Steel coil feeding AGV capable of achieving accurate positioning

Abstract

The steel coil feeding AGV capable of achieving accurate positioning comprises a vehicle body, walking wheels, driving steering wheels, a navigation positioning module and the like. A lifting platform is arranged right above the front end of the vehicle body, a V-shaped cargo carrying tray is placed on the lifting platform, and a steel coil is placed on the V-shaped cargo carrying tray; a steel coil center hole detecting and positioning device is arranged at the rear end of the vehicle body, three laser reflection switches are arranged on the steel coil center hole detecting and positioning device, and the laser reflection switches are arranged in a delta shape according to the height and the diameter of a supporting shaft of the uncoiler. The lifting platform on the AGV drives the V-shaped cargo carrying tray to lift up and down and is matched with the three laser detection switches installed on the steel coil center hole detecting and positioning device to detect whether a center hole of a steel coil is concentric with a supporting shaft of the uncoiler or not, and therefore automatic handover of the steel coil from the AGV to the uncoiler is achieved.

Description

Technical Field

[0001] The invention relates to a device for automatically feeding steel coil products, and in particular to an AGV for steel coil feeding which can realize precise positioning. Background Art

[0002] In the factory production process, the loading process of the steel coil uncoiler is usually carried out by crane lifting and multiple workers around. The transfer of steel coils between cranes is carried out by ground panel trucks or forklifts. The problem with this approach is low work efficiency; the weight of the steel coil unit cargo is very large, and it is easy to cause safety accidents such as cargo dumping, falling, and injury during the transfer process, which poses a great safety hazard. An automated equipment is urgently needed to realize the automated loading of this process.

[0003] At present, the difficulty in automating the feeding of steel coil uncoilers lies in the inability to achieve accurate positioning of the center hole of the steel coil and the support shaft of the uncoiler. Problems of collision between the steel coil and the support shaft of the uncoiler often occur, resulting in accidents such as the steel coil falling, damage to the uncoiler, and damage to the handling equipment. Summary of the invention

[0004] In view of the above problems, the present invention provides an AGV for steel coil loading that can achieve precise positioning, which solves the problem that the steel coil loading automation process cannot be accurately positioned and is prone to collision and safety accidents.

[0005] The present invention is realized by the following technical scheme: an AGV for steel coil loading that can realize precise positioning includes: a vehicle body, a running wheel, a driving steering wheel, and a navigation and positioning module. A lifting platform is arranged just above the front end of the vehicle body, a V-shaped cargo tray is placed on the lifting platform, and a steel coil is placed on the V-shaped cargo tray; at the rear end of the vehicle body, a steel coil center hole detection and positioning device is arranged, and three laser reflection switches are arranged on the steel coil center hole detection and positioning device. The laser reflection switches are arranged in a finished product shape according to the height and diameter of the uncoiler support shaft. The principle of determining a circle by three points, the rays of the three laser reflection switches can just determine a circumscribed circle, the diameter of the circumscribed circle is larger than the diameter of the uncoiler support shaft, smaller than the diameter of the steel coil center hole, and the center of the circumscribed circle is concentric with the uncoiler support shaft.

[0006] The present invention uses an AGV to carry the steel coil to the vicinity of the uncoiler, and the lifting platform on the AGV moves up and down with the V-shaped cargo pallet, cooperating with three laser detection switches installed on the steel coil center hole detection and positioning device to detect whether the center hole of the steel coil is concentric with the uncoiler support shaft. When the three laser reflection switches are not blocked, the AGV completes the positioning of the steel coil center hole and the uncoiler support shaft. At this time, the AGV moves forward, puts the steel coil center hole on the uncoiler support shaft, and the lifting platform descends a certain distance to complete the safe transfer of the steel coil from the AGV to the uncoiler.

