A carbon fiber precursor filament shaft anti-damage stable transfer and automatic warehousing system and method

Abstract

The application discloses a kind of carbon fiber precursor shaft anti-damage stable transfer and automatic warehousing system and method, including triangular buffer material taking support, AGV transfer unit, roller conveying unit, stacker storage unit, stereoscopic warehouse shelf and general control scheduling module.By support low stress receiving, AGV active damping and anti-shock swing driving, roller flexible buffering connection, stacker self-adapting flexible clamping and auxiliary support, and the whole process safety interlock and state tracing of general control scheduling module, the whole process automation nondestructive transfer of carbon fiber precursor shaft from buffer, transfer, connection to warehousing is realized, surface scratch, stress concentration and long axis bending deformation are effectively prevented.

Description

Technical Field

[0001] This invention belongs to the field of automated logistics technology for carbon fiber production, and specifically relates to a system and method for stable and damage-resistant transfer and automatic warehousing of carbon fiber precursor spools. Background Technology

[0002] Carbon fiber precursor spools are long, heavy-duty cylindrical materials, ranging from 1.0 to 2.5 meters in length and weighing 10 to 800 kg. Their surface is a layer of carbon fiber precursor filaments, which is fragile and highly sensitive to contact stress and dynamic impact. Once the surface of the precursor filaments is scratched, stress concentration will occur at the scratched area during the subsequent high-temperature carbonization process, leading to precursor filament breakage and tangling. In severe cases, it can cause the entire carbonization production line to shut down. At the same time, with the development of large-tow carbon fiber technology, the weight of a single roll of precursor filaments has increased significantly. Large-tow precursor spools are more sensitive to vibration during transportation. Even slight vibrations can cause interlayer slippage of the precursor filaments, resulting in the precursor filaments slipping off, collapsing at the edges, and the entire roll of precursor filaments being scrapped. Therefore, this material must be transported to an automated warehouse for storage with extreme stability and without damage after production.

[0003] Currently, the carbon fiber industry generally suffers from the following technical deficiencies in the transfer and warehousing process of precursor yarn spools:

[0004] (i) Surface scratches: Manual forklift transportation is the main method, with long transfer distances (≥50m per transfer within the workshop) and high labor intensity. The impact and friction generated by the start-stop and turning of the forklifts directly affect the surface of the raw yarn, easily causing scratches and indentations, with a material loss rate ≥1.2%. A few companies that use AGVs (Automated Guided Vehicles) for transportation mostly have flat or rectangular AGV brackets, which have poor support stability for long-axis heavy materials. When the AGV is traveling normally (0.8m / s), micro-vibration friction occurs between the raw yarn shaft and the bracket, resulting in fine scratches on the surface. These scratches expand into cracks during the subsequent carbonization process.

[0005] (II) Vibration-induced edge collapse: Existing AGV transport solutions lack effective vibration reduction measures, and vibrations caused by uneven road surfaces are directly transmitted to the filament spool. When the vibration frequency is close to the natural frequency between the filament layers, a resonance amplification effect occurs, leading to slippage and edge collapse between the filament layers. In particular, for large filament spools, the interlayer pressure generated by their own weight is close to the critical value; any additional vibration will trigger interlayer instability, causing the filament to slip and collapse. Actual measurements show that the lateral tilt angle of the filament spool can reach more than 8° and the vibration amplitude exceeds 0.5mm during traditional AGV transport, which is the main cause of edge collapse.

[0006] (iii) Impact damage during connection: There is no dedicated buffer connection mechanism between the AGV and the stacker crane. The material transfer process mostly adopts direct docking or rigid pushing methods. At the moment of connection, the impact acceleration generated when the filament shaft moves from the AGV to the stacker crane fork can reach more than 4.9m / s², which directly acts on the surface of the filament, causing local indentations and interlayer loosening, and exacerbating the risk of edge collapse.

[0007] (iv) Clamping damage problem: Most existing stacker crane forks use rigid clamping, making it difficult to precisely control the clamping force. If the clamping is too tight, it will damage the surface of the filament, while if the clamping is too loose, it will cause shaking during the lifting process. Moreover, the clamping points are mostly two-point, and long shaft materials will bend and deform due to their own weight during the lifting process, resulting in uneven tension of the filament layer and causing local collapse of the edge.

[0008] In summary, there is an urgent need for a stable transport method that protects the surface of the precursor spool from the source and prevents edge collapse due to vibration, in order to solve the problem of damage to the precursor spool in the logistics process and improve the product qualification rate of carbon fiber precursor. Summary of the Invention

[0009] The purpose of this invention is to provide a system and method for stable and undamaged transport and automatic warehousing of carbon fiber precursor spools, which solves the problems of surface scratches, stress concentration and long axis bending deformation that easily occur during the transport of carbon fiber precursor spools, and realizes fully automated and damage-free transport from buffering, transport, connection to warehousing.

[0010] To achieve the objectives of this invention, on one hand, this invention provides a system for the stable and damage-resistant transport and automated storage of carbon fiber precursor spools, including...

[0011] The triangular buffer feeding bracket is used to support the raw yarn spool and automatically center it, evenly distribute the contact stress, and monitor the contact stress in real time and alarm when the limit is exceeded.

[0012] The AGV transfer unit is used to carry the raw yarn shaft and absorb road vibration and lateral tilt through active shock absorption and anti-vibration driving strategies to achieve smooth transfer;

[0013] The roller conveyor unit is used to absorb the contact impact between the AGV transfer unit and the stacker crane storage and retrieval unit through a flexible buffer connection mechanism, and to smoothly transfer the raw yarn shaft.

[0014] The stacker crane storage unit is used to uniformly clamp the raw yarn shaft in the automated warehouse rack with closed-loop control of clamping pressure, and to prevent long shaft materials from bending and deforming due to their own weight by means of bottom auxiliary support rollers.

[0015] The automated warehouse rack is used to provide storage space that is compatible with the specifications of the raw yarn spools and meets the operational requirements of the stacker crane access unit, and absorbs the impact of the warehouse entry through shock-absorbing pads.

[0016] The central control and scheduling module is used to communicate wirelessly with the above-mentioned units, execute the full-process safety interlock logic, record and trace the stress, vibration and attitude data of the raw yarn shaft in real time, and interface with the upper-level production and warehousing system.

[0017] The triangular buffer material handling bracket adopts an isosceles triangle stable load-bearing structure, including a support plane, left and right symmetrical diagonal support rods, a central vertical column, a horizontal load-bearing beam, and a stress sensor;

[0018] The horizontal bearing beam is located at the top of the central vertical column, and the supporting plane is formed on the upper surface of the horizontal bearing beam to support the spool. The top ends of the left and right symmetrical diagonal support rods are respectively connected to the two ends of the horizontal bearing beam, and the bottom ends extend to both sides and are fixed, forming a triangular bearing frame together with the central vertical column. The stress sensor is located at the bottom of the bracket to monitor the contact status between the spool and the bracket in real time and to trigger an alarm when the limit is exceeded.

