be precisely parked at a preset position, if the navigation error causes deviation, the fixed cantilever shaft cannot actively compensate for the deviation, and the whole vehicle body needs to be repeatedly adjusted by the moving chassis of the double cantilever type automatic guided vehicle, which reduces the efficiency. SUMMARY

[0005] The purpose of the embodiments of the present application is to provide a cantilever type automatic guided vehicle and a coil taking and placing method to solve the problem that the fixed cantilever shaft cannot actively compensate for the deviation and needs to be repeatedly adjusted, resulting in low efficiency during the process of taking and placing coils. The specific technical solutions are as follows:

[0006] This application provides a cantilever automated guided vehicle (AGV) comprising: a mobile chassis, a vehicle body, and two cantilever axle assemblies. The vehicle body is connected to the mobile chassis, and the mobile chassis is capable of moving the vehicle body. The two cantilever axle assemblies are connected to the vehicle body, and each cantilever axle assembly includes a cantilever axle. At least one of the cantilever axle assemblies further includes a telescopic component. Under the action of the telescopic component, the cantilever axle can reciprocate and extend relative to the vehicle body along the axial direction of the cantilever axle, so as to adjust the length of the cantilever axle assembly when performing material roll loading and unloading operations.

[0007] In some embodiments, the two cantilever axle assemblies are vertically spaced on the same or different sides of the vehicle body and are slidably connected to the vehicle body in the vertical direction.

[0008] In some embodiments, one of the two cantilever axle assemblies is a main cantilever axle assembly and the other is a secondary cantilever axle assembly; the main cantilever axle assembly has the telescopic component; and / or, the secondary cantilever axle assembly has the telescopic component.

[0009] In some embodiments, the telescopic assembly includes a fixing member, a multi-stage telescopic member, and a telescopic drive mechanism. The fixing member is slidably connected to the vehicle body in a vertical direction, the multi-stage telescopic member is connected to the cantilever shaft, the multi-stage telescopic member is slidably connected to the fixing member, and the telescopic drive mechanism is drivenly connected to the multi-stage telescopic member.

[0010] In some embodiments, the multi-stage telescopic member includes a primary telescopic member and a secondary telescopic member; the telescopic drive mechanism includes: a translation drive device, a first transmission rack, a second transmission rack, and a transmission gear; the first transmission rack is fixedly connected to the fixed member, and the second transmission rack is fixedly connected to the secondary telescopic member; the transmission gear meshes with the first transmission rack and the second transmission rack respectively, and the transmission gear is disposed on the primary telescopic member; the translation drive device includes a translation output member, the translation output member is fixedly connected to the primary telescopic member, and the translation output member can drive the primary telescopic member to reciprocate and extend, and through the meshing motion of the transmission gear with the first transmission rack and the second transmission rack, drive the secondary telescopic member to move relative to the primary telescopic member in the direction of extension and retraction of the primary telescopic member.

[0011] In some embodiments, the translation drive device includes: a telescopic drive motor, a telescopic drive screw, and a telescopic drive nut; the telescopic drive motor is mounted on the fixing member, one end of the telescopic drive screw is connected to the output shaft of the telescopic drive motor, the telescopic drive nut is sleeved on the telescopic drive screw, and the translation output member is connected to the telescopic drive nut.

[0012] In some embodiments, the cantilever shaft assembly further includes a pushing mechanism, which includes a pushing component, a pushing sliding device, and a pushing driving device; the pushing sliding device is connected to the pushing component and the cantilever shaft respectively, and the pushing component is slidable relative to the cantilever shaft; the pushing driving device is used to drive the pushing component to reciprocate along the axial direction of the cantilever shaft.

[0013] In some embodiments, the cantilever shaft assembly further includes a tensioning mechanism, which includes a tensioning mounting base, a tensioning drive assembly, and a tensioning movable member; the cantilever shaft has a hollow inner cavity, the tensioning mounting base is fixedly installed in the inner cavity, and the tensioning movable member is slidably connected to the tensioning mounting base in a direction perpendicular to the axis of the cantilever shaft; the tensioning drive assembly is used to drive the tensioning movable member to extend out of the cantilever shaft.

[0014] In some embodiments, the end of the cantilever shaft assembly remote from the vehicle body further includes a stop mechanism; the stop mechanism includes: a stop base, a stop bar, and a stop bar drive device; the stop base is fixedly installed on the cantilever shaft; the stop bar is slidably connected to the stop base; the stop bar drive device is connected to the stop bar and is used to drive the stop bar to extend or retract from the stop base.

[0015] In some embodiments, the cantilever axle assembly is slidably connected to the vehicle body via a first lifting mechanism.

[0016] In some embodiments, the first lifting mechanism includes: a first lifting motor, a lifting drive wheel, a lifting driven wheel, and a lifting synchronous belt; one side of the lifting synchronous belt is fixedly connected to the cantilever shaft assembly; the first lifting motor is mounted on the vehicle body, and its output shaft is connected to the lifting drive wheel; the lifting drive wheel and the lifting driven wheel are spaced apart on the vehicle body in a vertical direction, and the lifting synchronous belt is sleeved on the lifting drive wheel and the lifting driven wheel; the output shaft of the first lifting motor rotates, driving the lifting drive wheel, the lifting synchronous belt, and the lifting driven wheel to rotate, thereby driving the cantilever shaft assembly to move up and down in a vertical direction.

[0017] An embodiment of the second aspect of this application provides a method for loading and unloading material rolls, applied to the above-described cantilever automated guided vehicle, including:

[0018] The full roll is picked up from the pick-up point via the first of the two cantilever shaft assemblies;

[0019] After moving to the unloading point, the unloaded second cantilever shaft assembly is axially extended by the telescopic component of the second cantilever shaft assembly in the two cantilever shaft assemblies to pick up the empty material roll at the unloading point.

[0020] After the empty roll is received, the full roll is placed at the unloading point using the first cantilever shaft assembly.

[0021] The empty roll is moved to the designated location and placed.

