A disc-shaped silicon steel coil AGV transfer vehicle with a gantry-type clamping mechanism

Abstract

This invention discloses a disc-shaped silicon steel coil AGV transfer vehicle with a gantry-type clamping mechanism; it includes an AGV body, a gantry lifting mechanism, and a carrying mechanism; the gantry lifting mechanism has an inverted U-shaped rigid lifting gantry support composed of a crossbeam and two side legs, and a drive cylinder for driving its lifting and lowering; the carrying mechanism includes a bearing surface on the crossbeam that supports the steel coil and a clamping mechanism; the clamping mechanism consists of left and right clamping arms and a clamping drive device that drives them to open and close synchronously; during operation, after the lifting gantry support is raised so that the bearing surface supports the silicon steel coil, the left and right clamping arms clamp the end face or outer circumference of the steel coil from both sides, fixing the steel coil to the lifting gantry support as one unit, effectively resisting lateral tilting caused by inertia during the transfer process, significantly enhancing the stability and safety of transporting high-center-of-gravity, large-diameter, narrow-width steel coils, and simultaneously achieving fully automatic high-precision docking and transfer.

Description

Technical Field

[0001] This invention belongs to the field of AGV technology for transfer, and particularly relates to an AGV transfer vehicle for disc-shaped silicon steel coils with a gantry-type clamping mechanism, suitable for transferring disc-shaped silicon steel coils with a diameter greater than 1.1 meters and a width less than 0.9 meters. Background Technology

[0002] After silicon steel sheets are wound into coils, they need to be transferred and connected to different shearing lines for cutting. The transfer of silicon steel coils is a crucial step in the silicon steel sheet processing. Traditional transfer methods often use overhead cranes or forklifts, which suffer from low efficiency, inconvenient operation, and low safety. With the development of industrial automation technology, Automated Guided Vehicles (AGVs) have begun to be used in material handling. However, silicon steel coils are heavy products, and some specific specifications of silicon steel coils have ultra-large diameters (e.g., diameters exceeding 1.1 meters) and ultra-narrow widths (e.g., widths of only 0.2-0.9 meters), i.e., "disc-shaped" loads. Existing conventional transfer AGVs typically use simple V-grooves for support, and their structures are not specifically designed for such high center of gravity, large diameter, and narrow width loads, resulting in weak performance in handling lateral skew. When the steel coil is being moved, accelerated, decelerated, or turned, the large inertia of the load and the high center of gravity make it easy for the entire vehicle to become unstable, sway, or even tilt or overturn, posing serious safety hazards and making it difficult to meet the requirements of high-precision automatic feeding.

[0003] The shortcomings and deficiencies of existing technologies are as follows: 1. Low level of automation: Existing technologies mostly rely on cranes or forklifts for manual operation and transfer, which cannot be efficiently integrated with automated production lines (such as cross-cutting lines), requiring manual intervention and resulting in low efficiency. 2. Weak resistance to lateral deviation: The load-bearing mechanism of ordinary AGVs (such as simple V-grooves) cannot provide effective lateral restraint and stable support for the high center of gravity of the "disc-shaped" silicon steel coils. When the AGV starts, brakes, or turns, the huge lateral inertial force generated by the steel coil can easily cause the vehicle to deflect, become unstable, or even cause the steel coil to slip or the AGV to overturn, posing a high safety risk. 3. Low transfer accuracy: Traditional cranes or forklifts cannot achieve millimeter-level precise positioning, failing to meet the process requirements of automatically and accurately placing silicon steel coils onto the uncoiler of the cross-cutting line. Summary of the Invention

[0004] To address the problems existing in the prior art, the present invention provides a disc-shaped silicon steel coil AGV transfer vehicle with a gantry-type clamping mechanism.

[0005] This invention is implemented as follows: a disc-shaped silicon steel coil AGV transfer vehicle with a gantry-type clamping mechanism, comprising an AGV body, a gantry lifting mechanism mounted on the AGV body, and a carrying mechanism mounted on the gantry lifting mechanism, characterized in that...