[0019] The horizontal bearing beam is provided with an arc-shaped positioning groove, and a polyurethane buffer pad is provided in the arc-shaped positioning groove; the arc-shaped positioning groove is used to realize automatic centering of the raw yarn spool through its self-centering property; the polyurethane buffer pad is used to evenly distribute the contact stress between the raw yarn spool and the bracket to the entire supporting plane.

[0020] The AGV transfer unit adopts a heavy-duty backpack AGV body and is equipped with an active shock-absorbing load-bearing platform, an anti-vibration driving strategy module, an acceleration sensor, and a tilt sensor.

[0021] The active vibration damping platform includes an air spring isolator and an electromagnetic damping adjuster; the air spring isolator is disposed between the AGV body and the platform; the electromagnetic damping adjuster adjusts the damping coefficient in real time according to the feedback from the acceleration sensor to actively absorb road vibration;

[0022] The anti-vibration driving strategy module is used to eliminate body roll during driving;

[0023] The acceleration sensor and tilt sensor are used to monitor vibration and attitude data during driving in real time and feed them back to the central control and scheduling module.

[0024] The anti-vibration driving strategy module specifically includes an acceleration feedforward compensation algorithm and a path curvature adaptive deceleration unit: on straight driving sections, an S-shaped acceleration and deceleration curve is used to control the rate of change of acceleration during start-stop to within 0.1 m / s³; on turning sections, the driving speed is automatically adjusted according to the path curvature to ensure that the centripetal acceleration is less than or equal to 0.1 m / s².

[0025] The roller conveying unit includes a power roller assembly, a flexible buffer connection mechanism, a diffuse reflection positioning sensor, and a mechanical limiting mechanism.

[0026] The flexible buffer connection mechanism is located on the side of the power roller group near the AGV transfer unit's stopping position. The diffuse reflection positioning sensor is arranged along the conveying direction of the power roller group to detect the position and status of the raw yarn shaft. The mechanical limiting mechanism is located at the end of the power roller group away from the AGV transfer unit's stopping position to mechanically stop and position the raw yarn shaft.

[0027] The flexible buffer connection mechanism includes a floating polyurethane buffer roller and a spring damping support system. The floating polyurethane buffer roller has the same diameter as the power roller and is used to contact the bottom of the raw yarn shaft first after the AGV transfer unit stops, providing flexible support through the polyurethane elastic layer on its surface. The spring damping support system is set at the bottom of the floating polyurethane buffer roller and is used to absorb the kinetic energy of the AGV transfer unit at the moment of connection with the roller and control the impact acceleration of the connection.

[0028] The powered roller assembly includes several powered rollers used to transfer the raw yarn shaft from the floating polyurethane buffer roller to achieve impact-free conveying.

[0029] The stacker access unit is equipped with an adaptive flexible clamping device on the stacker body.

[0030] The adaptive flexible clamping device includes several independent airbag grippers symmetrically arranged on both sides and a bottom auxiliary support roller. Each airbag gripper includes a flexible airbag and a rigid back plate. The rigid back plate is located on the side of the flexible airbag facing away from the filament shaft, serving as the mounting base and support structure for the flexible airbag. The side of the flexible airbag facing the filament shaft expands when inflated, forming a clamping force on the filament shaft together with the rigid back plate. The inner wall of the airbag is provided with an anti-slip layer. The number of airbags is configured according to the length of the filament shaft. Each airbag is equipped with an independent pressure sensor and a proportional valve. The proportional valve is used to receive instructions from the central control and scheduling module and, based on the pressure signal fed back by the independent pressure sensor, independently and uniformly adjusts the clamping pressure of each airbag without damaging the surface, thereby achieving the closed-loop control.

[0031] The bottom auxiliary support roller is a follow-up support structure that remains in contact with the bottom of the spool throughout the clamping and lifting process, providing a third point of support and preventing long spool-type materials from bending and deforming due to their own weight.

[0032] Pressure sensors and acceleration sensors are installed on both the airbag gripper and the bottom auxiliary support roller to monitor the gripping status in real time.

[0033] The central control and scheduling module adopts a PLC and touch screen control architecture, and is equipped with a dedicated logistics scheduling algorithm for the protection of the raw yarn shaft. It is wirelessly connected to the AGV transfer unit, roller conveyor unit, and stacker crane storage and retrieval unit to realize task issuance, path planning, multi-device action coordination, and full-process safety interlocking.

[0034] On the other hand, the present invention also provides a control method for realizing the above-mentioned anti-damage stable transfer and automatic warehousing system for carbon fiber precursor spools, comprising:

[0035] Surface stress monitoring and protection: The contact stress between the filament spool and the support is monitored in real time by a stress sensor installed at the bottom of the triangular buffer feeding bracket. When the stress exceeds the preset safety threshold, an alarm is triggered and feeding is suspended.

[0036] Active vibration damping and attitude control: Based on the feedback from the accelerometer of the AGV transfer unit, the vibration damping of the AGV transfer unit is adjusted in real time to suppress vibration transmission; and the travel speed and path are adjusted based on the tilt angle monitored by the tilt sensor of the AGV transfer unit.

[0037] Impact limiting during connection: The impact sensor built into the flexible buffer connection mechanism of the roller conveyor unit monitors the impact at the moment of connection. When the impact exceeds a preset threshold, the connection speed is adjusted or the connection is paused.

[0038] Clamping force closed-loop control: The clamping pressure is adjusted in a closed loop by using the independent pressure sensors of each airbag in the adaptive flexible clamping device of the stacker crane storage unit to keep the clamping pressure within a preset safe range.

[0039] Full-process safety interlock: Multiple interlock conditions are set through the central control and scheduling module, including locking the roller conveyor unit when the AGV transfer unit has not stopped in place, prohibiting the stacker crane storage unit from performing clamping actions when the raw yarn shaft is not stably positioned, and suspending operation and alarming when any sensor monitoring value exceeds the limit;

[0040] Real-time status monitoring and traceability: The central control and scheduling module records the contact stress, vibration, tilt angle, connection impact, and clamping pressure data in real time during the transfer process, forming a fully traceable transfer file.

[0041] The present invention also provides a transfer and storage method for realizing the above-mentioned anti-damage, stable transfer and automatic storage system for carbon fiber precursor spools, comprising:

[0042] Feeding and Picking: The raw yarn spool is placed on the triangular buffer picking bracket. The triangular buffer picking bracket provides low-stress support and automatic centering. After the overall control scheduling module confirms that it is ready, it controls the AGV transfer unit to pick up the raw yarn spool smoothly in an active shock-absorbing manner.