[0022] Beneficial effects of the embodiments in this application:

[0023] The cantilever automated guided vehicle (AGV) provided in this application embodiment, in a single material roll pick-up and drop-off operation, firstly, one of the cantilever shaft assemblies of the AAV first picks up a full material roll from the pick-up point, moves it to the drop-off point, and then, through the telescopic component of the other cantilever shaft assembly, controls the axial extension of the unloaded cantilever shaft assembly to pick up the empty material roll at the drop-off point. The full material roll on the cantilever shaft assembly is then placed onto the machine platform. At least one cantilever shaft can reciprocate along its axial direction, exhibiting high degrees of freedom and good flexibility during the cantilever shaft pick-up and drop-off process. Specifically, at least one cantilever shaft assembly is designed to extend and retract along its axial direction. This allows the cantilevered automated guided vehicle (AGV) to, during a single stop at a machine station, firstly, remove an empty roll from the machine using the extendable cantilever shaft. When the extendable cantilever shaft aligns with the docking shaft of the loaded roll on the machine, it can adjust its length to actively compensate for deviations, minimizing the number of repeated adjustments to the vehicle body via the moving chassis of the dual-cantilever AGV, thus improving work efficiency. Next, another cantilever shaft assembly is used to install a full roll onto the machine. The entire process is completed in the same vehicle position, eliminating the need for the AGV to move back and forth for roll replacements as required in existing technologies, thereby improving work efficiency.

[0024] Of course, implementing any product or method of this application does not necessarily require achieving all of the advantages described above at the same time. Attached Figure Description

[0025] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other embodiments can be obtained based on these drawings.

[0026] Figure 1 This is an overall axonometric view of the cantilevered automated guided vehicle provided in the embodiments of this application;

[0027] Figure 2 for Figure 1 The above is an overall isometric view of the cantilever automated guided vehicle after removing the outer shell, mobile chassis, translation mechanism and lateral movement mechanism;

[0028] Figure 3 forFigure 1 The isometric view of the telescopic assembly in the cantilevered automated guided vehicle shown.

[0029] Figure 4 The process of handling stock rolls by a cantilevered automated guided vehicle provided in the embodiments of this application. Figure 1 ;

[0030] Figure 5 The process of handling stock rolls by a cantilevered automated guided vehicle provided in the embodiments of this application. Figure 2 ;

[0031] Figure 6 The process of handling stock rolls by a cantilevered automated guided vehicle provided in the embodiments of this application. Figure 3 ;

[0032] Figure 7 The process of handling stock rolls by a cantilevered automated guided vehicle provided in the embodiments of this application. Figure 4 ;

[0033] Figure 8 The process of handling stock rolls by a cantilevered automated guided vehicle provided in the embodiments of this application. Figure 5 ;

[0034] Figure 9 The process of handling stock rolls by a cantilevered automated guided vehicle provided in the embodiments of this application. Figure 6 ;

[0035] Figure 10 The process of handling stock rolls by a cantilevered automated guided vehicle provided in the embodiments of this application. Figure 7 ;

[0036] Figure 11 The process of handling stock rolls by a cantilevered automated guided vehicle provided in the embodiments of this application. Figure 8 .

[0037] Figure label:

[0038] Mobile chassis 100; vehicle body 200; outer shell 210; accordion cover 220;

[0039] Cantilever shaft assembly 300; main cantilever shaft assembly 300a; secondary cantilever shaft assembly 300b; cantilever shaft 310; main cantilever shaft 310a; secondary cantilever shaft 310b; telescopic assembly 320; fixing component 321; multi-stage telescopic component 322; first-stage telescopic component 322a; side beam 3222a; second-stage telescopic component 322b; telescopic drive mechanism 323; translation output component 3230; first transmission rack 3231; second transmission rack 3232; transmission gear 3233; telescopic drive motor 3234; telescopic drive screw 3235; first-stage slide rail 3237a; first-stage slider 3237b; adapter 330;

[0040] Material pushing mechanism 340; material pushing component 341; material pushing sliding device 342; material pushing slide rail 3421; tensioning mechanism 350; tensioning moving component 351;

[0041] Material stop mechanism 360; material stop base 361; stop bar 362; cantilever shaft mounting base 380;

[0042] First lifting mechanism 400; first lifting motor 410; lifting drive wheel 420; lifting driven wheel 430; lifting synchronous belt 440; transmission belt 450; transmission wheel 460; first lifting slide rail 471; first lifting slider 472;

[0043] Second lifting mechanism 500; second lifting motor 510; lifting drive screw 520; second lifting slide rail 531; second lifting slider 532; translation mechanism 600; transverse mechanism 700;

[0044] First direction X; Second direction Y; Vertical direction Z; Machine A; Full roll M; Empty roll N. Detailed Implementation

[0045] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art based on this application are within the scope of protection of this application.

[0046] See Figure 1 and Figure 2 , Figure 1 This is an overall axonometric view of the cantilevered automated guided vehicle provided in the embodiments of this application; Figure 2 for Figure 1 The diagram shows the overall axle-view of the cantilever automated guided vehicle (AGV) after removing the outer shell, mobile chassis, translation mechanism, and lateral movement mechanism. This application provides a cantilever AGV comprising: a mobile chassis 100, a vehicle body 200, and two cantilever axle assemblies 300. The vehicle body 200 is connected to the mobile chassis 100, which can move the vehicle body 200. The two cantilever axle assemblies 300 are connected to the vehicle body 200. Each cantilever axle assembly 300 includes a cantilever axle 310 for carrying material rolls. At least one of the cantilever axle assemblies 300 also includes a telescopic component 320. Under the action of the telescopic component 320, the cantilever axle 310 can reciprocate along its axial direction relative to the vehicle body 200 to adjust the length of the cantilever axle assembly during material roll handling operations. The axial direction of the cantilever axle in the cantilever axle assembly with the telescopic component 320 is defined as the first direction X.

