A gantry type spool transfer AGV

Abstract

This application relates to the field of automated guided vehicles (AGVs), and more particularly to a gantry-type I-beam wheel transfer AGV, which includes a frame, a driving mechanism, and at least two carrying mechanisms. Specifically, the frame includes at least two spaced vertical frames and a horizontal frame connecting the two vertical frames, with a receiving cavity formed between the two vertical frames and the horizontal frame for accommodating the I-beam wheels; the driving mechanism is used to drive the frame to move; the two carrying mechanisms are respectively arranged one-to-one with the two vertical frames, and each carrying mechanism includes a lifting assembly, a traversing assembly, and a pin; the lifting assembly is connected to the vertical frames, and the traversing assembly is connected to the movable end of the lifting assembly; the pin is connected to the movable end of the traversing assembly, and one end of the pin extends into the receiving cavity and faces the vertical frame on the other side; the traversing assembly is used to drive the pin to move axially along the I-beam wheel, so that the pin inserts into or retracts from the central hole of the I-beam wheel. This application has the effect of improving the flexibility, efficiency, and safety of I-beam wheel transfer.

Description

Technical Field

[0001] This application relates to the field of automated guided vehicles (AGVs), and in particular to a gantry-type I-beam wheel transfer AGV. Background Technology

[0002] H-beam reels are key load-bearing components in the winding process of filamentous materials such as cables, steel wires, and synthetic fibers. They have a hollow internal structure and protruding flanges at both ends. In the filamentous material production process, H-beam reels need to be frequently transferred between different workstations, such as winding areas, storage areas, and loading / unloading areas. Therefore, efficient, safe, and flexible transfer operations are crucial for ensuring continuous production, reducing material damage, and improving overall logistics efficiency.

[0003] Currently, the common practice in the industry for handling H-beam forklifts is to use manually driven forklifts or electric pallet trucks, directly inserting their standard forks into the center hole of the H-beam for transport. While this method offers high equipment versatility and low investment costs, it has significant drawbacks: First, because the H-beam is a hollow cylinder, relying solely on the simple contact between the forks and the inner wall of the center hole makes it highly susceptible to slippage and tipping off the forks during vehicle start-up, stopping, turning, or uneven road surfaces. This can lead to severe impact damage to the H-beam itself and any coiled objects, posing a serious safety threat to on-site operators and surrounding equipment. Second, traditional forklifts are bulky with large turning radii, resulting in insufficient flexibility in relatively confined workshop aisles or densely packed storage areas, impacting the pace and efficiency of forklift operations.

[0004] Furthermore, in actual production, there are many specifications and models of I-beams, and the diameter of their center hole, the diameter of their rim, and their width all vary from model to model. Existing automated transfer equipment often requires the replacement of special clamping fixtures for specific specifications of I-beams, resulting in poor versatility and low transfer efficiency.

[0005] Therefore, how to design an intelligent transfer equipment that can automatically and securely grip and release the I-beams, while also possessing high flexibility and transfer efficiency, to replace the existing manual forklift operation mode has become a technical problem that the industry urgently needs to solve. Summary of the Invention

[0006] To improve the flexibility, efficiency, and safety of I-beam wheel transfer, this application provides a gantry-type I-beam wheel transfer AGV.

[0007] The gantry-type H-beam wheel AGV provided in this application adopts the following technical solution: A gantry-type I-beam wheel AGV includes: The frame includes at least two spaced vertical frames and a horizontal frame connecting the two vertical frames, with a receiving cavity formed between the two vertical frames and the horizontal frame for accommodating the I-beam wheel; A walking drive mechanism, connected to the vehicle frame, is used to drive the vehicle frame to move; At least two support mechanisms are provided, each corresponding to one of the two vertical frames. Each support mechanism includes a lifting assembly, a lateral movement assembly, and a pin. The lifting assembly is connected to the vertical frame, and the lateral movement assembly is connected to the movable end of the lifting assembly. The pin is connected to the movable end of the lateral movement assembly, and one end of the pin extends into the receiving cavity and faces the vertical frame on the other side. The lateral movement assembly is used to drive the pin to move axially along the I-beam wheel, so that the pin is inserted into or removed from the center hole of the I-beam wheel.

[0008] By adopting the above technical solutions, the flexibility, efficiency, and safety of the I-beam wheel transfer are improved. Specifically, during the transfer process, the walking drive mechanism enables the frame to move automatically, replacing manual driving and improving the efficiency and automation of the I-beam wheel transfer. Two pins support the I-beam from both sides, and with the spatial limitation of the receiving cavity, the center of gravity of the I-beam is located in the geometric center area of ​​the frame. This makes the I-beam more stable during frame movement, reducing the risk of material damage and personnel injury caused by tipping or rolling, and improving the safety of the transfer operation. The gantry-type frame structure, composed of two vertical and horizontal frames, allows the frame to embrace the I-beam in a straddling posture, improving the AGV's compactness and applicability, enabling flexible transfer operations in narrower workshop aisles.

[0009] Optionally, the walking drive mechanism includes at least two spaced-apart drive wheel assemblies and a plurality of swivel casters; the drive wheel assembly includes a rotating seat, a first drive member, and a self-driving wheel, the rotating seat is rotatably disposed relative to the frame, the rotation axis of the rotating seat is perpendicular to the horizontal plane, the first drive member is used to drive the rotating seat to rotate, and the self-driving wheel is connected to the rotating seat; the plurality of swivel casters are spaced-apart on the frame.