[0043] Shock-absorbing transport and flexible connection: After the AGV transport unit picks up the raw yarn shaft, it actively adjusts the shock-absorbing damping and adaptively adjusts the travel speed and path according to the real-time vibration and attitude feedback. After traveling to the roller conveyor unit and completing the precise stop, the flexible buffer connection mechanism of the roller conveyor unit absorbs the connection impact and smoothly transitions the raw yarn shaft to the power roller group.

[0044] Smooth conveying and adaptive clamping for warehousing: The power roller group conveys the raw yarn shaft at low speed to the gripping position. After it is in place and stable, the adaptive flexible clamping device of the stacker crane storage unit adjusts the clamping pressure in a closed loop according to the weight of the raw yarn shaft, and completes adaptive clamping with the bottom auxiliary support. Then the raw yarn shaft is transported to the target storage location of the automated warehouse rack and placed.

[0045] Equipment reset cycle: After the warehousing is completed, the stacker crane storage and retrieval unit, roller conveyor unit and AGV transfer unit are reset in sequence. The AGV transfer unit returns to the material picking position without load and waits for the next cycle.

[0046] The significant advancement of this invention compared to existing technologies lies in:

[0047] (1) Solving the problem of scratches on the surface of the raw yarn shaft: The present invention achieves low-stress bearing (contact stress ≤0.08MPa) through the low-hardness polyurethane arc groove of the triangular buffer material picking bracket, eliminates driving friction through the active shock absorption bearing platform of the AGV, avoids contact impact through the flexible buffer connection mechanism of the roller, and achieves uniform pressure distribution (0.02-0.05MPa) through the adaptive flexible clamping device of the stacker crane, thus creating a scratch-free transfer environment throughout the entire process. The material loss rate is reduced from the traditional ≥1.2% to ≤0.05%;

[0048] (2) Eliminate the phenomenon of large filament bundle shaft collapse: The present invention controls the driving vibration to within 0.2mm through the AGV active shock absorption bearing platform, the anti-vibration driving strategy ensures that the side tilt angle is ≤1.5°, the roller buffer connection controls the impact acceleration to below 0.5m / s², and the auxiliary support roller at the bottom of the stacker prevents the long shaft from bending and deforming, fundamentally eliminating the vibration and deformation factors that cause the slippage between the filament layers, and completely eliminating the collapse of the edge;

[0049] (3) Achieve all-round protection during the transfer of the raw yarn spool: The system of the present invention is equipped with multi-dimensional sensors such as stress, vibration, tilt angle, impact, and pressure to monitor the state of the raw yarn spool in real time, and sets up a dedicated safety interlock logic to ensure that the raw yarn spool is always within the safety threshold during the entire transfer process, thus achieving active protection;

[0050] (4) Simultaneous improvement of transfer efficiency and safety: Under the premise of ensuring zero damage to the filament spool, this invention improves the transfer efficiency from ≤10 rolls / hour of traditional manual forklifts to ≥25 rolls / hour through precise positioning, efficient collaboration and process optimization; at the same time, the overall equipment failure rate is ≤0.8%, which meets the stringent requirements of carbon fiber production workshops for high-quality transfer of filament spools.

[0051] (5) High level of intelligence and full-process traceability: The overall control and scheduling system of this invention records the stress, vibration, attitude and other data of each roll of raw yarn in real time, forming a complete transfer quality file, supporting the docking with MES and WMS systems, and meeting the logistics informatization and intelligence needs of carbon fiber intelligent manufacturing plant.

[0052] To more clearly illustrate the functional characteristics and structural parameters of the present invention, further explanation is provided below in conjunction with the accompanying drawings and specific embodiments. Attached Figure Description

[0053] The accompanying drawings, which are included to provide a further understanding of the invention and form part of this application, illustrate exemplary embodiments of the invention and, together with their description, serve to explain the invention and do not constitute an undue limitation thereof. In the drawings:

[0054] Fig. 1 This is a schematic diagram of the system flow of the present invention;

[0055] Fig. 2 This is a schematic diagram of the system architecture of the present invention. Detailed Implementation

[0056] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0057] This invention discloses a carbon fiber precursor spool anti-damage stable transport and automatic warehousing system, which comprises six core units. Each unit is optimized for the surface protection and anti-collapse requirements of the precursor spool, and combines... Figs. 1-2 Specifically, it includes:

[0058] Triangular buffer material handling bracket

[0059] An isosceles triangular stable load-bearing structure is adopted, including a supporting plane, symmetrical diagonal support rods on both sides, a central vertical column, a horizontal load-bearing beam, and stress sensors;

[0060] The horizontal bearing beam is located at the top of the central vertical column, and the supporting plane is formed on the upper surface of the horizontal bearing beam to support the precursor spool. The top ends of the left and right symmetrical diagonal support rods are respectively connected to the two ends of the horizontal bearing beam, and the bottom ends extend to both sides and are fixed, forming a triangular bearing frame together with the central vertical column. The stress sensor is located at the bottom of the bracket to monitor the contact stress between the precursor spool and the bracket in real time and to trigger an alarm when the stress exceeds 0.1 MPa.

[0061] The angle between the inclined support rod and the vertical plane is 30°-45°, effectively lowering the center of gravity of the support. Under full load, the lateral tilt angle is ≤1.5°. The horizontal bearing beam is provided with an arc-shaped positioning groove, and a 20mm thick high-elasticity, low-hardness polyurethane buffer pad is pasted in the groove. The polyurethane buffer pad has a Shore hardness ≤30A, tensile strength ≥10MPa, and elongation at break ≥500%. The arc-shaped positioning groove utilizes its self-centering property to achieve automatic centering of the raw yarn spool. The polyurethane buffer pad evenly distributes the contact stress between the raw yarn spool and the support to the entire support plane. The surface contact stress during feeding is ≤0.08MPa.

[0062] AGV transfer unit

[0063] The AGV adopts a heavy-duty backpack-type chassis with a rated load capacity ≥1000kg, an adjustable travel speed of 0.1-0.8m / s, and a turning radius ≤3m. It is equipped with an active shock-absorbing load-bearing platform, including air spring vibration isolators and electromagnetic damping adjusters. The air spring vibration isolators are located between the AGV chassis and the load-bearing platform, with a rated working pressure of 0.2-0.6MPa and a natural frequency ≤2Hz. The electromagnetic damping adjuster adjusts the damping coefficient in real time based on feedback from the acceleration sensor, actively absorbing road vibrations and reducing the root mean square value of the vibration acceleration transmitted to the lead yarn shaft to ≤ The AGV transfer unit is equipped with an anti-vibration driving strategy, including an acceleration feedforward compensation algorithm and a path curvature adaptive deceleration module. On straight driving sections, it adopts an S-shaped acceleration and deceleration curve to control the start-stop impact within 0.1 m / s². On turning sections, it automatically reduces the driving speed to below 0.3 m / s according to the path curvature, ensuring that the centripetal acceleration is ≤0.08 m / s², completely eliminating the risk of tilting. The AGV body is equipped with the acceleration sensor and tilt sensor to monitor the vibration and attitude data during driving in real time and feed it back to the control system.