[0047] The cantilever automated guided vehicle (AGV) provided in this application embodiment, in a single material roll pick-up and drop-off operation, one of the cantilever shaft assemblies 300 first picks up a full material roll from the pick-up point and moves it to the drop-off point. Then, the telescopic component of the other cantilever shaft assembly controls the axial extension of the unloaded cantilever shaft assembly to pick up the empty material roll at the drop-off point. Finally, the full material roll on the cantilever shaft assembly 300 is placed onto the machine platform. At least one cantilever shaft 310 can reciprocate along its axial direction, exhibiting high degrees of freedom and good flexibility during the picking-up and drop-off process. Specifically, at least one cantilever shaft assembly 300 is designed to be telescopic along its axial direction. This allows the cantilever automated guided vehicle (AGV) to, during a single stop at a machine station, firstly, remove empty coils from the machine station using the telescopic cantilever shaft 310. When the telescopic cantilever shaft aligns with the docking shaft of the coil on the machine station, the cantilever shaft can adjust its length to actively compensate for deviations, minimizing the number of repeated adjustments to the vehicle body via the moving chassis of the dual-cantilever AGV, thus improving work efficiency. Next, the other cantilever shaft assemblies 300 are used to install fully loaded coils onto the machine station. The entire process is completed in the same vehicle position, eliminating the need for the AGV to move back and forth for coil replacement as in existing technologies, thereby improving work efficiency.

[0048] The two sets of cantilever axle assemblies 300 can be arranged at vertical Z intervals on the same side of the vehicle body 200, or they can be arranged on different sides of the vehicle body 200 respectively.

[0049] Furthermore, such as Figure 1 and Figure 2 As shown, two cantilever shaft assemblies 300 are spaced apart vertically along the Z-direction on the same or different sides of the vehicle body 200, and are slidably connected to the vehicle body 200 along the Z-direction. This vertically spaced layout avoids occupying too much space horizontally, improving space utilization and allowing the cantilevered automated guided vehicle to move flexibly in narrow passages. Through vertical sliding, the cantilever shaft assemblies 300 can cover a wide height range, adapting to material handling needs at different heights. Furthermore, the vertical spacing between multiple cantilever shaft assemblies 300 can be dynamically adjusted according to the diameter of the material roll, minimizing friction and collision between empty and full material rolls during transport.

[0050] When the two cantilever axle assemblies 300 are respectively installed on different sides of the vehicle body 200, the heights of the two cantilever axle assemblies 300 can be the same or different.

[0051] Furthermore, such as Figure 1 and Figure 2As shown, one of the two cantilever axle assemblies 300 is a main cantilever axle assembly 300a, and the other is a secondary cantilever axle assembly 300b; the main cantilever axle assembly 300a has a telescopic component 320; and / or, the secondary cantilever axle assembly 300b has a telescopic component 320.

[0052] In this embodiment, when the main cantilever shaft assembly 300a is used to transport a full roll, the secondary cantilever shaft assembly 300b can be used to transport an empty roll; when the main cantilever shaft assembly 300a is used to transport an empty roll, the secondary cantilever shaft assembly 300b can be used to transport a full roll; the three configuration modes of the telescopic assembly 320 are: only the main cantilever shaft assembly 300a is equipped with the telescopic assembly 320; only the secondary cantilever shaft assembly 300b is equipped with the telescopic assembly 320; and both the main cantilever shaft assembly 300a and the secondary cantilever shaft assembly 300b are equipped with the telescopic assembly 320.

[0053] Optional, such as Figure 1 and Figure 2 As shown, the main cantilever shaft assembly 300a does not have a telescopic component 320, while the secondary cantilever shaft assembly 300b does. The main cantilever shaft 310a carries a full roll, while the secondary cantilever shaft 310b carries an empty roll. Because the main cantilever shaft 310a carries a full roll, it needs high rigidity. The non-telescopic design simplifies the structure and provides strong resistance to deformation, minimizing the risk of roll displacement or falling due to structural vibration during full roll handling. The telescopic function of the secondary cantilever shaft 310b allows it to extend or retract along its axial direction, improving the accuracy of loading and unloading, minimizing frequent adjustments to the cantilever automated guided vehicle (AGV) body position, and increasing loading and unloading efficiency. The lighter weight of the empty roll significantly reduces the load and wear on the telescopic component 320. Eliminating the telescopic component 320 from the main cantilever shaft 310a reduces single-shaft cost and energy consumption.

[0054] Further, see Figure 2 , Figure 3 , Figure 3 for Figure 1 The diagram shows an isometric view of the telescopic assembly in the cantilever automated guided vehicle. The telescopic assembly 320 includes a fixing member 321, a multi-stage telescopic member 322, and a telescopic drive mechanism 323. The fixing member 321 is slidably connected to the vehicle body 200 in the vertical direction Z. The multi-stage telescopic member 322 is connected to the cantilever shaft 310. The multi-stage telescopic member 322 is slidably connected to the fixing member 321. The telescopic drive mechanism 323 is drivenly connected to the multi-stage telescopic member 322.

[0055] In this embodiment, the multi-stage telescopic structure allows the telescopic stroke of the cantilever shaft 310 to be several times that of a single stage, adapting to long-distance scenarios between the material pick-up and unload points and the cantilevered automated guided vehicle. The number of stages of the multi-stage telescopic component 322 can be set according to the material pick-up and unload distance requirements, and two or three stages of telescopic components can be set.

[0056] Further, see Figure 2 , Figure 3 and Figure 4 The multi-stage telescopic component 322 includes a primary telescopic component 322a and a secondary telescopic component 322b; the telescopic drive mechanism 323 includes a translation drive device, a first transmission rack 3231, a second transmission rack 3232, and a transmission gear 3233; the first transmission rack 3231 is fixedly connected to the fixing component 321, and the second transmission rack 3232 is fixedly connected to the secondary telescopic component 322b; the transmission gear 3233 meshes with the first transmission rack 3231 and the second transmission rack 3232 respectively, and the transmission gear... Wheel 3233 is mounted on primary telescopic member 322a; translation drive device includes translation output member 3230, which is fixedly connected to primary telescopic member 322a. Translation output member 3230 can drive primary telescopic member 322a to reciprocate and extend. Through the meshing motion of transmission gear 3233 with first transmission rack 3231 and second transmission rack 3232, secondary telescopic member 322b is driven to move relative to primary telescopic member 322a in the direction of extension and retraction of primary telescopic member 322a.