[0010] By adopting the above technical solution, a steering wheel drive combined with omnidirectional following motion is used to improve the AGV's mobility and transfer efficiency in narrow workshops. Specifically, the drive wheel assembly integrates walking and steering functions. The first drive component drives the rotating seat to rotate around an axis perpendicular to the horizontal plane, which can change the travel direction vector of the self-drive wheel, thereby realizing omnidirectional movement or small-radius turning of the frame relative to the ground. At the same time, with multiple omnidirectional casters spaced at intervals as driven supports, the omnidirectional casters can freely deflect in accordance with the traction direction of the self-drive wheel, so that the frame has both sufficient load-bearing stability and flexible maneuverability to drive the load-bearing mechanism for efficient H-beam transfer.

[0011] Optionally, the drive wheel assembly further includes a mounting plate and a shock absorber; one end of the mounting plate is rotatably connected to the vehicle frame, the other end of the mounting plate is connected to the vehicle frame via the shock absorber, and the rotation axis of the mounting plate is inclined or parallel to the horizontal plane, and the rotating seat is rotatably connected to the mounting plate.

[0012] By adopting the above technical solution, the shock absorber can absorb the vibration and impact generated during the self-driving wheel's movement. On the one hand, it improves the grip of the self-driving wheel when the ground is uneven, reduces the probability of slipping and losing steps, and improves navigation accuracy. On the other hand, it reduces the amount of vibration transmitted from the self-driving wheel to the frame and the loaded I-beams, reducing the possibility of the filamentous material becoming loose or damaged due to vibration.

[0013] Optionally, the lifting assembly includes a slide rail, a slide block, and a second drive member; the slide rail is connected to the vehicle frame and extends along the height direction, the slide block is slidably disposed on the slide rail, the second drive member is used to drive the slide block to slide, and the lateral movement assembly is connected to the slide block.

[0014] By adopting the above technical solution, the slide rail provides a high-precision rigid guide for the lifting and lowering of the slide block, so that when the second drive component drives the slide block to slide, the slide block can smoothly drive the transverse component and the pin shaft to lift and lower, thereby realizing the smooth lifting and precise placement of I-beams of different specifications.

[0015] Optionally, the lateral movement assembly includes a mounting base and a third driving member; the mounting base is fixed to the slide block, the pin is slidably connected to the mounting base along the axial direction of the I-beam wheel, and the third driving member is used to drive the pin to slide.

[0016] By adopting the above technical solution, the third drive component can precisely control the length of the pin extending into the receiving cavity, so that when it is necessary to lift the I-beam, the pin can be inserted into the center hole of the I-beam to provide sufficient support length, and when it is necessary to unload the I-beam, the pin can be retracted to the outside of the center hole of the I-beam to avoid obstruction.

[0017] Optionally, a safety control component is also included, comprising a laser detector and a controller; the laser detector is mounted on the vehicle frame and is used to detect obstacle information in the direction of travel of the vehicle frame; the controller is electrically connected to the laser detector and the walking drive mechanism and is used to control the walking drive mechanism to perform obstacle avoidance actions based on the obstacle information.

[0018] By adopting the above technical solution, the laser detector can scan for obstacles in the vehicle's direction of travel in real time. Once the controller detects a person or obstacle ahead, it can control the walking drive mechanism to perform obstacle avoidance actions such as deceleration, detour, or stopping. This eliminates potential safety hazards before a collision occurs, reduces the risk of collision, and improves the safety of I-beam wheel transport operations.

[0019] Optionally, the safety control component further includes a safety contact edge electrically connected to the controller. The safety contact edge is disposed on the outer peripheral wall of the vehicle frame and is used to send a warning message to the controller when it comes into contact with an object. The controller is used to control the walking drive mechanism to stop according to the warning message.

[0020] By adopting the above technical solution, when the laser detector fails to detect an obstacle due to blind spots or other reasons, resulting in slight contact between the outer wall of the vehicle frame and an object, the safety contact edge is immediately triggered and sends a warning message to the controller, forcing the walking drive mechanism to stop urgently. This forms a "double insurance," further reducing the probability of safety accidents and improving the safety of I-beam wheel transfer operations.

[0021] Optionally, the bearing mechanism further includes an axial limiting component for limiting the I-beam wheel, the axial limiting component including a limiting plate and a first elastic member; the limiting plate is slidably connected to the pin along the axial direction of the I-beam wheel for abutting against the side wall of the I-beam wheel; the first elastic member is used to cause the limiting plate to tend to move closer to the side wall of the I-beam wheel.

[0022] By adopting the above technical solution, during the insertion of the pin into the center hole of the I-beam wheel, the limiting plate abuts against the side wall of the I-beam wheel. As the pin continues to be inserted, the limiting plate slides along the pin and compresses the first elastic element. The two limiting plates of the two bearing mechanisms cooperate to form an axial clamping of the I-beam wheel, thereby reducing the possibility of axial slippage of the I-beam wheel on the pin when the AGV starts or stops or when the road surface is bumpy, as well as the impact or center of gravity shift caused by the shaking of the I-beam wheel, thus improving the stability and safety of the I-beam wheel transportation.

[0023] Optionally, the limiting plate has multiple grooves extending in the height direction arranged in a horizontal array. The bearing mechanism also includes multiple radial limiting components for limiting the I-beam wheel, and the multiple radial limiting components are respectively arranged in one-to-one correspondence with the multiple grooves. The radial limiting component includes a slider, a second elastic element, a limiting rod, and a third elastic element. The slider is slidably disposed in the groove, and the second elastic element is used to make the slider tend to move towards the top of the groove. The limiting rod is slidably connected to the slider along the axial direction of the I-beam wheel and is used to abut against the side wall of the I-beam wheel, the inner wall of the center hole of the I-beam wheel, or the outer peripheral wall of the rim of the I-beam wheel. The third elastic element is used to make the limiting rod tend to slide towards the I-beam wheel.