[0064] Roller Conveyor Unit

[0065] The roller conveying unit includes a powered roller assembly, a flexible buffer connection mechanism, a diffuse reflection positioning sensor, and a mechanical limiting mechanism. The flexible buffer connection mechanism is located on the side of the powered roller assembly near the AGV transfer unit's stopping position. The diffuse reflection positioning sensor is arranged along the conveying direction of the powered roller assembly to detect the position and status of the raw yarn shaft. The mechanical limiting mechanism is located at the end of the powered roller assembly away from the AGV transfer unit's stopping position to mechanically stop and position the raw yarn shaft.

[0066] The flexible buffer connection mechanism includes a floating polyurethane buffer roller and a spring damping support system. The diameter of the floating polyurethane buffer roller is the same as that of the power roller of the power roller assembly. It is used to contact the bottom of the raw yarn shaft first after the AGV transfer unit has stopped. The surface is covered with a 20mm thick polyurethane elastic layer with a hardness ≤35A. The spring damping support system is located at the bottom of the floating polyurethane buffer roller. The spring stiffness is automatically adjusted according to the weight of the raw yarn shaft, and the damping coefficient is 0.3-0.5. When the AGV transfer unit has completed a precise stop, the floating polyurethane buffer roller first contacts the raw yarn shaft. At the bottom of the yarn spool, the spring damping support system absorbs the kinetic energy of the AGV transfer unit at the moment of contact with the roller, controlling the impact acceleration at the contact to within 0.5 m / s². Subsequently, the power roller group starts at a low speed of 0.1-0.3 m / s, transferring the yarn spool from the floating polyurethane buffer roller to the power roller group, achieving impact-free conveying. The power roller has a diameter of 20-100 mm, a wall thickness of 4-10 mm, and a 2 mm thick polyurethane anti-slip layer on its surface, with a rated load capacity of ≥1000 kg. The diffuse reflection positioning sensor detects the position and status of the yarn spool in real time, providing signal support for subsequent actions.

[0067] Stacker crane access unit

[0068] The system includes a stacker crane body and an adaptive flexible clamping device. The adaptive flexible clamping device comprises multiple independently symmetrical airbag grippers and bottom auxiliary support rollers. Each airbag gripper consists of a flexible airbag and a rigid backplate. The rigid backplate is positioned on the side of the flexible airbag facing away from the filament shaft, serving as the mounting base and support structure for the flexible airbag. The side of the flexible airbag facing the filament shaft expands during inflation, forming a clamping force on the filament shaft together with the rigid backplate. A 2mm thick anti-slip polyurethane layer is adhered to the inner wall of the flexible airbag. The number of airbag grippers is configured according to the length of the filament shaft, with no fewer than three on each side, and the total clamping length covers more than 60% of the filament shaft length. Each flexible airbag is equipped with an independent pressure... The system incorporates sensors and a high-speed proportional valve. The clamping force is controlled in a closed loop via feedback from the independent pressure sensor, automatically adjusting the clamping pressure based on the weight of the raw yarn spool. The clamping pressure ranges from 0.02 to 0.05 MPa, ensuring uniform clamping without damaging the surface. The bottom auxiliary support roller is a follow-up support structure that remains in contact with the bottom of the spool throughout the clamping and lifting process, providing a third point of support and preventing bending deformation of long-shaft materials due to their own weight. Pressure and acceleration sensors are installed on both the airbag grippers and the bottom auxiliary support roller to monitor the clamping status in real time. The stacker crane body autonomously travels, lifts, and extends its forks along the automated warehouse aisles, with a travel speed ≤0.5 m / s and a lifting speed ≤0.4 m / s.

[0069] Automated Warehouse Shelving

[0070] It is compatible with the specifications of carbon fiber precursor spools and the operation requirements of stacker cranes. The storage layer height is ≥400mm, the aisle width is ≥1.8m, the rated load capacity of a single storage location is ≥2000kg, and a 5mm thick polyurethane shock-absorbing pad is laid at the bottom of the storage location to further absorb the impact of entering the warehouse.

[0071] Central control and scheduling module

[0072] The system employs a PLC and touchscreen control architecture, equipped with a dedicated logistics scheduling algorithm for raw yarn spool protection. It connects wirelessly with the AGV transfer unit, roller conveyor unit, and stacker crane storage unit via 4G / 5G. This enables task assignment, path planning, multi-device action coordination, and end-to-end safety interlocking. A dedicated safety interlock logic for raw yarn spool protection is implemented: the next action is only permitted when the stress sensor reading of the triangular buffer material handling bracket is below 0.1 MPa, the tilt sensor reading of the AGV transfer unit is less than 1.5°, the impact sensor reading of the roller conveyor unit is less than 0.5 m / s², and the clamping pressure of the stacker crane storage unit is within a set range. The central control scheduling module records the surface stress, vibration, and attitude data of the raw yarn spool in real time, achieving end-to-end traceability. It also supports integration with MES (Manufacturing Execution System) and WMS (Warehouse Management System).

[0073] The present invention provides a control method for implementing the above-mentioned damage-resistant and stable transfer and automatic warehousing system for carbon fiber precursor spools, comprising:

[0074] Surface stress monitoring and protection: The contact stress between the filament spool and the support is monitored in real time by a stress sensor installed at the bottom of the triangular buffer feeding bracket. When the stress exceeds the preset safety threshold, an alarm is triggered and feeding is suspended.

[0075] Active vibration damping and attitude control: Based on the feedback from the accelerometer of the AGV transfer unit, the vibration damping of the AGV transfer unit is adjusted in real time to suppress vibration transmission; and the travel speed and path are adjusted based on the tilt angle monitored by the tilt sensor of the AGV transfer unit.

[0076] Impact limiting during connection: The impact sensor built into the flexible buffer connection mechanism of the roller conveyor unit monitors the impact at the moment of connection. When the impact exceeds a preset threshold, the connection speed is adjusted or the connection is paused.

[0077] Clamping force closed-loop control: The clamping pressure is adjusted in a closed loop by using the independent pressure sensors of each airbag in the adaptive flexible clamping device of the stacker crane storage unit to keep the clamping pressure within a preset safe range.