[0057] In this embodiment, see Figure 2 , Figure 3 and Figure 4 When the translation drive device moves the translation output component 3230, the first-stage telescopic component 322a slides synchronously with the translation output component 3230. At this time, the transmission gear 3233 rotates due to meshing with the fixed first transmission rack 3231. The rotating transmission gear 3233 further drives the second transmission rack 3232 and the second-stage telescopic component 322b, which mesh with it, to slide in the same direction, thereby achieving the double-speed telescopic effect of the second-stage telescopic component 322b.

[0058] Further, see Figure 2 , Figure 3 and Figure 4 The translation drive device includes: a telescopic drive motor 3234, a telescopic drive screw 3235, and a telescopic drive nut (not shown in the figure). The telescopic drive motor 3234 is mounted on the fixing member 321. One end of the telescopic drive screw 3235 is connected to the output shaft of the telescopic drive motor 3234. The telescopic drive nut is sleeved on the telescopic drive screw 3235. The translation output member 3230 is connected to the telescopic drive nut. Ball screws offer high transmission efficiency, good positioning accuracy and repeatability, and smooth operation without crawling. They also require less motor power under the same load, reducing the energy consumption of the cantilever automated guided vehicle.

[0059] In other embodiments, the translation drive device may also be a device such as an electric cylinder assembly that can realize translational motion. This application does not limit the type of translation drive device.

[0060] For details, see Figure 2 , Figure 3 and Figure 4 The first-stage telescopic component 322a includes two side beams 3222a, which are spaced apart on both sides of the telescopic assembly 320 in the telescopic direction. The transmission gear 3233 can be located on the side beams 3222a.

[0061] Specifically, the fixing member 321 and the first-stage telescopic member 322a are slidably connected via a first-stage sliding assembly. The first-stage sliding assembly includes a slidingly connected first-stage slide rail 3237a and a first-stage slider 3237b. The first-stage slide rail 3237a is fixedly connected to the fixing member 321, and the first-stage slider 3237b is fixedly connected to the first-stage telescopic member 322a. The first-stage telescopic member 322a and the second-stage telescopic member 322b are slidably connected via a second-stage sliding assembly. The second-stage sliding assembly includes a slidingly connected second-stage slide rail (not shown) and a second-stage slider (not shown). The second-stage slide rail is fixedly connected to the second-stage telescopic member 322b, and the second-stage slider is fixedly connected to the first-stage telescopic member 322a. By setting the first-stage and second-stage sliding assemblies, the smoothness of sliding between the fixing member 321 and the multi-stage telescopic member 322 can be improved, providing precise guidance for the extension and retraction of the telescopic members.

[0062] More specifically, such as Figure 1 and Figure 2 As shown, the cantilever shaft 310 and the multi-stage telescopic component 322 are connected by an adapter 330. The adapter 330 has two connecting ends, which are used to connect the cantilever shaft 310 and the telescopic component 320 respectively. By replacing the adapter 330 with different specifications, the same multi-stage telescopic component 322 can be adapted to cantilever shafts 310 with various shaft diameters without replacing the entire cantilever shaft assembly 300, thus reducing equipment adaptation costs. In addition, the detachable design of the adapter 330 shortens the replacement time of the cantilever shaft 310, which is especially suitable for quick maintenance after the cantilever shaft 310 is worn or damaged.

[0063] In this embodiment, due to the retractable property of the secondary cantilever shaft assembly, when the secondary cantilever shaft assembly is working, the secondary cantilever shaft and the adapter extend to the outside of the main cantilever shaft, that is, extend to the projection of the secondary cantilever shaft and the adapter on the horizontal plane, which does not overlap with the projection of the main cantilever shaft on the horizontal plane. In this case, the two cantilever shaft assemblies will not interfere with each other when moving vertically.

[0064] Based on all the above embodiments, such as Figure 1 and Figure 2As shown, the cantilever shaft assembly 300 also includes a pushing mechanism 340, which comprises a pushing component 341, a pushing sliding device 342, and a pushing drive device. The pushing sliding device 342 is connected to the pushing component 341 and the cantilever shaft 310 respectively. The pushing component 341 can slide relative to the cantilever shaft 310 to push the material roll. The pushing drive device is used to drive the pushing component 341 to reciprocate along the axial direction of the cantilever shaft 310. The pushing mechanism 340 can automatically push the material roll from the cantilever shaft 310 to the pick-up and unload points, such as the material shaft of the machine, or pull it from the pick-up and unload points to the cantilever shaft 310 without manual assistance, which is especially suitable for the "dust-free and unmanned" production requirements of the lithium battery industry. By actively driving the pushing component 341, the pushing mechanism 340 can provide stable pushing / pulling force to ensure smooth picking and unloading of the material roll.

[0065] Specifically, the material pushing sliding device 342 includes a slidingly connected material pushing slide rail 3421 and a material pushing slider (not shown in the figure); the material pushing slide rail 3421 is fixedly connected to the side wall of the cantilever shaft 310 along the axial direction of the cantilever shaft 310; the material pushing slider is fixedly connected to the material pushing component 341. By setting the material pushing slide rail 3421 and the material pushing slider, the smoothness of sliding between the material pushing component 341 and the cantilever shaft 310 can be improved, providing precise guidance for the movement of the material pushing component 341.

[0066] Furthermore, such as Figure 1 and Figure 2 As shown, the cantilever shaft assembly 300 also includes a tensioning mechanism 350, which includes a tensioning mounting base, a tensioning drive assembly, and a tensioning moving member 351. The cantilever shaft 310 has a hollow inner cavity, and the tensioning mounting base is fixedly installed in the inner cavity. The tensioning moving member 351 is slidably connected to the tensioning mounting base in a direction perpendicular to the axis of the cantilever shaft 310. The tensioning drive assembly is used to drive the tensioning moving member 351 to extend out of the cantilever shaft 310 and abut against the inner wall of the shaft hole of the material roll, so as to restrict the position of the material roll along the axis of the cantilever shaft 310. After the tensioning moving member 351 extends out and abuts against the inner wall of the shaft hole of the material roll, it restricts the radial and axial swaying of the material roll during the movement of the cantilever automated guided vehicle, which is especially suitable for high-speed movement scenarios of cantilever automated guided vehicles. In addition, the extension amount of the tensioning moving member 351 can be adjusted by the travel of the drive rod, which can adapt to material rolls with different shaft hole diameters without replacing the cantilever shaft 310 or the tensioning mechanism 350, making it highly versatile.