[0024] By adopting the above technical solution, when the I-beam is placed in the receiving cavity during transport, the positions of all the limiting rods relative to the I-beam are divided into three types based on their projection along the axial direction of the I-beam: some limiting rods are located within the projection range of the side wall of the I-beam, some are located within the range of the central hole of the I-beam, and some are located on the outer periphery of the rim of the I-beam. When the pin is inserted into the central hole of the I-beam, the limiting rods located within the central hole insert into the hole; the limiting rods located within the projection range of the side wall of the I-beam retract under force after their ends touch the side wall, compressing the corresponding third elastic element. At this time, each retracted limiting rod becomes an independent force-applying unit, using the elastic restoring force of the third elastic element to tightly abut against the side wall of the I-beam, thus forming a multi-point abutment limiting. This further reduces the possibility of axial slippage of the I-beam on the pin and improves the axial stability during the transport of the I-beam. When the lifting assembly drives the pin inserted into the center hole of the I-beam wheel to rise, the limiting plate rises accordingly. The peripheral wall of the limiting rod inserted into the center hole of the I-beam wheel gradually approaches the inner wall of the center hole until it abuts against it. After the limiting rod abuts against the inner wall of the center hole of the I-beam wheel, it drives the slider to slide towards the bottom of the groove, thereby compressing the second elastic element. The elastic force generated by the second elastic element is applied to the inner wall of the center hole of the I-beam wheel through the limiting rod. Multiple limiting rods abutting against the inner wall of the center hole of the I-beam wheel form a multi-point bearing for the I-beam wheel, thereby reducing the possibility of the I-beam wheel swinging on the pin and improving the radial stability of the I-beam wheel during transportation. Among the limiting rods located on the outer periphery of the rim of the I-beam wheel, the peripheral wall of the limiting rod closest to the rim of the I-beam wheel abuts against the rim of the I-beam wheel. Furthermore, in conjunction with the pin shaft, it forms a multi-point radial contact limit on the inside and outside of the I-beam wheel, further reducing the possibility of the I-beam wheel swinging on the pin shaft or jumping along the height direction, and improving the radial stability of the I-beam wheel during the transfer process.

[0025] Optionally, the end of the limiting rod facing the I-beam wheel is provided with a universal ball bearing, which is used to roll against the side wall of the I-beam wheel.

[0026] By adopting the above technical solution, the omnidirectional ball bearings change the contact mode between the end of the limiting rod and the side wall of the I-beam wheel from sliding friction to rolling friction. During the loading and unloading of the I-beam wheel, or during minor vibration adjustments during transportation, the omnidirectional ball bearings can roll smoothly, reducing the frictional resistance between the limiting rod and the side wall of the I-beam wheel. This avoids scratches or wear on the side of the I-beam wheel due to excessive friction and reduces noise generated by friction.

[0027] In summary, this application includes the following beneficial technical effects: 1. During the transfer process, the walking drive mechanism enables the frame to move automatically, improving the efficiency and automation of the I-beam transfer. Two pins support the I-beams from both sides, making the I-beams more stable during frame movement and reducing the risk of material damage and personnel injury caused by tipping or rolling, thus improving the safety of the transfer operation. The gantry-type frame structure allows the frame to straddle the I-beams, improving the AGV's compactness and applicability, enabling flexible transfer operations in narrower workshop aisles. 2. During the insertion of the pin into the center hole of the I-beam wheel, the limiting plate abuts against the side wall of the I-beam wheel. As the pin continues to be inserted, the limiting plate slides along the pin and compresses the first elastic element. The two limiting plates of the two bearing mechanisms cooperate to form an axial clamp on the I-beam wheel, thereby reducing the possibility of axial slippage of the I-beam wheel on the pin when the AGV starts or stops or when the road surface is bumpy, as well as the impact or center of gravity shift caused by the shaking of the I-beam wheel, thus improving the stability and safety of the I-beam wheel transportation. 3. When the lifting assembly drives the pin inserted into the center hole of the I-beam wheel to rise, the limiting plate rises accordingly. The peripheral wall of the limiting rod inserted into the center hole of the I-beam wheel gradually approaches the inner wall of the center hole until it abuts against it. After the limiting rod abuts against the inner wall of the center hole of the I-beam wheel, it drives the slider to slide towards the bottom of the groove, thereby compressing the second elastic element. The elastic force generated by the second elastic element is applied to the inner wall of the center hole of the I-beam wheel through the limiting rod. Multiple limiting rods abutting against the inner wall of the center hole of the I-beam wheel form a multi-point bearing for the I-beam wheel, thereby reducing the possibility of the I-beam wheel swinging on the pin and improving the radial stability of the I-beam wheel during transportation. Among the limiting rods located on the outer periphery of the rim of the I-beam wheel, the peripheral wall of the limiting rod closest to the rim of the I-beam wheel abuts against the rim of the I-beam wheel. Furthermore, in conjunction with the pin shaft, it forms a multi-point radial contact limit on the inside and outside of the I-beam wheel, further reducing the possibility of the I-beam wheel swinging on the pin shaft or jumping along the height direction, and improving the radial stability of the I-beam wheel during the transfer process. Attached Figure Description

[0028] Figure 1 This is a schematic diagram of the overall structure of Embodiment 1 of this application.