[0078] Full-process safety interlock: Multiple interlock conditions are set through the central control and scheduling module, including locking the roller conveyor unit when the AGV transfer unit has not stopped in place, prohibiting the stacker crane storage unit from performing clamping actions when the raw yarn shaft is not stably positioned, and suspending operation and alarming when any sensor monitoring value exceeds the limit;

[0079] Real-time status monitoring and traceability: The central control and scheduling module records the contact stress, vibration, tilt angle, connection impact, and clamping pressure data in real time during the transfer process, forming a fully traceable transfer file.

[0080] The preset safety thresholds are 0.1 MPa for contact stress, 0.5 m / s² for contact impact acceleration, and 1.5° for tilt angle. The preset safety range for clamping pressure is 0.02-0.05 MPa. The frequencies for adjusting damping and feedback clamping pressure are both 1 kHz to ensure that the vibration amplitude transmitted to the filament shaft is ≤0.2 mm. The condition for determining that the material is not stably positioned is that it is in place and stable for ≥2 seconds.

[0081] The present invention provides a method for realizing the stable and damage-resistant transfer and automatic warehousing system for carbon fiber precursor spools, as described above, specifically comprising:

[0082] Feeding buffer and low-stress support: The raw yarn spool is placed in the arc-shaped polyurethane positioning groove of the triangular buffer feeding bracket. The self-centering property of the arc-shaped groove is used to achieve automatic centering of the raw yarn spool, and the contact stress is evenly distributed by the low-hardness polyurethane buffer pad. The stress sensor at the bottom of the triangular buffer feeding bracket monitors the contact status in real time. After confirming that it is normal, it sends a ready signal to the central control scheduling module.

[0083] AGV Active Vibration Reduction Material Picking: The central control scheduling module issues a transfer task, and the AGV transfer unit travels smoothly at low speed to the underside of the triangular buffer material picking bracket. Its supporting platform rises smoothly at low speed to lift the original yarn shaft. During the material picking process, the vibration is monitored by an acceleration sensor and controlled within a preset safety range.

[0084] AGV anti-vibration driving: After carrying the yarn shaft, the AGV transfer unit travels along the planned path according to the anti-vibration driving strategy; the active shock-absorbing bearing platform of the AGV transfer unit adjusts the shock-absorbing damping in real time according to the road conditions to suppress vibration transmission. On straight sections, a smooth acceleration and deceleration curve is used to control the start and stop impact. On turning sections, the driving speed is automatically reduced to a safe matching speed according to the curvature of the path to ensure that the centripetal acceleration and tilt angle are within the preset safe range; the acceleration sensor and tilt sensor of the AGV transfer unit monitor the data in real time and upload it to the central control and scheduling module.

[0085] Flexible buffer connection of rollers: The AGV transfer unit travels to the designated stopping position of the roller conveyor unit and completes precise stopping; the central control scheduling module unlocks the roller conveyor unit, and the floating polyurethane buffer roller of the flexible buffer connection mechanism first contacts the bottom of the raw yarn shaft. The spring damping system absorbs the kinetic energy at the moment of connection and controls the connection impact within a preset safety range; then the power roller group starts at low speed and smoothly transitions the raw yarn shaft from the buffer roller to the power roller group, realizing impact-free connection;

[0086] Smooth raw yarn conveying: The power roller assembly conveys the raw yarn spool to the gripping position of the stacker crane storage and retrieval unit at low speed; during the conveying process, the diffuse reflection positioning sensor detects the position of the raw yarn spool in real time, and immediately stops the machine and alarms if any deviation occurs; after the raw yarn spool is in place and stable, it sends a position signal to the central control and scheduling module;

[0087] Stacker crane adaptive flexible clamping for warehousing: After receiving the arrival signal, the central control and scheduling module issues a clamping and warehousing command; the adaptive flexible clamping device of the stacker crane storage and retrieval unit automatically calculates the target clamping pressure of each airbag according to the weight of the raw yarn spool, and the airbags on the left and right sides inflate smoothly to clamp the raw yarn spool. During the clamping process, feedback is provided through independent pressure sensors, and closed-loop adjustment is performed using a high-speed proportional valve to maintain the clamping pressure within a preset safety range; at the same time, the bottom auxiliary support roller rises to contact the bottom of the raw yarn spool, providing a third point of support; after clamping, the stacker crane storage and retrieval unit transports the raw yarn spool to the target storage location of the automated warehouse rack. During transportation, the clamping status is monitored in real time, and after placement, the final warehousing impact is absorbed by the polyurethane shock-absorbing pad at the bottom of the storage location;

[0088] Equipment reset cycle: After the storage is completed, the airbag grippers of the stacker crane storage unit are depressurized and reset, the bottom auxiliary support rollers are lowered and reset, the roller conveying unit is reset to the initial height, and the AGV transfer unit returns to the picking position without load, waiting for the next cycle operation instruction.

[0089] In the feeding and low-stress receiving steps, the length of the precursor spool is 1.0-2.5m and the weight is 10-800kg, with a contact stress ≤0.08MPa. In the AGV active vibration damping material handling step, the AGV transfer unit's travel speed is ≤0.3m / s, the lifting speed of the bearing platform is ≤0.01m / s, and the vibration amplitude is ≤0.1mm. In the AGV anti-vibration travel step, the root mean square value of the vibration acceleration transmitted to the precursor spool is ≤0.1m / s², the rate of change of acceleration is ≤0.1m / s³, and the safe speed range for turning sections is 0.1-0.3m / s². / s, centripetal acceleration ≤0.08m / s², side tilt angle ≤1.5°; in the roller flexible buffer connection step, the docking accuracy ≤±3mm, the connection impact acceleration ≤0.5m / s²; in the raw yarn stable conveying step, the conveying speed of the power roller group is 0.1-0.3m / s, and the stabilization condition is that it is in place and stable for ≥2s; in the stacker crane adaptive flexible clamping and warehousing step, the target clamping pressure range is 0.02-0.05MPa, the airbag inflation time is 0.5s, the stacker crane lifting speed ≤0.4m / s, and the lateral movement speed ≤0.5m / s.

[0090] Example 1

[0091] This embodiment provides a specific AGV-based stable transport and automatic warehousing system and method for protecting the surface of carbon fiber precursor spools and preventing edge collapse. It is suitable for transporting large tow carbon fiber precursor spools that are 1.0m long and weigh 200kg. The specific configuration steps are as follows:

[0092] System configuration details:

[0093] The triangular buffer material handling bracket has an inclined support rod at a 40° angle to the vertical plane. The horizontal bearing beam is provided with an arc-shaped positioning groove, and a 20mm thick low-hardness polyurethane buffer pad (Shore hardness 28A, tensile strength 10MPa, elongation at break 550%) is pasted in the groove. The rated load capacity is 1000kg, and the full-load tilt angle is ≤1.2°. A stress sensor (range 0-1MPa, accuracy 0.001MPa) is installed at the bottom of the bracket.