[0006] The gantry lifting mechanism includes a lifting gantry bracket and a drive cylinder that drives the lifting gantry bracket to lift vertically relative to the AGV body. The lifting gantry bracket is an inverted U-shaped rigid gantry structure consisting of a crossbeam and two vertical legs, with the two legs located on both sides of the AGV body in the direction of travel. The bearing mechanism includes a bearing surface for supporting silicon steel coils disposed on the crossbeam of the lifting gantry support, and a clamping mechanism installed on the lifting gantry support. The clamping mechanism includes a left clamping arm, a right clamping arm, and a clamping drive device that drives the left and right clamping arms to open and close synchronously. When the drive cylinder drives the lifting gantry support to rise, so that the bearing surface supports the silicon steel coil, the left and right clamping arms are driven to clamp the end face or outer circumference of the silicon steel coil from both sides, so as to fix the silicon steel coil to the lifting gantry support as a whole, thereby resisting lateral deviation during the transfer process.

[0007] More preferably, the lower ends of the two legs of the lifting gantry bracket are respectively connected to the two sides of the AGV body through a linear guide slider mechanism, and the drive cylinder is an electric cylinder or a hydraulic cylinder, one end of which is connected to the AGV body and the other end is connected to the middle lifting assembly of the lifting gantry bracket.

[0008] More preferably, the bearing surface is at least two V-shaped bearing grooves provided on the upper surface of the crossbeam of the lifting gantry bracket. The extending direction of the V-shaped bearing grooves is perpendicular to the traveling direction of the AGV vehicle body, and is used to contact the outer circular surface of the silicon steel coil and bear its weight.

[0009] More preferably, the clamping drive device includes a clamping motor fixed in the crossbeam of the lifting gantry bracket, and a transmission screw driven to rotate by the clamping motor. The left clamping arm and the right clamping arm are respectively engaged with the transmission screw through screw nuts to achieve synchronous movement in opposite directions or in opposite directions.

[0010] More preferably, the transmission screw is a bidirectional screw, which has a left-hand threaded section and a right-hand threaded section with opposite directions of rotation. The left arm engages with the left-hand threaded section, and the right arm engages with the right-hand threaded section.

[0011] More preferably, both the left and right clamping arms are L-shaped, with their horizontal arms connected to the lead screw nut and their vertical arms extending upwards. The top of the vertical arm is provided with a gripper for contacting the silicon steel coil.

[0012] More preferably, the side of the intermediate lifting assembly is provided with a guide groove, and the horizontal arms of the left and right clamping arms pass through the guide groove so as to move along the guide groove under the drive of the clamping drive device.

[0013] More preferably, the gripper is a replaceable arc-shaped rubber pressure plate, used to fit the end face or outer circumferential side of silicon steel coils of different diameters, and to provide flexible clamping force.

[0014] More preferably, each of the four corners of the bottom of the AGV body is equipped with an independently driven differential drive wheel to enable omnidirectional movement of the AGV.

[0015] More preferably, the AGV body also integrates a control box, a 360° lidar for autonomous navigation, and a laser obstacle avoidance sensor for safety protection.

[0016] The advantages and technical effects of this invention are as follows: Compared with the prior art, it has the following significant beneficial effects: First, it has strong resistance to lateral tilting and high transport safety. Through the innovative inverted U-shaped lifting gantry bracket and the coordinated design of the left and right arms, the silicon steel coil is fixed to the gantry frame as a whole in the lifting state, forming a "gate"-shaped rigid load-bearing structure. This transforms the high center of gravity load of the silicon steel coil into a stable constraint acting on both sides of the vehicle body, effectively resisting the lateral inertial forces during acceleration, deceleration and turning, and eliminating the risk of the silicon steel coil rolling, shaking and even vehicle overturning.