[0067] In this embodiment, as Figure 1 and Figure 2As shown, the end of the cantilever shaft assembly 300 away from the vehicle body 200 also includes a material blocking mechanism 360; the material blocking mechanism 360 includes: a material blocking base 361, a stop bar 362, and a stop bar drive device; the material blocking base 361 is fixedly installed on the cantilever shaft 310; the stop bar 362 is slidably connected to the material blocking base 361; the stop bar drive device is connected to the stop bar 362 and is used to drive the stop bar 362 to extend or retract from the material blocking base 361, so that when the stop bar 362 extends, it can block the material roll, and when it retracts, it can avoid the material roll. The stop bar drive device can drive the stop bar 362 to extend out of the material blocking base to block the material roll, prevent the material roll from falling off the end of the cantilever shaft 310, and improve the safety and stability during the handling and loading / unloading of material rolls.

[0068] It should be noted that when the cantilever shaft 310 is receiving or picking up the material coil, or when the cantilever shaft 310 is unloaded, the stop bar 362 can be in the retracted state.

[0069] The material blocking mechanism 360 is equipped with a barcode reader mounting hole (not shown) and a distance sensor mounting hole (not shown). The barcode reader mounting hole houses the barcode reader, and the distance sensor mounting hole houses the distance sensor. The worktable / buffer rack is equipped with a barcode that can be read by the barcode reader. The barcode reader determines the deviation between the cantilever shaft and the worktable / buffer rack shaft by reading the position of the barcode on the worktable. This deviation is then eliminated by adjusting the lifting mechanism, translation mechanism, and lateral movement mechanism of the cantilever automated guided vehicle. The distance sensor is used to detect the distance information between the cantilever shaft and the buffer rack or worktable. By setting up the barcode reader and the distance sensor, auxiliary positioning can be performed in both horizontal and vertical directions. With the help of the lifting mechanism, translation mechanism, and lateral movement mechanism, omnidirectional fine adjustment of the cantilever shaft is achieved, and the docking accuracy is significantly improved.

[0070] It should be noted that the above-mentioned material blocking mechanism and tensioning mechanism 350 can be set simultaneously, or only the material blocking mechanism or only the tensioning mechanism 350 can be set. When the material blocking mechanism and the material pushing mechanism are set simultaneously, after the stop bar of the material blocking mechanism is raised, the material pushing mechanism can push the material roll towards the stop bar, so that the pushing component of the material pushing mechanism can cooperate with the stop bar of the material blocking mechanism to clamp the material roll.

[0071] Furthermore, such as Figure 2 As shown, the cantilever automated guided vehicle also includes a bidirectional fine-tuning mechanism, which includes a translation mechanism 600 and a lateral movement mechanism 700. The translation mechanism 600 is mounted on the top of the mobile chassis 100. The lateral movement mechanism 700 is located between the translation mechanism 600 and the vehicle body 200. The translation mechanism 600 is used to drive the lateral movement mechanism 700 and the vehicle body 200 to reciprocate along the axis of the cantilever shaft 310. The lateral movement mechanism 700 is used to drive the vehicle body 200 to reciprocate along a second direction Y, wherein the second direction Y is a horizontal direction perpendicular to the axis of the cantilever shaft 310.

[0072] It should be noted that in other embodiments, the cantilever automated guided vehicle can adjust the position of the cantilever axle simply by moving the chassis to adjust the position of the vehicle body 200.

[0073] In one alternative embodiment, such as Figure 2 As shown, the cantilever shaft assembly 300 is slidably connected to the vehicle body 200 via a first lifting mechanism 400. The first lifting mechanism 400 includes a first lifting motor 410, a lifting drive wheel 420, a lifting driven wheel 430, and a lifting synchronous belt 440. One side of the lifting synchronous belt 440 is fixedly connected to the cantilever shaft assembly 300. The first lifting motor 410 is mounted on the vehicle body 200, and its output shaft is connected to the lifting drive wheel 420. The lifting drive wheel 420 and the lifting driven wheel 430 are spaced apart on the vehicle body 200 along the vertical direction Z. The lifting synchronous belt 440 is sleeved on the lifting drive wheel 420 and the lifting driven wheel 430. When the output shaft of the first lifting motor 410 rotates, it drives the lifting drive wheel 420, the lifting synchronous belt 440, and the lifting driven wheel 430 to rotate, thereby driving the cantilever shaft assembly 300 to move up and down along the vertical direction Z.

[0074] The vehicle body 200 is provided with a first lifting slide rail 471 extending in the vertical direction Z, and the cantilever shaft assembly 300 is provided with a first lifting slider 472. The first lifting slide rail 471 and the first lifting slider 472 are slidably connected. By setting the first lifting slide rail 471 and the first lifting slider 472, the smoothness of the movement of the cantilever shaft assembly 300 can be improved, and precise guidance can be provided for the movement of the cantilever shaft assembly 300 in the vertical direction Z.

[0075] Furthermore, in order to optimize the transmission method, two transmission wheels 460 and a transmission belt 450 can be provided on the vehicle body 200. The transmission belt 450 is sleeved on the two transmission wheels 460. One of the transmission wheels 460 is fixedly connected to the lifting drive wheel 420 through a connecting shaft, and the other transmission wheel 460 is fixedly connected to the output shaft of the first lifting motor 410.

[0076] It should be noted that the aforementioned transmission belt 450 and lifting synchronous belt 440 can also be a transmission chain or a lead screw. This application does not limit the transmission method of the first lifting mechanism 400.