[0029] Figure 2 This is a schematic diagram of the internal structure of Embodiment 1 of this application.

[0030] Figure 3 This mainly showcases the walking drive mechanism and the load-bearing mechanism in Embodiment 1 of this application.

[0031] Figure 4 This mainly shows the drive wheel assembly in Embodiment 1 of this application.

[0032] Figure 5This mainly shows the axial limiting component and the radial limiting component in Embodiment 2 of this application.

[0033] Figure 6 This mainly demonstrates the state of the load-bearing component in Embodiment 2 of this application when it carries the I-beam wheel.

[0034] Figure 7 yes Figure 6 A magnified view of part A in the middle.

[0035] Explanation of reference numerals in the attached drawings: 1. Frame; 11. Vertical frame; 12. Horizontal frame; 13. Receiving cavity; 2. Walking drive mechanism; 21. Drive wheel assembly; 211. Rotating seat; 212. First drive component; 213. Self-driving wheel; 214. Mounting plate; 215. Shock absorber; 22. Universal caster; 3. Load-bearing mechanism; 31. Lifting assembly; 311. Slide rail; 312. Slide seat; 313. Second drive component; 32. Lateral movement assembly; 321. Mounting base; 322. Third drive component; 33. Pin; 34. Axial limiting assembly; 341. Limiting plate; 3411. Slide groove; 342. First elastic element; 35. Radial limiting assembly; 351. Slider; 352. Second elastic element; 353. Limiting rod; 354. Third elastic element; 355. Universal ball bearing; 4. Safety control assembly; 41. Laser detector; 42. Controller; 43. Safety contact edge. Detailed Implementation

[0036] The following combination Figures 1-7 This application will be described in further detail.

[0037] This application discloses a gantry-type I-beam wheel AGV for transfer.

[0038] Example 1

[0039] Reference Figure 1 and Figure 2 In this embodiment, the gantry-type I-beam wheel AGV includes a frame 1, a walking drive mechanism 2, at least two load-bearing mechanisms 3, and a safety control component 4.

[0040] The frame 1 includes at least two spaced vertical frames 11 and a horizontal frame 12 connecting the two vertical frames 11. A receiving cavity 13 is formed between the two vertical frames 11 and the horizontal frame 12 for accommodating the I-beam wheel. The walking drive mechanism 2 is connected to the frame 1 and is used to drive the frame 1 to move.

[0041] Two support mechanisms 3 are respectively arranged in a one-to-one correspondence with two vertical frames 11. The support mechanism 3 includes a lifting component 31, a lateral movement component 32, and a pin 33. The lifting component 31 is connected to the vertical frame 11, and the lateral movement component 32 is connected to the movable end of the lifting component 31. The pin 33 is connected to the movable end of the lateral movement component 32, and one end of the pin 33 extends into the receiving cavity 13 and faces the vertical frame 11 on the other side. The lateral movement component 32 is used to drive the pin 33 to move axially along the I-beam wheel so that the pin 33 is inserted into or removed from the center hole of the I-beam wheel.

[0042] Specifically, both the vertical frame 11 and the horizontal frame 12 can be formed by welding and bolting steel plates. The two vertical frames 11 are parallel to each other and perpendicular to the horizontal plane, and the horizontal frame 12 is fixedly connected to the top of the two vertical frames 11. The two vertical frames 11 and the horizontal frame 12 form a gantry-type frame 1. When the I-beam wheel is accommodated in the receiving cavity 13, one side of the I-beam wheel faces the first vertical frame 11, and the other side of the I-beam wheel faces the second vertical frame 11.

[0043] The two support mechanisms 3 are set in mirror image, with one support mechanism 3 set on the first vertical frame 11 and the other support mechanism 3 set on the second vertical frame 11; the pin 33 is a cylindrical shaft.

[0044] During the transfer operation of the I-beam wheel, the travel drive mechanism 2 first drives the frame 1 to move, positioning the I-beam wheel in the receiving cavity 13 with its two ends facing the two pins 33 respectively. Then, the lateral movement component 32 first drives the pins 33 to insert into the center hole of the I-beam wheel, and the lifting component 31 then drives the pins 33 to rise, so that the peripheral wall of the pins 33 abuts against the inner wall of the center hole of the I-beam wheel to support it. Finally, the travel drive mechanism 2 drives the frame 1 to move, transferring the I-beam wheel to the target position and unloading it, completing the transfer operation.

[0045] In this way, during the transfer process, the walking drive mechanism 2 enables the frame 1 to move automatically, improving the efficiency and automation of the I-beam transfer. Two pins 33 support the I-beam from both sides, making the I-beam more stable during the movement of the frame 1, reducing the risk of material damage and personnel injury caused by the I-beam tipping over or rolling, and improving the safety of the transfer operation. The gantry-type frame 1, with its straddle posture accommodating the I-beam, improves the AGV's compactness and applicability, enabling flexible transfer operations in narrower workshop aisles.

[0046] Reference Figure 1 and Figure 2In this embodiment, the walking drive mechanism 2 includes at least two spaced-apart drive wheel assemblies 21 and four omnidirectional casters 22. The two drive wheel assemblies 21 are arranged in a one-to-one correspondence with the two vertical frames 11. The drive wheel assembly 21 includes a rotating seat 211, a first drive member 212, a self-driving wheel 213, a mounting plate 214, and a shock absorber 215.