[0017] Secondly, it boasts a high degree of automation and precise positioning. Integrating 360° LiDAR autonomous navigation, four-corner differential omnidirectional drive, and electric / hydraulic precision lifting control, the AGV can autonomously complete the entire process from coil picking and transportation to unwinding without manual intervention. The cooperation between the linear guide slider mechanism and the V-shaped bearing groove ensures the repeatability of the silicon steel coil in both the vertical and horizontal directions, meeting the process requirements for precise docking with the uncoiler's expansion shaft.

[0018] Third, it boasts excellent adaptability and compatibility with various specifications. By controlling the opening and closing stroke of the clamping mechanism and replacing the curved rubber pressure plates with different curvatures, this AGV can adapt to disc-shaped silicon steel coils of different diameters and widths, and is especially suitable for transporting ultra-wide and ultra-narrow width disc-shaped silicon steel coils with a diameter greater than 1.1 meters and a width less than 0.9 meters. The bidirectional screw synchronous drive and flexible gripper design allow the clamping force to be precisely adjusted according to the specifications of the silicon steel coil, ensuring reliable clamping while avoiding damage to the workpiece surface. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the structure of an embodiment of the present invention; Figure 2 for Figure 1 The front view of the embodiment shown; Figure 3 for Figure 1 Side view of the embodiment shown; Figure 4 for Figure 1 Top view of the embodiment shown.

[0020] 1. AGV body; 2. Gantry mechanism; 21. Lifting gantry support; 211. Crossbeam; 212. Outrigger; 22. Drive cylinder; 3. Gantry lifting mechanism; 31. Central lifting assembly; 4. Clamping mechanism; 41. Clamping motor; 42. Transmission screw; 43. Left clamping arm; 431. Arc-shaped rubber pressure plate; 44. Right clamping arm; 441. Arc-shaped rubber pressure plate; 5. Differential drive wheel; 6. Control box; 7. 360° laser radar; 8. Laser obstacle avoidance sensor; 9. V-shaped bearing groove. Detailed Implementation

[0021] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention.

[0022] like Figures 1 to 4 As shown in the figure, the disc-shaped silicon steel coil AGV transfer vehicle with a gantry-type clamping mechanism provided in this embodiment mainly includes an AGV body 1, a gantry lifting mechanism 3 and a clamping mechanism 4; the clamping mechanism 4 is integrated and installed on the gantry lifting mechanism.

[0023] The AGV body 1 adopts a rectangular chassis structure welded from high-strength steel plates, possessing sufficient rigidity and load-bearing capacity to support high-center-of-gravity, heavy loads such as disc-shaped silicon steel coils. Near the four corners of the bottom of the AGV body 1, an independently driven differential drive wheel 5 is installed. Each differential drive wheel 5 includes an independent drive motor and steering mechanism. By controlling the speed difference and steering angle of each wheel, omnidirectional movement of the AGV body 1 within a plane can be achieved, including forward, backward, lateral translation, and rotation in place. This four-corner distributed differential drive layout, compared to traditional dual-wheel differential or steering wheel structures, provides greater anti-overturning moment and better motion stability, making it particularly suitable for transporting disc-shaped silicon steel coils with a high center of gravity.

[0024] In addition, the AGV body 1 integrates a control box 6, which contains a vehicle controller, power management module, wireless communication module, and servo driver, etc., for receiving instructions from the host computer, planning the driving path, and coordinating the actions of various actuators. The above-mentioned general structure in the AGV field is existing technology and will not be elaborated here.

[0025] At the front and rear ends or four corners of the AGV body 1, there are also 360° LiDAR 7 for autonomous navigation and laser obstacle avoidance sensors 8 for safety protection. The 360° LiDAR 7 can scan the surrounding environment in real time, build a two-dimensional point cloud map, and achieve high-precision autonomous positioning and navigation; the laser obstacle avoidance sensor 8 is used to detect obstacles on the driving path, realize emergency stopping, and ensure the safety of people and machines.