[0007] Furthermore, in order to more accurately control the lifting accuracy of the lifting platform, a pull-wire encoder is fixedly installed on the vehicle body below the lifting platform, and the pull wire of the pull-wire encoder is fixedly connected to the lifting platform; the data obtained by the pull-wire encoder can accurately control the lifting action of the lifting platform. BRIEF DESCRIPTION OF THE DRAWINGS

[0008] Figure 1 It is the front view of the present invention.

[0009] Figure 2 It is a side view of the present invention. DETAILED DESCRIPTION

[0010] The present invention is described in detail below with reference to the accompanying drawings: an AGV for steel coil loading that can achieve precise positioning comprises: a vehicle body 1, walking wheels 2, driving steering wheels 3, and a navigation and positioning module 4; a lifting platform 7 is arranged directly above the front end of the vehicle body 1, a V-shaped cargo pallet 5 is placed on the lifting platform 7, and a steel coil 9 is placed on the V-shaped cargo pallet 5; at the rear end of the vehicle body 1, a steel coil center hole detection and positioning device 6 is arranged, and three laser reflection switches 6302 are arranged on the steel coil center hole detection and positioning device 6, and the laser reflection switches 6302 are arranged in a finished product shape according to the height and diameter of the uncoiler support shaft 10. According to the principle of determining a circle by three points, the laser rays 6310 of the three laser reflection switches 6302 can just determine a circumscribed circle, the diameter of the circumscribed circle is larger than the diameter of the uncoiler support shaft and smaller than the diameter of the steel coil center hole, and the center of the circumscribed circle is concentric with the uncoiler support shaft 10.

[0011] The present invention uses an AGV to carry the steel coil 9 to the vicinity of the uncoiler, and the lifting platform 7 on the AGV lifts up and down with the V-shaped cargo pallet 5, and cooperates with the three laser detection switches 6302 installed on the steel coil center hole detection and positioning device 6 to detect whether the center hole of the steel coil 9 is concentric with the uncoiler support shaft 10. When the three laser reflection 6302 switches are not blocked, the AGV completes the positioning of the steel coil center hole and the uncoiler support shaft 10. At this time, the AGV moves forward, puts the steel coil center hole on the uncoiler support shaft 10, and the lifting platform 7 descends a certain distance to complete the safe transfer of the steel coil 9 from the AGV to the uncoiler.

[0012] Furthermore, in order to more accurately control the lifting accuracy of the lifting platform 7, a pull-wire encoder 11 is fixedly arranged on the vehicle body 1 below the lifting platform 7, and the pull rope of the pull-wire encoder 11 is fixedly connected to the lifting platform 7; the data obtained by the pull-wire encoder can accurately control the lifting action of the lifting platform.

Claims

1. An AGV for steel coil loading capable of achieving precise positioning, comprising a vehicle body (1), running wheels (2), a driving steering wheel (3), and a navigation and positioning module (4), wherein: A lifting platform (7) is arranged directly above the front end of the vehicle body (1), a V-shaped cargo tray (5) is placed on the lifting platform (7), and a steel coil (9) is placed on the V-shaped cargo tray (5); a steel coil center hole detection and positioning device (6) is arranged at the rear end of the vehicle body (1), and three laser reflection switches (6302) are arranged on the steel coil center hole detection and positioning device (6), and the laser reflection switches (6302) are arranged in a finished product shape according to the height and diameter of the uncoiler support shaft (10), and the diameter of the circumscribed circle determined by the laser rays (6310) of the three laser reflection switches (6302) is larger than the diameter of the uncoiler support shaft (10) and smaller than the diameter of the center hole of the steel coil (9), and the center of the circumscribed circle is concentric with the uncoiler support shaft (10).

2. The AGV for steel coil loading capable of achieving precise positioning according to claim 1 is characterized in that: A pull rope encoder (11) is also fixedly arranged on the vehicle body (1) below the lifting platform (7), and the pull rope of the pull rope encoder (11) is fixedly connected to the lifting platform (7).

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