[0077] In another alternative embodiment, such as Figure 2 As shown, the cantilever shaft assembly 300 is slidably connected to the vehicle body 200 via the second lifting mechanism 500; the second lifting mechanism 500 includes: a second lifting motor 510, a lifting drive screw 520, and a lifting drive nut (not shown).

[0078] like Figure 2As shown, the main body of the second lifting motor 510 is fixedly installed on the vehicle body 200. Specifically, the output shaft of the second lifting motor 510 is connected to one end of the lifting drive screw 520. The lifting drive nut is sleeved on the lifting drive screw 520 and connected to the cantilever shaft assembly 300. The output shaft of the second lifting motor drives the lifting drive screw 520 to rotate, so that the lifting drive nut drives the cantilever shaft assembly 300 to move back and forth in the vertical direction, thereby adjusting the height position of the cantilever shaft assembly 300 of the cantilever automated guided vehicle. This allows it to connect to material rolls of different heights, making the cantilever automated guided vehicle in this embodiment more flexible and universal.

[0079] Specifically, the lifting drive nut and the cantilever shaft assembly 300 can be connected by screws or by a pin and a pin hole.

[0080] More specifically, such as Figure 2 As shown, the vehicle body 200 is provided with a second lifting slide rail 531 extending in the vertical direction Z, and the cantilever shaft assembly 300 is provided with a second lifting slider 532. The second lifting slide rail 531 and the second lifting slider 532 are slidably connected. By setting the second lifting slide rail 531 and the second lifting slider 532, the smoothness of the movement of the cantilever shaft assembly 300 can be improved, and precise guidance can be provided for the movement of the cantilever shaft assembly 300 in the vertical direction Z.

[0081] More specifically, such as Figure 2 As shown, the cantilever shaft 310 is connected to the first lifting mechanism 400 or the second lifting mechanism 500 via the cantilever shaft mounting base 380.

[0082] Based on all the above embodiments, such as Figure 1 and Figure 2 As shown, the vehicle body 200 may also have an outer shell 210, which serves to protect the vehicle body 200 from dust. The outer shell 210 may be equipped with a bellows cover 220, which can extend and retract up and down with the movement of the cantilever shaft assembly 300, thus providing dust protection while ensuring the normal movement of the cantilever shaft assembly 300.

[0083] In an optional embodiment, the vehicle body 200 can be a gantry assembly with a column frame structure. The first lifting mechanism has two first lifting rails 471, each positioned on one of the two gantry pillars spaced apart along a first direction X on the vehicle body. The second lifting mechanism also has two second lifting rails 531, each positioned on the other two gantry pillars spaced apart along the first direction X on the vehicle body. The first and second lifting rails 471 and 531 are arranged in a front-to-back configuration along the axis extending from the cantilever shaft 310 in the length direction of the cantilever automated guided vehicle. This structure allows the first lifting rails 471, second lifting rails 531, and gantry pillars to have a larger span in the force direction, resulting in better overall rigidity and less deformation of the vehicle body 200. The number of gantry pillars can be two, three, four, or other quantities, and the pillars can be rectangular tubes, square tubes, channel-shaped pillars, or other types.

[0084] See Figures 4 to 11 , Figure 4 The process of handling stock rolls by a cantilevered automated guided vehicle provided in the embodiments of this application. Figure 1 ; Figure 5 The process of handling stock rolls by a cantilevered automated guided vehicle provided in the embodiments of this application. Figure 2 ; Figure 6 The process of handling stock rolls by a cantilevered automated guided vehicle provided in the embodiments of this application. Figure 3 ; Figure 7 The process of handling stock rolls by a cantilevered automated guided vehicle provided in the embodiments of this application. Figure 4 ; Figure 8 The process of handling stock rolls by a cantilevered automated guided vehicle provided in the embodiments of this application. Figure 5 ; Figure 9 The process of handling stock rolls by a cantilevered automated guided vehicle provided in the embodiments of this application. Figure 6 ; Figure 10 The process of handling stock rolls by a cantilevered automated guided vehicle provided in the embodiments of this application. Figure 7 ; Figure 11 The process of handling stock rolls by a cantilevered automated guided vehicle provided in the embodiments of this application. Figure 8 The second aspect of this application provides a method for loading and unloading material rolls, applicable to the cantilever automated guided vehicle in all the above embodiments, including:

[0085] S1: The full roll is picked up from the pick-up point via the first cantilever shaft assembly of the two cantilever shaft assemblies.

[0086] S2: After moving to the unloading point, the unloaded second cantilever shaft assembly is axially extended by the telescopic component of the second cantilever shaft assembly in the two cantilever shaft assemblies to pick up the empty material roll at the unloading point.

[0087] S3: After receiving the empty roll, the full roll is placed at the unloading point using the first cantilever shaft assembly.

[0088] S4: Transport the empty roll to the designated location and place it.

[0089] In this embodiment, during a single roll loading and unloading operation, one of the cantilever shaft assemblies 300 of the cantilever-type automated guided vehicle (AGV) first picks up a full roll from the loading point and moves it to the unloading point. Then, the telescopic component of the other cantilever shaft assembly controls the axial extension of the unloaded cantilever shaft assembly to pick up the empty roll at the unloading point. Finally, the full roll on the cantilever shaft assembly 300 is placed onto the machine platform. At least one cantilever shaft 310 can reciprocate along its axial direction, offering high freedom of movement and good flexibility during the loading and unloading process. Specifically, at least one cantilever shaft assembly 300 is designed to be telescopic along its axial direction. This allows the cantilever automated guided vehicle (AGV) to, during a single stop at a machine station, firstly, remove an empty roll from the machine using the telescopic cantilever shaft. When the telescopic cantilever shaft aligns with the docking shaft of the roll on the machine, it can adjust its length to actively compensate for deviations, minimizing the number of repeated adjustments to the vehicle body via the moving chassis or bidirectional fine-tuning mechanism of the dual-cantilever AGV, thus improving work efficiency. Next, another cantilever shaft assembly 300 installs a full roll M onto the machine. The entire process is completed in the same vehicle position, eliminating the need for the AGV to move back and forth for roll replacement as required in existing technologies, thereby improving work efficiency.