[0026] The aforementioned AGV chassis and drive structure provide a stable and intelligent mobile foundation for the entire transfer system. With independent differential drive wheels at the four corners, the AGV can achieve flexible omnidirectional movement and precise positioning in confined spaces, making it particularly suitable for scenarios requiring high-precision lateral or angular adjustments, such as the uncoiling station on a cross-cutting line. The integrated navigation and safety system, incorporating 360° LiDAR and laser obstacle avoidance sensors, gives the AGV fully autonomous perception and decision-making capabilities, enabling it to safely and efficiently perform unmanned transfer tasks in complex factory environments, significantly improving the automation level and operational efficiency of the silicon steel coil logistics process. Simultaneously, the robust rectangular chassis structure and low center of gravity design provide a reliable rigid support platform for the subsequent installation of the lifting gantry and clamping mechanisms, ensuring the stability and anti-lateral deviation capabilities of the entire vehicle when carrying heavy-duty disc-shaped silicon steel coils.

[0027] More preferably, the gantry lifting mechanism 3 includes a drive cylinder 22 that drives the lifting gantry bracket 21 to vertically lift relative to the AGV body 1. Specifically, the lifting gantry bracket 21 is an inverted U-shaped rigid gantry structure consisting of a crossbeam 211 and two vertical support legs 212. The crossbeam 211 is horizontally positioned, its length direction perpendicular to the travel direction of the AGV body 1; the two support legs 212 are fixedly connected to both ends of the crossbeam 211 and extend downwards, located on the left and right sides of the AGV body 1's travel direction, respectively. This gantry structure spanning both sides of the body allows the silicon steel coil to be accommodated within the space between the two support legs 212, with the crossbeam 211 providing a support and clamping mounting base from above.

[0028] The lower ends of the two legs 212 of the lifting gantry bracket 21 are connected to the outer walls of both sides of the AGV body 1 via a linear guide rail slider mechanism. Specifically, vertically arranged guide rails are fixed on both sides of the AGV body 1, and sliders are correspondingly installed on the inner side of the legs 212, forming a sliding pair with the guide rails. This guiding mechanism ensures that the lifting gantry bracket 21 maintains a vertical posture during lifting and lowering, and does not sway forward, backward, or left or right.

[0029] The drive cylinder 22 is preferably an electric cylinder or a hydraulic cylinder as the power actuator. Its cylinder body end is vertically fixed inside or on the upper surface of the AGV body 1, and its push rod end extends upward and is fixedly connected to the bottom side or bottom surface of the middle lifting assembly 31 of the lifting gantry bracket 21. When the push rod of the electric cylinder or hydraulic cylinder extends or retracts, it drives the entire lifting gantry bracket 21 together with the bearing mechanism on it to rise or fall vertically along the linear guide slider mechanism.

[0030] The bearing surface is specifically located on the upper surface of the crossbeam 211 of the lifting gantry support 21. In this embodiment, the bearing surface consists of two V-shaped bearing grooves 9 spaced apart along the length of the crossbeam 211. Each V-shaped bearing groove 9 is composed of two symmetrically inclined planes or curved surfaces, and its extension direction (i.e., the length direction of the V-shaped groove) is perpendicular to the travel direction of the AGV body 1, that is, consistent with the axial direction of the silicon steel coil. When the silicon steel coil is lifted, its outer surface simultaneously contacts the inclined surfaces of the two V-shaped bearing grooves 9, automatically aligning under the action of gravity, ensuring that the position of the silicon steel coil on the crossbeam 211 is determined and stable.