[0047] The shock absorber 215 can be a spring shock absorber. The mounting plate 214 is set parallel to the horizontal plane. One side of the mounting plate 214 is rotatably connected to the vertical frame 11 via a hinge, and the other end of the mounting plate 214 is movably connected to the vertical frame 11 via the shock absorber 215. The rotation axis of the mounting plate 214 is parallel to the horizontal plane. The rotating seat 211 is rotatably set relative to the frame 1. The rotating seat 211 is rotatably connected to the bottom surface of the mounting plate 214 via a bearing, and the rotation axis of the rotating seat 211 is perpendicular to the horizontal plane. A self-driven wheel 213 is mounted on the rotating seat 211; the self-driven wheel 213 can be a servo-driven wheel.

[0048] The first driving component 212 drives the rotating base 211 to rotate. The first driving component 212 includes a servo motor and a gear pair. The servo motor is fixedly mounted on the rotating base 211. The driving gear of the gear pair is coaxially fixedly connected to the main shaft of the servo motor via a coupling. The driven gear of the gear pair is fixedly connected to the mounting plate 214, and the axis of the driven gear is coaxial with the rotation axis of the rotating base 211. The rotation of the main shaft of the servo motor drives the driving gear to rotate, and the driving gear then drives the driven gear to rotate, thereby driving the rotating base 211 to rotate.

[0049] Four swivel casters 22 are spaced apart on the frame 1, with two swivel casters 22 located at the bottom of the first vertical frame 11 and the other two swivel casters 22 located at the bottom of the second vertical frame 11.

[0050] In other embodiments, the rotation axis of the mounting plate 214 may be inclined to the horizontal plane; the shock absorber 215 may also be a rubber shock absorber; the gear pair in the first drive member 212 may also be replaced by a chain drive pair or a belt drive pair; the number of drive wheel assemblies 21 may be increased according to actual needs, and the number of swivel casters 22 may be adjusted according to actual needs, ensuring that the sum of the number of drive wheel assemblies 21 and the number of swivel casters 22 is greater than or equal to three.

[0051] In this way, the drive wheel assembly 21 integrates walking and steering functions. By controlling the rotation of the rotating seat 211 through the first drive component 212, the travel direction vector of the self-drive wheel 213 can be changed, thereby realizing omnidirectional movement or small-radius turning of the frame 1 relative to the ground. At the same time, with multiple swivel casters 22 as driven supports, the swivel casters 22 can freely deflect in accordance with the traction direction of the self-drive wheel 213, so that the frame 1 has both sufficient load-bearing stability and flexible maneuverability to drive the load-bearing mechanism 3 to perform efficient I-beam wheel transfer operations.

[0052] The shock absorber 215 can absorb the vibration and impact generated during walking. On the one hand, it can improve the grip of the self-drive wheel 213 when the ground is uneven, reduce the probability of slipping and losing steps, and improve navigation accuracy. On the other hand, it can reduce the amount of vibration of the self-drive wheel 213 transmitted to the frame 1 and the loaded I-beam wheel, and reduce the possibility of the filament material becoming loose or damaged due to vibration.

[0053] Reference Figure 1 and Figure 2 In this embodiment, the lifting assembly 31 includes a slide rail 311, a slide block 312, and a second driving member 313. The slide rail 311 can be a linear slide rail, which is fixedly mounted on the vertical frame 11 by bolts and extends along the height direction. The slide block 312 is slidably disposed on the slide rail 311 through a sliding engagement with the slide rail 311, and the lateral movement assembly 32 is connected to the slide block 312.

[0054] The second driving component 313 is used to drive the slide block 312 to slide along the slide rail 311. The second driving component 313 includes a servo motor and a lead screw and nut pair. The servo motor is fixedly mounted on the vertical frame 11, and the lead screw of the lead screw and nut pair is rotatably connected to the vertical frame 11. The nut of the lead screw and nut pair is fixedly connected to the slide block 312. The rotation axis of the lead screw is parallel to the extension direction of the slide rail 311, and the servo motor drives the lead screw to rotate through gear transmission.

[0055] In this way, the slide rail 311 provides a high-precision rigid guide for the lifting and lowering of the slide block 312, so that when the second drive component 313 drives the slide block 312 to slide, the slide block 312 can smoothly drive the transverse component 32 and the pin shaft 33 to lift and lower, thereby realizing the smooth lifting and precise placement of I-beams of different specifications.

[0056] Reference Figure 1 and Figure 2 In this embodiment, the transverse component 32 includes a mounting base 321 and a third driving member 322. The mounting base 321 is specifically a cylindrical component, and the mounting base 321 is fixedly connected to the slide block 312; one end of the pin 33 is inserted into the mounting base 321 and is slidably connected to the mounting base 321 along its own axial direction and the axial direction of the I-beam wheel.

[0057] The third driving component 322 is used to drive the pin 33 to slide. The third driving component 322 also includes a servo motor and a lead screw and nut pair. The servo motor is fixedly connected to the mounting base 321, the lead screw of the lead screw and nut pair is rotatably connected to the mounting base 321, and the nut of the lead screw and nut pair is fixedly connected to the pin 33. The rotation axis of the lead screw is parallel to the central axis of the I-beam wheel, and the servo motor drives the lead screw to rotate through gear transmission.

[0058] In this way, the third drive unit 322 can precisely control the length of the pin 33 extending into the receiving cavity 13, so that when it is necessary to lift the I-beam, the pin 33 can be inserted into the center hole of the I-beam to provide sufficient support length, and when it is necessary to unload the I-beam, the pin 33 can be retracted to the outside of the center hole of the I-beam to avoid obstruction.