[0090] The following is combined Figures 4 to 11 Taking a cantilevered automated guided vehicle (AGV) with two cantilever shaft assemblies—one main cantilever shaft assembly for handling full rolls M and the other auxiliary cantilever shaft assembly for handling empty rolls N—as an example where the auxiliary cantilever shaft assembly has a telescopic component while the main cantilever shaft assembly does not, the process of picking up and placing rolls will be explained in detail:

[0091] like Figure 4 As shown, the main cantilever shaft assembly 300a of the cantilever automated guided vehicle (AGV) carries a full roll M and moves to a position close to the machine platform A according to the AGV's preset navigation route. It should be noted that if the movement of the AGV causes the secondary cantilever shaft to extend and interfere with the machine platform, then... Figure 5As shown, the mobile chassis of the cantilever axle automated guided vehicle can first move the entire cantilever axle automated guided vehicle away from the machine, so that the secondary cantilever axle will not interfere with the machine after it extends; if the position of the cantilever axle automated guided vehicle does not cause the secondary cantilever axle to interfere with the machine after it extends, then there is no need to move the mobile chassis of the cantilever axle automated guided vehicle.

[0092] like Figure 5 As shown, the secondary cantilever shaft assembly 300b extends from the secondary cantilever shaft 310b via the telescopic assembly 320. The position of the secondary cantilever shaft assembly 300b is adjusted by the first lifting mechanism. It should be noted that after the secondary cantilever shaft 310b extends, both the secondary cantilever shaft and the adapter 330 are located outside the main cantilever shaft in the horizontal projection. The secondary cantilever shaft assembly 300b will not interfere with the main cantilever shaft assembly during vertical movement. The position of the secondary cantilever shaft 310b can be adjusted by a translation mechanism, a lateral movement mechanism, or a moving chassis (adjustment can be made by any one of the translation mechanism, lateral movement mechanism, or moving chassis, or by a combination of the three).

[0093] like Figure 6 and Figure 7 As shown, after the sub-cantilever shaft 310b is connected to the material shaft of machine A through the above steps, the sub-cantilever shaft 310b picks up the empty material roll N on machine A.

[0094] like Figure 7 , Figure 8 As shown, after the secondary cantilever shaft 310b picks up the empty coil N on the machine platform A, the vehicle body 200 is adjusted to move as a whole away from the machine platform A via the translation mechanism 600, the lateral movement mechanism 700, and / or the moving chassis 100. Figures 7-8 In the example, the vehicle body 200 is adjusted only by the translation mechanism 600, meaning that the vehicle body 200 of the cantilever automated guided vehicle is in a position where... Figure 7 The translation mechanism 600 drives the lateral movement mechanism 700 and the car body 200 to move away from machine A until the car body 200 is in a position where... Figure 8 The position of the cantilever automated guided vehicle (AGV) is adjusted by the first lifting mechanism, which then drives the secondary cantilever shaft assembly 300b to rise. After the telescopic component 320 of the secondary cantilever shaft assembly 300b drives the secondary cantilever shaft 310b to retract, the position of the entire AGV is adjusted by the movable chassis 100, so that the AGV moves towards the machine platform A (that is, the movable chassis 100 moves from the machine platform A to the machine platform A). Figure 7 Move the position to Figure 8 (Location).

[0095] like Figure 8 , Figure 9As shown, the second lifting mechanism, translation mechanism 600, lateral movement mechanism 700 and / or moving chassis 100 are used to move the chassis. Figures 8-9 In the example, the vehicle body 200 is adjusted only by the translation mechanism 600, meaning that the vehicle body 200 of the cantilever automated guided vehicle is in a position where... Figure 8 The translation mechanism 600 drives the lateral movement mechanism 700 and the car body 200 to move towards the machine platform A, until the car body 200 is in position. Figure 9 Adjust the position of the vehicle body 200 so that the main cantilever shaft 310a is aligned with the docking shaft of the machine tool A;

[0096] like Figure 1 and Figure 10 As shown, the full roll M on the main cantilever shaft 310a can be pushed toward the docking shaft of the machine base A by the pushing mechanism 340.

[0097] like Figure 10 and Figure 11 As shown, after the full roll M is pushed onto the loading shaft of the receiving machine A, the entire vehicle body 200 is moved away from the machine A by the translation mechanism 600, the transverse mechanism 700 and / or the moving chassis 100. Figures 10-11 In the example, the vehicle body 200 is adjusted only by the translation mechanism 600, meaning that the vehicle body 200 of the cantilever automated guided vehicle is in a position where... Figure 10 The translation mechanism 600 drives the lateral movement mechanism 700 and the car body 200 to move away from machine A until the car body 200 is in a position where... Figure 11 The position of the main cantilever shaft 310a causes it to move away from the machine A and carry the empty material roll N to the buffer rack, where the empty material roll N is placed, completing one material handling process.

[0098] It should be noted that, in this document, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes the element.

[0099] The various embodiments in this specification are described in a related manner. Similar or identical parts between embodiments can be referred to mutually. Each embodiment focuses on describing the differences from other embodiments. In particular, the system embodiments are basically similar to the method embodiments, so the description is relatively simple; relevant parts can be referred to the descriptions of the method embodiments.

[0100] The above are merely preferred embodiments of this application and are not intended to limit the scope of protection of this application. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application are included within the scope of protection of this application.

Claims

1. A cantilevered automated guided vehicle, characterized in that, include: Mobile chassis (100); The vehicle body (200) is connected to the mobile chassis (100), and the mobile chassis (100) is capable of moving the vehicle body (200); Two cantilever shaft assemblies (300) are connected to the vehicle body (200). Each cantilever shaft assembly (300) includes a cantilever shaft (310). At least one of the cantilever shaft assemblies (300) also includes a telescopic component (320). The cantilever shaft (310) can reciprocate and extend relative to the vehicle body (200) along the axial direction of the cantilever shaft (310) under the action of the telescopic component (320) to adjust the length of the cantilever shaft assembly when performing material roll loading and unloading operations.