[0031] The aforementioned gantry lifting mechanism and bearing surface structure enable stable lifting and precise positioning of the silicon steel coil. First, the inverted U-shaped gantry frame combined with the linear guide slider mechanism on both sides forms a high-rigidity vertical motion pair, effectively suppressing swaying and wobbling during lifting under heavy loads. This ensures the accuracy of the silicon steel coil's center height adjustment, laying the foundation for precise docking with the uncoiler's expansion shaft. Second, the drive cylinder is positioned inside the vehicle body and acts in the center of the gantry, ensuring centered transmission of the lifting drive force and balanced force distribution, preventing jamming or deformation caused by uneven loading. Finally, the V-shaped bearing groove on the upper surface of the crossbeam utilizes the silicon steel coil's own weight for automatic centering. This simplifies the loading process and ensures that the horizontal position of the silicon steel coil is uniquely determined after each loading, facilitating accurate clamping by the clamping mechanism and improving the system's repeatability.

[0032] More preferably, the clamping mechanism 4 is mounted on the lifting gantry support 21 and is used to apply clamping force to the silicon steel coil from both sides after it is lifted, so as to resist the lateral inertial force during the transfer process. The clamping mechanism 4 mainly includes a left clamping arm 43, a right clamping arm 44, and a clamping drive device that drives the two to open and close synchronously.

[0033] The clamping drive device includes a clamping motor 41 fixed inside the crossbeam 211 of the lifting gantry bracket 21, and a transmission screw 42 driven to rotate by the clamping motor 41. The clamping motor 41 is preferably a servo motor, and the clamping force can be precisely adjusted by controlling its output torque. The transmission screw 42 is horizontally mounted in the internal cavity of the crossbeam 211, and its two ends are supported by bearing seats. The transmission screw 42 is preferably a bidirectional screw, with left-hand and right-hand threaded sections machined on its surface.

[0034] Both the left clamping arm 43 and the right clamping arm 44 are L-shaped plate-like or frame-like structures. Each clamping arm includes a horizontal arm and a vertical arm. A lead screw nut is fixedly connected to the end of the horizontal arm. The lead screw nut of the left clamping arm 43 engages with the left-hand threaded section of the transmission lead screw 42, and the lead screw nut of the right clamping arm 44 engages with the right-hand threaded section. When the clamping motor 41 drives the transmission lead screw 42 to rotate, due to the opposite directions of the left and right threads, the left clamping arm 43 and the right clamping arm 44 will move synchronously towards each other (close) or synchronously away from each other (open).

[0035] The horizontal arms of the left and right lifting arms 43 and 44 pass through guide grooves located on the side of the intermediate lifting assembly 31. These guide grooves are formed along the length of the crossbeam 211, providing support and guidance for the horizontal movement of the arms and preventing them from deflecting or swaying during movement. The vertical arms of the lifting arms extend upwards, with grippers at their tips for contacting silicon steel coils.

[0036] The grippers are specifically replaceable curved rubber pressure plates 431 and 441. The concave shape of the curved rubber pressure plate is designed to conform to the outer circular surface or end face contour of the silicon steel coil, thereby increasing the contact area and reducing local pressure. The rubber material itself has a certain degree of elasticity, which can provide sufficient clamping force while generating flexible cushioning to avoid scratching or indenting the surface of the silicon steel coil. In addition, by replacing the curved rubber pressure plates with different radii of curvature, it can accommodate silicon steel coils of different diameters.

[0037] The aforementioned clamping mechanism and its drive guide structure provide crucial lateral constraints for the stable transport of the disc-shaped silicon steel coil. First, the servo motor-driven bidirectional screw transmission scheme achieves mechanical synchronous linkage between the left and right clamping arms, ensuring that the clamping center remains symmetrical with the AGV body center, avoiding additional eccentric torque caused by unilateral offset clamping. Second, through the screw's self-locking characteristic or the servo motor's brake function, the clamping force on the silicon steel coil can be maintained even in the event of a power outage or malfunction, exhibiting inherent safety. Third, the design of the horizontal arm of the clamping arm passing through the guide groove provides a second support point for the clamping arm besides the screw nut, significantly improving the structural rigidity and deformation resistance of the clamping arm when clamping heavy-duty silicon steel coils. Finally, the use of replaceable arc-shaped rubber pressure plates not only achieves flexible adaptive fitting of silicon steel coils of different diameters, but also effectively prevents circumferential rolling and axial movement of silicon steel coils during acceleration, deceleration and turning by increasing the friction coefficient and contact area. This consolidates the silicon steel coils with the lifting gantry support into a whole, fundamentally solving the problems of lateral deviation and overturning that easily occur during the transportation of disc-shaped silicon steel coils.