[0059] Reference Figure 1 and Figure 2 In this embodiment, the safety control component 4 includes a laser detector 41, a controller 42, and a safety contact edge 43. Both the laser detector 41 and the safety contact edge 43 are electrically connected to the controller 42. The laser detector 41 can specifically be a lidar, which determines the position and distance of obstacles by emitting a laser beam and receiving the reflected laser signal. Multiple laser detectors 41 are provided, and the specific number can be selected according to actual needs; multiple laser detectors 41 are spaced apart and installed on the outer periphery of the vehicle frame 1 to detect obstacle information in the direction of travel of the vehicle frame 1.

[0060] A safety contact edge 43 is mounted around the outer periphery of the frame 1 and is used to send a warning message to the controller 42 when it comes into contact with an object. The safety contact edge 43 may be made of rubber material and contains sensing circuitry inside. When it comes into contact with an object, the sensing circuitry generates an electrical signal.

[0061] The controller 42 can be a PLC controller, and the controller 42 is electrically connected to the self-driving wheel 213 in the walking drive mechanism 2; the controller 42 is used to control the walking drive mechanism 2 to perform obstacle avoidance actions according to obstacle information, and to control the walking drive mechanism 2 to stop according to warning information.

[0062] In this way, the laser detector 41 scans for obstacles in the direction of travel of the frame 1 in real time. Once the controller 42 detects a person or obstacle ahead, it can control the walking drive mechanism 2 to perform obstacle avoidance actions such as deceleration, detour, or stopping. This reduces the risk of collision and improves the safety of the I-beam wheel transfer operation. At the same time, if the laser detector 41 fails to detect an obstacle due to blind spots or other reasons, causing slight contact between the outer wall of the frame 1 and an object, the safety contact edge 43 is immediately triggered and sends a warning message to the controller 42, forcing the walking drive mechanism 2 to stop urgently. This forms a "double insurance" to further reduce the probability of safety accidents.

[0063] The implementation principle of Example 1 is as follows: A gantry-type frame 1, a drive wheel assembly 21 capable of movement and steering, a load-bearing mechanism 3 with lifting and lateral movement functions, and a safety control component 4 with an obstacle avoidance mechanism work together to achieve automatic transfer of I-beam wheels. The gantry-type structure of the frame 1 allows it to span and accommodate I-beam wheels, making it suitable for narrow workshop aisles and improving the compactness and applicability of the AGV. The drive wheel assembly 21 integrates walking and steering functions, and together with swivel casters 22, enhances the mobility and stability of the frame 1, facilitating rapid transportation in complex environments. The lifting assembly 31 and the lateral movement assembly 32 work together to precisely control the position of the pin 33, completing the gripping and placement of I-beam wheels of different specifications, improving the flexibility and accuracy of the transfer operation. The laser detector 41 and safety contact edge 43 in the safety control component 4 form double protection, effectively reducing the risk of collisions and the probability of safety accidents, ensuring the smooth progress of the transfer operation. Compared to traditional manual forklift transport, this solution improves the automation, efficiency, and safety of I-beam wheel transport, reduces the possibility of material damage and personnel injury, and provides a more reliable transport solution for the logistics links in the production process of filamentous materials.

[0064] Example 2

[0065] Reference Figure 5 and Figure 6 The difference between this embodiment 2 and embodiment 1 is that the bearing mechanism 3 further includes an axial limiting component 34 and multiple radial limiting components 35.

[0066] Specifically, the axial limiting component 34 is used to axially limit the I-beam wheel supported on the pin 33. The axial limiting component 34 includes a limiting plate 341 and a first elastic element 342. The limiting plate 341 is specifically a rectangular plate-shaped component used to abut against the side wall of the I-beam wheel. A groove structure extending axially along the pin 33 is formed on the peripheral wall of the pin 33, and a through hole matching the cross-sectional shape of the pin 33 is formed in the middle of the limiting plate 341. The pin 33 passes through the through hole, and the limiting plate 341 is slidably connected to the pin 33 along the axial direction of the I-beam wheel.

[0067] The first elastic element 342 can be a spring or a tension spring, used to cause the limiting plate 341 to tend to move closer to the side wall of the I-beam wheel. One end of the first elastic element 342 is connected to the flange structure on the peripheral wall of the pin 33, and the other end of the first elastic element 342 is connected to the limiting plate 341.

[0068] During the insertion of the pin 33 into the center hole of the I-beam wheel, the limiting plate 341 abuts against the side wall of the I-beam wheel. As the pin 33 continues to be inserted, the limiting plate 341 slides along the pin 33 and compresses the first elastic element 342. The two limiting plates 341 of the two bearing mechanisms 3 cooperate to form an axial clamping of the I-beam wheel, thereby reducing the possibility of axial slippage of the I-beam wheel on the pin 33 when the AGV starts or stops or when the road surface is bumpy, and reducing the impact or center of gravity shift caused by the shaking of the I-beam wheel, thus improving the stability and safety of the I-beam wheel transportation.

[0069] Reference Figure 6 and Figure 7 In this embodiment, the limiting plate 341 has multiple sliding grooves 3411 extending along the height direction. The multiple sliding grooves 3411 are arranged in an array along the horizontal direction and the width direction of the limiting plate 341. Multiple radial limiting components 35 are respectively arranged to correspond one-to-one with the multiple sliding grooves 3411.