2. The cantilevered automated guided vehicle according to claim 1, characterized in that, The two cantilever axle assemblies (300) are vertically spaced on the same or different sides of the vehicle body (200) and are slidably connected to the vehicle body (200) in the vertical direction.

3. The cantilevered automated guided vehicle according to claim 2, characterized in that, One of the two cantilever shaft assemblies (300) is the main cantilever shaft assembly (300a), and the other is the auxiliary cantilever shaft assembly (300b). The main cantilever shaft assembly (300a) has the telescopic assembly (320); and / or, The secondary cantilever shaft assembly (300b) has the telescopic assembly (320).

4. The cantilevered automated guided vehicle according to claim 1, characterized in that, The telescopic assembly (320) includes a fixing member (321), a multi-stage telescopic member (322), and a telescopic drive mechanism (323). The fixing member (321) is slidably connected to the vehicle body (200) in the vertical direction, the multi-stage telescopic member (322) is connected to the cantilever shaft (310), the multi-stage telescopic member (322) is slidably connected to the fixing member (321), and the telescopic drive mechanism (323) is drivenly connected to the multi-stage telescopic member (322).

5. The cantilevered automated guided vehicle according to claim 4, characterized in that, The multi-stage telescopic component (322) includes a primary telescopic component (322a) and a secondary telescopic component (322b). The telescopic drive mechanism (323) includes: a translation drive device, a first transmission rack (3231), a second transmission rack (3232), and a transmission gear (3233). The first transmission rack (3231) is fixedly connected to the fixing member (321), and the second transmission rack (3232) is fixedly connected to the secondary telescopic member (322b); The transmission gear (3233) meshes with the first transmission rack (3231) and the second transmission rack (3232) respectively, and the transmission gear (3233) is disposed on the first-stage telescopic member (322a); The translation drive device includes a translation output component (3230), which is fixedly connected to the first-stage telescopic component (322a). The translation output component (3230) can drive the first-stage telescopic component (322a) to reciprocate and extend. Through the meshing motion of the transmission gear (3233) with the first transmission rack (3231) and the second transmission rack (3232), the second-stage telescopic component (322b) is driven to move relative to the first-stage telescopic component (322a) in the direction of extension and retraction of the first-stage telescopic component (322a).

6. The cantilevered automated guided vehicle according to claim 5, characterized in that, The translation drive device includes: a telescopic drive motor (3234), a telescopic drive screw (3235), and a telescopic drive nut; The telescopic drive motor (3234) is mounted on the fixing member (321), one end of the telescopic drive screw (3235) is connected to the output shaft of the telescopic drive motor (3234), the telescopic drive nut is sleeved on the telescopic drive screw (3235), and the translation output member (3230) is connected to the telescopic drive nut.

7. The cantilevered automated guided vehicle according to any one of claims 1-6, characterized in that, The cantilever shaft assembly (300) further includes a pushing mechanism (340), which includes: a pushing component (341), a pushing sliding device (342), and a pushing drive device; The pushing sliding device (342) is connected to the pushing component (341) and the cantilever shaft (310) respectively, and the pushing component (341) can slide relative to the cantilever shaft (310); The pusher drive device is used to drive the pusher (341) to reciprocate along the axial direction of the cantilever shaft (310).

8. The cantilevered automated guided vehicle according to any one of claims 1-6, characterized in that, The cantilever shaft assembly (300) further includes a tensioning mechanism (350), the tensioning mechanism (350) comprising: Tensioner mounting base, tensioner drive assembly and tensioner moving part (351); The cantilever shaft (310) has a hollow inner cavity, the tensioning mounting seat is fixedly installed in the inner cavity, and the tensioning moving member (351) is slidably connected to the tensioning mounting seat in a direction perpendicular to the axis of the cantilever shaft (310); The tension drive assembly is used to drive the tension moving part (351) to extend out of the cantilever shaft (310).

9. The cantilevered automated guided vehicle according to any one of claims 1-6, characterized in that, The end of the cantilever shaft assembly (300) remote from the vehicle body (200) also includes a stop mechanism (360). The material blocking mechanism (360) includes: a material blocking base (361), a blocking rod (362), and a blocking rod driving device; The baffle base (361) is fixedly installed on the cantilever shaft (310). The stop bar (362) is slidably connected to the baffle base (361). The stop lever driving device is connected to the stop lever (362) and is used to drive the stop lever (362) to extend or retract from the stop base (361).

10. The cantilevered automated guided vehicle according to any one of claims 1-6, characterized in that, The cantilever shaft assembly (300) is slidably connected to the vehicle body (200) via a first lifting mechanism (400).

11. The cantilevered automated guided vehicle according to claim 10, characterized in that, The first lifting mechanism (400) includes: a first lifting motor (410), a lifting drive wheel (420), a lifting driven wheel (430), and a lifting synchronous belt (440). One side of the lifting synchronous belt (440) is fixedly connected to the cantilever shaft assembly (300); The first lifting motor (410) is installed on the vehicle body (200), and its output shaft is connected to the lifting drive wheel (420); The lifting drive wheel (420) and the lifting driven wheel (430) are vertically spaced on the vehicle body (200), and the lifting synchronous belt (440) is sleeved on the lifting drive wheel (420) and the lifting driven wheel (430). The output shaft of the first lifting motor (410) rotates, driving the lifting drive wheel (420), the lifting timing belt (440) and the lifting driven wheel (430) to rotate, thereby driving the cantilever shaft assembly (300) to move up and down in the vertical direction.

12. A method for handling and placing material rolls, characterized in that, Applied to the cantilever automated guided vehicle according to any one of claims 1-11, comprising: The full roll is picked up from the pick-up point via the first of the two cantilever shaft assemblies; After moving to the unloading point, the unloaded second cantilever shaft assembly is axially extended by the telescopic component of the second cantilever shaft assembly in the two cantilever shaft assemblies to pick up the empty material roll at the unloading point. After the empty roll is received, the full roll is placed at the unloading point using the first cantilever shaft assembly. The empty roll is moved to the designated location and placed.

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