[0038] Overall working principle of the invention The following describes the complete working process of the disc-shaped silicon steel coil AGV transfer vehicle with a gantry-type clamping mechanism provided in this embodiment, based on the above structure.

[0039] Coil Retrieval Stage: Following instructions from the control system, the AGV vehicle 1 autonomously navigates to the storage position of the silicon steel coil using the 360° laser radar 7. At this time, the drive cylinder 22 of the gantry lifting mechanism 3 is in the retracted state, and the lifting gantry support 21 is at its lowest position, with the V-shaped support groove 9 on the upper surface of its crossbeam 211 lower than the bottom of the silicon steel coil. The AGV vehicle 1 slowly enters, positioning the silicon steel coil within the space between the two legs 212 of the lifting gantry support 21. Subsequently, the electric or hydraulic cylinder of the drive cylinder 22 extends, driving the lifting gantry support 21 to rise vertically along the linear guide slider mechanism. The V-shaped support groove 9 first contacts the outer surface of the silicon steel coil, and as it continues to rise, it smoothly lifts the silicon steel coil, completely detaching it from the ground. The silicon steel coil automatically centers within the V-shaped support groove 9. Immediately afterwards, the clamping motor 41 starts, driving the bidirectional transmission screw 42 to rotate, causing the left clamping arm 43 and the right clamping arm 44 to synchronously close inward along the guide groove. The arc-shaped rubber pressure plates 431 and 441 press the two end faces or outer circular side faces of the silicon steel coil with a preset torque, so as to reliably fix the silicon steel coil and the lifting gantry bracket 21 into one unit.

[0040] During the transfer phase: After the silicon steel coil is clamped and fixed, the AGV body 1 smoothly drives towards the target workstation according to the preset travel path, driven by the differential drive wheel 5. During startup, acceleration, deceleration, and turning, the strong lateral restraint provided by the left arm 43 and right arm 44 directly resists the inertial force of the silicon steel coil, and the rigid frame of the lifting gantry bracket 21 effectively transfers the load center of gravity to the four corners of the vehicle body. Therefore, the entire vehicle always maintains a stable posture and will not sway or tilt to the side.

[0041] Unwinding Stage: After the AGV arrives at the target station and is precisely positioned, the sequence of actions is the reverse of the unwinding stage. First, the clamping motor 41 reverses, driving the left clamping arm 43 and the right clamping arm 44 to open outwards, releasing the clamping force on the silicon steel coil. Subsequently, the drive cylinder 22 retracts, driving the lifting gantry bracket 21 to descend, and the V-shaped support groove 9 lifts the silicon steel coil and slowly lowers it until the silicon steel coil is stably placed on the target table or the uncoiler expansion shaft. Finally, the AGV body 1 drives away from the station, completing a full transfer task.

[0042] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A disc-shaped silicon steel coil AGV transfer vehicle with a gantry-type clamping mechanism, comprising an AGV body (1), a gantry lifting mechanism (3) mounted on the AGV body (1), and a carrying mechanism mounted on the gantry lifting mechanism (3), characterized in that, The gantry lifting mechanism (3) includes a lifting gantry support (21) and a drive cylinder (22) for driving the lifting gantry support (21) to rise and fall vertically relative to the AGV body (1). The lifting gantry support (21) is an inverted U-shaped rigid gantry structure consisting of a crossbeam (211) and two vertical legs (212). The two legs (212) are located on both sides of the AGV body (1) in the direction of travel. The bearing mechanism includes a bearing surface for supporting silicon steel coils disposed on the crossbeam (211) of the lifting gantry support (21), and a clamping mechanism (4) installed on the lifting gantry support (21); The clamping mechanism (4) includes a left clamping arm (43), a right clamping arm (44), and a clamping drive device that drives the left clamping arm (43) and the right clamping arm (44) to open and close synchronously. When the drive cylinder (22) drives the lifting gantry bracket (21) to rise, so that the bearing surface supports the silicon steel coil, the left clamping arm (43) and the right clamping arm (44) are driven to clamp the end face or outer side of the silicon steel coil from both sides, so as to fix the silicon steel coil and the lifting gantry bracket (21) into one body, thereby resisting lateral deviation during the transfer process.