[0094] The AGV transfer unit is a heavy-duty backpack AGV with a rated load capacity of 500kg, an adjustable travel speed of 0.1-0.8m / s, and a turning radius of 2.8m. The active shock-absorbing load-bearing platform is equipped with an air spring isolator (natural frequency 1.8Hz, working pressure 0.3-0.5MPa) and an electromagnetic damping adjuster (damping coefficient adjustable from 0.2-0.8). It is also equipped with an acceleration sensor (range ±2g, accuracy 0.001g) and a tilt sensor (range ±15°, accuracy 0.01°).

[0095] The roller conveying unit consists of a 114mm diameter, 8mm wall thickness power roller covered with a 2mm thick polyurethane anti-slip layer; the flexible buffer connection mechanism includes a floating polyurethane buffer roller (114mm diameter, covered with a 20mm thick polyurethane elastic layer, hardness 32A) and a spring damping support system (spring stiffness 500N / mm, damping coefficient 0.4); the conveying speed is adjustable from 0.1 to 0.3m / s; and it is equipped with a diffuse reflection positioning sensor (detection distance 0.5-5m) and an impact sensor (range ±2g, accuracy 0.001g).

[0096] The stacker crane's storage and retrieval unit includes an adaptive flexible gripping device comprising four independent airbag grippers on each side, each airbag having a diameter of 150mm and a total gripping length of 1800mm. The inner wall of each airbag is lined with a 2mm thick anti-slip polyurethane layer. Each airbag is equipped with an independent pressure sensor (range 0-0.2MPa, accuracy 0.001MPa) and a high-speed proportional valve (response time ≤10ms). The bottom auxiliary support roller has a stroke of 0-200mm and is equipped with a pressure sensor. The stacker crane's lifting speed is 0.4m / s, and its lateral movement speed is 0.5m / s.

[0097] The central control and scheduling module consists of a Siemens S7-1500 PLC and a 15-inch touchscreen. It is equipped with a dedicated logistics scheduling algorithm for the protection of the raw yarn shaft and communicates with each unit via 5G wireless communication. The safety interlock logic scan cycle is ≤50ms.

[0098] The automated warehouse racking system has the following features: a racking height of 600mm, an aisle width of 2.0m, a rated load capacity of 2000kg per racking location, and a 5mm thick polyurethane shock-absorbing pad at the bottom of each racking location.

[0099] Specific warehousing steps:

[0100] A manual forklift smoothly removes a 1.0m long, 200kg large filament bobbin from the winding machine in the production line's off-line area and places it into the arc-shaped polyurethane positioning groove of the triangular buffer material pick-up bracket, achieving automatic centering of the filament bobbin. The polyurethane buffer pad disperses the contact stress, and the stress sensor displays a contact stress of 0.06MPa, which is below the threshold. The system records the initial stress data and uploads it.

[0101] The central control and scheduling module issues a transfer task, and the AGV transfer unit travels at a low speed of 0.2m / s to the area below the triangular buffer material picking bracket; the AGV carrying platform rises steadily at a speed of 0.008m / s to lift the raw yarn shaft, and the acceleration sensor monitors the vibration amplitude at 0.05mm during the material picking process;

[0102] The AGV transfer unit carries the raw yarn shaft and travels along the planned path. The active shock-absorbing bearing platform adjusts the air spring pressure and electromagnetic damping in real time based on road surface pre-aiming data. The travel speed on straight sections is 0.6 m / s, and the start and stop are controlled by an S-shaped acceleration and deceleration curve with an acceleration change rate of 0.08 m / s³. Before reaching a curve with a radius of 2.8 m, the system automatically reduces the speed to 0.2 m / s, with a centripetal acceleration of 0.014 m / s², and the tilt angle monitored by the tilt sensor is 0.8°. Throughout the journey, the maximum vibration amplitude monitored by the acceleration sensor is 0.15 mm, which is below the threshold.

[0103] The AGV transfer unit travels to the stopping position of the roller conveyor unit, and laser navigation + infrared sensor secondary positioning achieves a precise stopping accuracy of ±2mm; the central control scheduling module unlocks the roller conveyor unit, and the floating polyurethane buffer roller first contacts the bottom of the raw yarn shaft. The spring damping support system absorbs the kinetic energy of the connection, and the impact sensor monitors the connection impact peak value of 0.03g; then the power roller group starts at a speed of 0.2m / s, smoothly transitioning the raw yarn shaft to the power roller group, with no visible impact during the connection process;

[0104] The power roller assembly conveys the raw yarn spool to the gripping position of the stacker crane storage unit at a speed of 0.2 m / s; during the conveying process, the diffuse reflection positioning sensor detects the position in real time, and sends a position signal after the raw yarn spool is in place and stable for 2 seconds.

[0105] The central control and scheduling module issues a clamping and warehousing command. The adaptive flexible clamping device of the stacker crane storage unit automatically calculates the target clamping pressure of each airbag to be 0.035MPa based on the weight of the raw yarn spool (200kg). The four airbags on each side inflate steadily with a 0.5s inflation time, and the independent pressure sensor provides real-time feedback. The control system adjusts the clamping pressure through the high-speed proportional valve to stabilize it between 0.034-0.036MPa. Simultaneously, the bottom auxiliary support roller rises to contact the bottom of the raw yarn spool, providing a third point of support. After clamping, the stacker crane storage unit transports the raw yarn spool to the target storage location on the automated warehouse rack at a lifting speed of 0.4m / s and a lateral movement speed of 0.5m / s. During transportation, the airbag pressure fluctuates by ±0.001MPa, and the acceleration sensor monitors a vibration of 0.1mm. After the raw yarn spool is placed in place, the polyurethane shock-absorbing pad at the bottom of the storage location absorbs the final warehousing impact, with a peak impact value of 0.02g.

[0106] After the warehousing is completed, the airbag of the stacker crane storage and retrieval unit is deflated and reset, the bottom auxiliary support roller is lowered and reset, the roller conveying unit is reset to the initial height, and the AGV transfer unit returns to the unloading area for material retrieval without load.

[0107] In this embodiment, the actual transfer efficiency of the system reaches 24 rolls / hour, the material loss rate is 0.03%, the equipment failure rate is 0.5%, the maximum surface contact stress of the precursor spool is 0.06MPa, the maximum vibration amplitude is 0.15mm, the maximum side tilt angle is 0.8°, the maximum contact impact is 0.03g, and the clamping pressure is 0.035MPa. All parameters are far below the critical value of precursor damage, completely eliminating surface scratches and edge collapse, and fully meeting the stringent requirements of high-quality transfer for large-tow carbon fiber precursor spools.