[0070] The radial limiting assembly 35 includes a slider 351, a second elastic element 352, a limiting rod 353, and a third elastic element 354. The slider 351 is slidably disposed within the groove 3411 along its extension direction through a sliding engagement with the groove 3411. The second elastic element 352 is a spring, used to cause the slider 351 to tend to move towards the top of the groove 3411. One end of the second elastic element 352 is connected to the bottom inner wall of the groove 3411 in the height direction, and the other end is connected to the slider 351. In the initial state, the slider 351 abuts against the top inner wall of the groove 3411 in the height direction.

[0071] The limiting rod 353 is specifically a cylindrical long rod, which abuts against the side wall of the I-beam wheel, the inner wall of the center hole of the I-beam wheel, or the outer peripheral wall of the rim of the I-beam wheel. The limiting rod 353 passes through the slider 351 and is slidably connected to the slider 351 along the axial direction of the I-beam wheel and its own axis. The limiting rod 353 and the slider 351 can be restricted from relative rotation by designing a protrusion structure on the peripheral wall similar to that of a pin 33 along the axial direction of a pin 33.

[0072] The third elastic element 354 can be a spring or a tension spring, used to cause the limiting rod 353 to slide towards the I-beam wheel. One end of the third elastic element 354 is connected to a protruding structure on the peripheral wall of the limiting rod 353, and the other end of the third elastic element 354 is connected to the slider 351.

[0073] When the I-beam is transferred, after the I-beam is placed in the receiving cavity 13, on the projection along the axial direction of the I-beam, the positions of all the limiting rods 353 relative to the I-beam are divided into three types: some limiting rods 353 are located within the projection range of the side wall of the I-beam, some limiting rods 353 are located within the range of the central hole of the I-beam, and some limiting rods 353 are located on the outer periphery of the rim of the I-beam.

[0074] During the insertion of the pin 33 into the center hole of the I-beam, the limiting rod 353 within the range of the center hole of the I-beam is inserted into the center hole; the limiting rod 353 within the projection range of the side wall of the I-beam retracts after contacting the side wall of the I-beam, compressing the third elastic element 354. At this time, each retracted limiting rod 353 tightly abuts against the side wall of the I-beam using the elastic restoring force of the third elastic element 354. This forms a multi-point abutment limiting, reducing the possibility of axial sliding of the I-beam on the pin 33 and improving the axial stability of the I-beam during the rotation process.

[0075] When the lifting assembly 31 drives the pin 33 to rise, the limiting plate 341 rises accordingly. The peripheral wall of the limiting rod 353, which is inserted into the center hole of the I-beam wheel, gradually approaches the inner wall of the center hole of the I-beam wheel until it abuts. After the limiting rod 353 abuts against the inner wall of the center hole of the I-beam wheel, it drives the slider 351 to slide towards the bottom end of the slide groove 3411, thereby compressing the second elastic element 352. The elastic force generated by the second elastic element 352 is applied to the inner wall of the center hole of the I-beam wheel through the limiting rod 353. Multiple limiting rods 353 that abut against the inner wall of the center hole of the I-beam wheel form a multi-point bearing for the I-beam wheel, thereby reducing the possibility of the I-beam wheel swinging on the pin 33 and improving the radial stability of the I-beam wheel during the transport process.

[0076] The limiting rods 353 located on the outer periphery of the rim of the H-beam wheel have their peripheral walls closest to the rim abutting against it. This, in conjunction with the pin 33, forms multi-point radial contact limiting on both the inside and outside of the H-beam wheel, further reducing the possibility of the H-beam wheel swaying on the pin 33 or jumping along the height direction, and improving the radial stability of the H-beam wheel during transport.

[0077] Preferably, the end of the limiting rod 353 facing the I-beam wheel is provided with a universal ball bearing 355, which is used to roll against the side wall of the I-beam wheel. The universal ball bearing 355 changes the contact mode between the end of the limiting rod 353 and the side wall of the I-beam wheel from sliding friction to rolling friction, reducing the frictional resistance between the limiting rod 353 and the side wall of the I-beam wheel. This avoids scratches or wear on the side of the I-beam wheel due to excessive friction and reduces noise generated by friction.

[0078] The implementation principle of Example 2 is as follows: By adding an axial limiting component 34 and a radial limiting component 35, the limiting effect on the I-beam wheel is further strengthened, improving the stability and safety of the I-beam wheel during transport. Specifically, the limiting plate 341 and the first elastic element 342 in the axial limiting component 34 cooperate with each other to form an axial clamping force on the I-beam wheel when the pin 33 is inserted into the center hole of the I-beam wheel. This effectively reduces the axial slippage of the I-beam wheel during AGV operation, lowers the probability of the I-beam wheel colliding or shifting its center of gravity due to shaking, and improves the stability and safety of transport. The radial limiting assembly 35, through the coordinated work of the slider 351, the second elastic element 352, the limiting rod 353 and the third elastic element 354, utilizes the limiting rod 353 to abut against the side wall of the I-beam wheel, the inner wall of the center hole of the I-beam wheel and the outer peripheral wall of the rim of the I-beam wheel at different positions, forming a multi-point axial and radial limiting and bearing of the I-beam wheel, reducing the possibility of axial sliding, swinging and jumping of the I-beam wheel on the pin 33, and improving the axial and radial stability of the I-beam wheel during the transportation process.

[0079] The above are all preferred embodiments of this application, and are not intended to limit the scope of protection of this application. Therefore, all equivalent changes made in accordance with the structure, shape and principle of this application should be covered within the scope of protection of this application.