2. The disc-shaped silicon steel coil AGV transfer vehicle with a gantry-type clamping mechanism according to claim 1, characterized in that, The lower ends of the two legs (212) of the lifting gantry bracket (21) are connected to the two sides of the AGV body (1) through a linear guide slider mechanism. The drive cylinder (22) is an electric cylinder or a hydraulic cylinder, one end of which is connected to the AGV body (1) and the other end is connected to the middle lifting assembly (31) of the lifting gantry bracket (21).

3. The disc-shaped silicon steel coil AGV transfer vehicle with a gantry-type clamping mechanism according to claim 2, characterized in that, The bearing surface is at least two V-shaped bearing grooves (9) provided on the upper surface of the crossbeam (211) of the lifting gantry bracket (21). The extension direction of the V-shaped bearing grooves (9) is perpendicular to the travel direction of the AGV body (1) and is used to contact the outer circular surface of the silicon steel coil and bear its weight.

4. The disc-shaped silicon steel coil AGV transfer vehicle with a gantry-type clamping mechanism according to claim 2, characterized in that, The clamping drive device includes a clamping motor (41) fixed in the crossbeam (211) of the lifting gantry bracket (21), and a transmission screw (42) driven to rotate by the clamping motor (41). The left clamping arm (43) and the right clamping arm (44) are respectively engaged with the transmission screw (42) through screw nuts to achieve synchronous movement in opposite directions or in opposite directions.

5. The disc-shaped silicon steel coil AGV transfer vehicle with a gantry-type clamping mechanism according to claim 4, characterized in that, The transmission screw (42) is a bidirectional screw, which has a left-hand threaded section and a right-hand threaded section with opposite directions of rotation. The left arm (43) is engaged with the left-hand threaded section, and the right arm (44) is engaged with the right-hand threaded section.

6. The disc-shaped silicon steel coil AGV transfer vehicle with a gantry-type clamping mechanism according to claim 4, characterized in that, The left arm (43) and the right arm (44) are both L-shaped, with their horizontal arms connected to the lead screw nut and their vertical arms extending upward. The top of the vertical arm is provided with a gripper for contacting the silicon steel coil.

7. The disc-shaped silicon steel coil AGV transfer vehicle with a gantry-type clamping mechanism according to claim 6, characterized in that, The side of the intermediate lifting assembly (31) is provided with a guide groove, and the horizontal arms of the left arm (43) and the right arm (44) pass through the guide groove to move along the guide groove under the drive of the clamping drive device.

8. The disc-shaped silicon steel coil AGV transfer vehicle with a gantry-type clamping mechanism according to claim 6, characterized in that, The grippers are replaceable arc-shaped rubber plates (431, 441) used to fit the end face or outer side of silicon steel coils of different diameters and provide flexible clamping force.

9. The disc-shaped silicon steel coil AGV transfer vehicle with a gantry-type clamping mechanism according to claim 1, characterized in that, Each of the four corners of the bottom of the AGV body (1) is equipped with an independently driven differential drive wheel (5) for realizing omnidirectional movement of the AGV.

10. The AGV transfer vehicle for disc-shaped silicon steel coils with a gantry-type clamping mechanism according to claim 1, characterized in that, The AGV vehicle body (1) also integrates a control box (6), a 360° lidar (7) for autonomous navigation, and a laser obstacle avoidance sensor (8) for safety protection.

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