[0108] Example 2

[0109] This embodiment provides a specific AGV-based smooth transport and automatic outbound system and method for protecting the surface of carbon fiber precursor spools and preventing edge collapse. It is suitable for outbound requirements of large tow carbon fiber precursor spools with a length of 2.5m and a weight of 800kg. The specific configuration steps are as follows:

[0110] The triangular buffer material handling bracket has an inclined support rod at a 45° angle to the vertical plane. The horizontal bearing beam is equipped with an arc-shaped positioning groove, and a 20mm thick low-hardness polyurethane buffer pad (Shore hardness 30A, tensile strength 12MPa, elongation at break 600%) is pasted inside the groove. The rated load capacity is 1500kg, and the full-load tilt angle is ≤1.5°. A stress sensor (range 0-2MPa, accuracy 0.001MPa) is installed at the bottom of the bracket.

[0111] The AGV transfer unit is a heavy-duty backpack AGV with a rated load capacity of 1000kg, an adjustable travel speed of 0.1-0.6m / s, and a turning radius of 3.0m. The active shock-absorbing load-bearing platform is equipped with an air spring vibration isolator (natural frequency 2.0Hz, working pressure 0.4-0.6MPa) and an electromagnetic damping adjuster (damping coefficient adjustable from 0.3 to 0.9). It is also equipped with an acceleration sensor (range ±4g, accuracy 0.001g) and an tilt sensor (range ±15°, accuracy 0.01°).

[0112] The roller conveying unit consists of a 120mm diameter, 10mm wall thickness power roller covered with a 2mm thick polyurethane anti-slip layer; the flexible buffer connection mechanism includes a floating polyurethane buffer roller (120mm diameter, covered with a 20mm thick polyurethane elastic layer, hardness 35A) and a spring damping support system (spring stiffness 800N / mm, damping coefficient 0.5); the conveying speed is adjustable from 0.1 to 0.3m / s; and it is equipped with a diffuse reflection positioning sensor (detection distance 0.5-8m) and an impact sensor (range ±4g, accuracy 0.001g).

[0113] The stacker crane's storage and retrieval unit includes an adaptive flexible gripping device comprising six independent airbag grippers on each side, each airbag having a diameter of 200mm and a total gripping length of 2500mm. The inner wall of each airbag is lined with a 2mm thick anti-slip polyurethane layer. Each airbag is equipped with an independent pressure sensor (range 0-0.2MPa, accuracy 0.001MPa) and a high-speed proportional valve (response time ≤8ms). The bottom auxiliary support roller has a stroke of 0-300mm and is equipped with a pressure sensor. The stacker crane's lifting speed is 0.3m / s, and its lateral movement speed is 0.4m / s.

[0114] The central control and scheduling module consists of a Siemens S7-1500 PLC and a 15-inch touchscreen. It is equipped with a dedicated logistics scheduling algorithm for the protection of the raw yarn shaft and communicates with each unit via 5G wireless communication. The safety interlock logic scan cycle is ≤50ms.

[0115] The automated warehouse racking system has the following features: a racking height of 800mm, an aisle width of 2.5m, a rated load capacity of 3000kg per racking location, and a 5mm thick polyurethane shock-absorbing pad at the bottom of each racking location.

[0116] It should be noted that, in this document, relational terms such as "first" and "second" are used only 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 process, method, article, or apparatus.

[0117] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A system for stable and damage-resistant transport and automatic warehousing of carbon fiber precursor spools, characterized in that, include The triangular buffer feeding bracket is used to support the raw yarn spool and automatically center it, evenly distribute the contact stress, and monitor the contact stress in real time and alarm when the limit is exceeded. The AGV transfer unit is used to carry the raw yarn shaft and absorb road vibration and lateral tilt through active shock absorption and anti-vibration driving strategies to achieve smooth transfer; The roller conveyor unit is used to absorb the contact impact between the AGV transfer unit and the stacker crane storage and retrieval unit through a flexible buffer connection mechanism, and to smoothly transfer the raw yarn shaft. The stacker crane storage unit is used to uniformly clamp the raw yarn shaft in the automated warehouse rack with closed-loop control of clamping pressure, and to prevent long shaft materials from bending and deforming due to their own weight by means of bottom auxiliary support rollers. The automated warehouse rack is used to provide storage space that is compatible with the specifications of the raw yarn spools and meets the operational requirements of the stacker crane access unit, and absorbs the impact of the warehouse entry through shock-absorbing pads. The central control and scheduling module is used to communicate wirelessly with the above-mentioned units, execute the full-process safety interlock logic, record and trace the stress, vibration and attitude data of the raw yarn shaft in real time, and interface with the upper-level production and warehousing system.

2. The carbon fiber precursor spool anti-damage stable transfer and automatic warehousing system according to claim 1, characterized in that, The triangular buffer material handling bracket adopts an isosceles triangle stable load-bearing structure, including a support plane, left and right symmetrical diagonal support rods, a central vertical column, a horizontal load-bearing beam, and a stress sensor; The horizontal bearing beam is located at the top of the central vertical column, and the supporting plane is formed on the upper surface of the horizontal bearing beam to support the spool. The top ends of the left and right symmetrical diagonal support rods are respectively connected to the two ends of the horizontal bearing beam, and the bottom ends extend to both sides and are fixed, forming a triangular bearing frame together with the central vertical column. The stress sensor is located at the bottom of the bracket to monitor the contact status between the spool and the bracket in real time and to trigger an alarm when the limit is exceeded. The horizontal bearing beam is provided with an arc-shaped positioning groove, and a polyurethane buffer pad is provided in the arc-shaped positioning groove; the arc-shaped positioning groove is used to realize automatic centering of the raw yarn spool through its self-centering property; the polyurethane buffer pad is used to evenly distribute the contact stress between the raw yarn spool and the bracket to the entire supporting plane.

3. The carbon fiber precursor spool anti-damage stable transfer and automatic warehousing system according to claim 1, characterized in that, The AGV transfer unit adopts a heavy-duty backpack AGV body and is equipped with an active shock-absorbing load-bearing platform, an anti-vibration driving strategy module, an acceleration sensor, and a tilt sensor. The active vibration damping platform includes an air spring isolator and an electromagnetic damping adjuster; the air spring isolator is disposed between the AGV body and the platform; the electromagnetic damping adjuster adjusts the damping coefficient in real time according to the feedback from the acceleration sensor to actively absorb road vibration; The anti-vibration driving strategy module is used to eliminate body roll during driving; The acceleration sensor and tilt sensor are used to monitor vibration and attitude data during driving in real time and feed them back to the central control and scheduling module.