Claims

1. A gantry-type H-beam wheel AGV for transfer, characterized in that, include: The frame (1) includes at least two spaced vertical frames (11) and a horizontal frame (12) connecting the two vertical frames (11), and a receiving cavity (13) is formed between the two vertical frames (11) and the horizontal frame (12) for accommodating the I-beam wheel. The walking drive mechanism (2) is connected to the frame (1) and is used to drive the frame (1) to walk; At least two support mechanisms (3) are respectively configured to correspond one-to-one with the two vertical frames (11). The support mechanism (3) includes a lifting assembly (31), a lateral movement assembly (32), and a pin (33). The lifting assembly (31) is connected to the vertical frame (11), and the lateral movement assembly (32) is connected to the movable end of the lifting assembly (31). The pin (33) is connected to the movable end of the lateral movement assembly (32), and one end of the pin (33) extends into the receiving cavity (13) and faces the vertical frame (11) on the other side. The lateral movement assembly (32) is used to drive the pin (33) to move along the axial direction of the I-beam wheel so that the pin (33) is inserted into or removed from the center hole of the I-beam wheel.

2. The gantry-type I-beam wheel AGV according to claim 1, characterized in that: The walking drive mechanism (2) includes at least two spaced drive wheel assemblies (21) and a plurality of omnidirectional casters (22); the drive wheel assembly (21) includes a rotating seat (211), a first drive member (212) and a self-driving wheel (213), the rotating seat (211) is rotatably disposed relative to the frame (1), the rotation axis of the rotating seat (211) is perpendicular to the horizontal plane, the first drive member (212) is used to drive the rotating seat (211) to rotate, and the self-driving wheel (213) is connected to the rotating seat (211); the plurality of omnidirectional casters (22) are spaced apart on the frame (1).

3. The gantry-type I-beam wheel AGV according to claim 2, characterized in that: The drive wheel assembly (21) also includes a mounting plate (214) and a shock absorber (215); one end of the mounting plate (214) is rotatably connected to the frame (1), and the other end of the mounting plate (214) is connected to the frame (1) through the shock absorber (215), and the rotation axis of the mounting plate (214) is inclined or parallel to the horizontal plane, and the rotating seat (211) is rotatably connected to the mounting plate (214).

4. The gantry-type I-beam wheel AGV according to claim 1, characterized in that: The lifting assembly (31) includes a slide rail (311), a slide block (312), and a second drive member (313); the slide rail (311) is connected to the frame (1) and extends along the height direction, the slide block (312) is slidably disposed on the slide rail (311), the second drive member (313) is used to drive the slide block (312) to slide, and the lateral movement assembly (32) is connected to the slide block (312).

5. The gantry-type I-beam wheel AGV according to claim 4, characterized in that: The transverse component (32) includes a mounting base (321) and a third drive member (322); the mounting base (321) is fixed to the slide (312), the pin (33) is slidably connected to the mounting base (321) along the axial direction of the I-beam wheel, and the third drive member (322) is used to drive the pin (33) to slide.

6. The gantry-type I-beam wheel AGV according to claim 1, characterized in that: It also includes a safety control component (4), which includes a laser detector (41) and a controller (42); the laser detector (41) is mounted on the frame (1) and is used to detect obstacle information in the direction of travel of the frame (1); the controller (42) is electrically connected to the laser detector (41) and the walking drive mechanism (2) and is used to control the walking drive mechanism (2) to perform obstacle avoidance actions according to the obstacle information.

7. The gantry-type I-beam wheel AGV according to claim 6, characterized in that: The safety control component (4) further includes a safety contact edge (43) electrically connected to the controller (42). The safety contact edge (43) is located on the outer peripheral wall of the frame (1) and is used to send a warning message to the controller (42) when it comes into contact with an object. The controller (42) is used to control the walking drive mechanism (2) to stop according to the warning message.

8. The gantry-type I-beam wheel AGV according to claim 1, characterized in that: The bearing mechanism (3) further includes an axial limiting component (34) for limiting the I-beam wheel. The axial limiting component (34) includes a limiting plate (341) and a first elastic member (342). The limiting plate (341) is slidably connected to the pin (33) along the axial direction of the I-beam wheel and is used to abut against the side wall of the I-beam wheel. The first elastic member (342) is used to make the limiting plate (341) tend to move closer to the side wall of the I-beam wheel.

9. A gantry-type I-beam wheel AGV for transfer according to claim 8, characterized in that: The limiting plate (341) has multiple sliding grooves (3411) arranged in a horizontal array along the height direction. The bearing mechanism (3) also includes multiple radial limiting components (35) for limiting the H-shaped wheel. The multiple radial limiting components (35) are respectively arranged in a one-to-one correspondence with the multiple sliding grooves (3411). The radial limiting component (35) includes a slider (351), a second elastic element (352), a limiting rod (353), and a third elastic element (354). The slider (351) 51) Slidingly disposed within the groove (3411), the second elastic element (352) is used to cause the slider (351) to tend to move towards the top of the groove (3411); the limiting rod (353) is slidably connected to the slider (351) along the axial direction of the I-beam wheel, and is used to abut against the side wall of the I-beam wheel or the inner wall of the center hole of the I-beam wheel or the outer peripheral wall of the rim of the I-beam wheel; the third elastic element (354) is used to cause the limiting rod (353) to tend to slide towards the I-beam wheel.

10. A gantry-type I-beam wheel AGV for transfer according to claim 9, characterized in that: The limiting rod (353) is provided with a universal ball (355) at one end facing the I-beam wheel. The universal ball (355) is used to roll against the side wall of the I-beam wheel.

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