4. The carbon fiber precursor spool anti-damage stable transfer and automatic warehousing system according to claim 3, characterized in that, The anti-vibration driving strategy module specifically includes an acceleration feedforward compensation algorithm and a path curvature adaptive deceleration unit: on straight driving sections, an S-shaped acceleration and deceleration curve is used to control the rate of change of acceleration during start-stop to within 0.1 m / s³; on turning sections, the driving speed is automatically adjusted according to the path curvature to ensure that the centripetal acceleration is less than or equal to 0.1 m / s².

5. The carbon fiber precursor spool anti-damage stable transfer and automatic warehousing system according to claim 1, characterized in that, The roller conveying unit includes a power roller assembly, a flexible buffer connection mechanism, a diffuse reflection positioning sensor, and a mechanical limiting mechanism. The flexible buffer connection mechanism is located on the side of the power roller group near the AGV transfer unit's stopping position. The diffuse reflection positioning sensor is arranged along the conveying direction of the power roller group to detect the position and status of the raw yarn shaft. The mechanical limiting mechanism is located at the end of the power roller group away from the AGV transfer unit's stopping position to mechanically stop and position the raw yarn shaft. The flexible buffer connection mechanism includes a floating polyurethane buffer roller and a spring damping support system. The floating polyurethane buffer roller has the same diameter as the power roller and is used to contact the bottom of the raw yarn shaft first after the AGV transfer unit stops, providing flexible support through the polyurethane elastic layer on its surface. The spring damping support system is set at the bottom of the floating polyurethane buffer roller and is used to absorb the kinetic energy of the AGV transfer unit at the moment of connection with the roller and control the impact acceleration of the connection. The powered roller assembly includes several powered rollers used to transfer the raw yarn shaft from the floating polyurethane buffer roller to achieve impact-free conveying.

6. The carbon fiber precursor spool anti-damage stable transfer and automatic warehousing system according to claim 1, characterized in that, The stacker access unit is equipped with an adaptive flexible clamping device on the stacker body. The adaptive flexible clamping device includes several independent airbag grippers symmetrically arranged on both sides and a bottom auxiliary support roller. Each airbag gripper includes a flexible airbag and a rigid back plate. The rigid back plate is located on the side of the flexible airbag facing away from the filament shaft, serving as the mounting base and support structure for the flexible airbag. The side of the flexible airbag facing the filament shaft expands when inflated, forming a clamping force on the filament shaft together with the rigid back plate. The inner wall of the airbag is provided with an anti-slip layer. The number of airbags is configured according to the length of the filament shaft. Each airbag is equipped with an independent pressure sensor and a proportional valve. The proportional valve is used to receive instructions from the central control and scheduling module and, based on the pressure signal fed back by the independent pressure sensor, independently and uniformly adjusts the clamping pressure of each airbag without damaging the surface, thereby achieving the closed-loop control. The bottom auxiliary support roller is a follow-up support structure that remains in contact with the bottom of the spool throughout the clamping and lifting process, providing a third point of support and preventing long spool-type materials from bending and deforming due to their own weight. Pressure sensors and acceleration sensors are installed on both the airbag gripper and the bottom auxiliary support roller to monitor the gripping status in real time.

7. The carbon fiber precursor spool anti-damage stable transfer and automatic warehousing system according to claim 1, characterized in that, The overall control and scheduling module adopts a control architecture of PLC and touch screen, and is equipped with a dedicated logistics scheduling algorithm for the protection of the raw yarn shaft. It is wirelessly connected to the AGV transfer unit, roller conveyor unit, and stacker crane storage and retrieval unit to realize task issuance, path planning, multi-device action coordination and full-process safety interlock.

8. A control method for implementing a stable and damage-resistant transfer and automatic warehousing system for carbon fiber precursor spools according to any one of claims 1-7, characterized in that, include: Surface stress monitoring and protection: The contact stress between the filament spool and the support is monitored in real time by a stress sensor installed at the bottom of the triangular buffer feeding bracket. When the stress exceeds the preset safety threshold, an alarm is triggered and feeding is suspended. Active vibration damping and attitude control: Based on the feedback from the accelerometer of the AGV transfer unit, the vibration damping of the AGV transfer unit is adjusted in real time to suppress vibration transmission; and the travel speed and path are adjusted based on the tilt angle monitored by the tilt sensor of the AGV transfer unit. Impact limiting during connection: The impact sensor built into the flexible buffer connection mechanism of the roller conveyor unit monitors the impact at the moment of connection. When the impact exceeds a preset threshold, the connection speed is adjusted or the connection is paused. Clamping force closed-loop control: The clamping pressure is adjusted in a closed loop by using the independent pressure sensors of each airbag in the adaptive flexible clamping device of the stacker crane storage unit to keep the clamping pressure within a preset safe range. Full-process safety interlock: Multiple interlock conditions are set through the central control and scheduling module, including locking the roller conveyor unit when the AGV transfer unit has not stopped in place, prohibiting the stacker crane storage unit from performing clamping actions when the raw yarn shaft is not stably positioned, and suspending operation and alarming when any sensor monitoring value exceeds the limit; Real-time status monitoring and traceability: The central control and scheduling module records the contact stress, vibration, tilt angle, connection impact, and clamping pressure data in real time during the transfer process, forming a fully traceable transfer file.

9. A method for transferring and storing carbon fiber precursor spools in a stable and damage-resistant manner according to any one of claims 1-7, characterized in that, include: Feeding and Picking: The raw yarn spool is placed on the triangular buffer picking bracket. The triangular buffer picking bracket provides low-stress support and automatic centering. After the overall control scheduling module confirms that it is ready, it controls the AGV transfer unit to pick up the raw yarn spool smoothly in an active shock-absorbing manner. Shock-absorbing transport and flexible connection: After the AGV transport unit picks up the raw yarn shaft, it actively adjusts the shock-absorbing damping and adaptively adjusts the travel speed and path according to the real-time vibration and attitude feedback. After traveling to the roller conveyor unit and completing the precise stop, the flexible buffer connection mechanism of the roller conveyor unit absorbs the connection impact and smoothly transitions the raw yarn shaft to the power roller group. Smooth conveying and adaptive clamping for warehousing: The power roller group conveys the raw yarn shaft at low speed to the gripping position. After it is in place and stable, the adaptive flexible clamping device of the stacker crane storage unit adjusts the clamping pressure in a closed loop according to the weight of the raw yarn shaft, and completes adaptive clamping with the bottom auxiliary support. Then the raw yarn shaft is transported to the target storage location of the automated warehouse rack and placed. Equipment reset cycle: After the warehousing is completed, the stacker crane storage and retrieval unit, roller conveyor unit and AGV transfer unit are reset in sequence. The AGV transfer unit returns to the material picking position without load and waits for the next cycle.

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