Steel coil feeding, positioning and detecting device for AGV (Automatic Guided Vehicle)

Abstract

The utility model discloses a steel coil feeding positioning detection device for an AGV. The steel coil feeding positioning detection device comprises a lifting device, a rotating device and a detection switch assembly. A lifting device body support is directly fixed to an AGV body, a rotating device is fixedly arranged on the upper surface of a lifting table of the lifting device, a detection switch assembly supporting frame is fixedly installed on a rotating chassis of the rotating device, and a laser reflection switch is arranged on a detection switch assembly. The problems that accurate positioning cannot be achieved in the automatic steel coil feeding process, and steel coils of different specifications and uncoilers of different models cannot be adapted are solved.

Description

Technical Field

[0001] The invention relates to a positioning detection device for automatic feeding of steel coil products, in particular to a steel coil feeding positioning detection device for AGV. 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 of automatic feeding of steel coil unwinder is that it is impossible to accurately position the center hole of the steel coil and the support shaft of the unwinder. The steel coil often collides with the support shaft of the unwinder, resulting in accidents such as steel coil falling, damage to the unwinder, and damage to the handling equipment. At the same time, the existing detection and positioning devices often fail to adapt to environmental changes and have inaccurate positioning when facing steel coils of different specifications and unwinders of different models. Summary of the invention

[0004] In view of the above problems, the present invention provides a steel coil feeding positioning detection device for AGV, which solves the problem that the steel coil feeding automation process cannot be accurately positioned and cannot adapt to steel coils of different specifications and different models of uncoilers.

[0005] The present invention is realized through the following technical scheme: a steel coil feeding positioning detection device for AGV, comprising: a lifting device, a rotating device, and a detection switch assembly; the lifting device main body bracket is directly fixed on the AGV body, and a lifting screw rod is arranged on the lifting device main body bracket, and the lifting screw rod is movably arranged on the lifting device main body bracket perpendicular to the ground through a bearing, and the driving end of the lifting screw rod extends from the lower part of the lifting device main body bracket, and the lower driving end of the lifting screw rod is connected to the lifting motor; on the lifting screw rod, a lifting nut is also movably arranged, the lifting platform is fixedly connected to the lifting nut, and the lifting nut can move up and down with the lifting platform, and a lifting slider is also fixedly arranged on the right side of the lifting platform, and the lifting slider is movably mounted on the lifting guide rail, and the lifting guide rail is fixedly mounted on the lifting device main body bracket; when the lifting motor rotates, the lifting screw rod also rotates, and the lifting nut arranged on the lifting screw rod will move up and down under the rotation of the lifting screw rod, and also brings the lifting platform to move up and down along the direction of the lifting guide rail.

[0006] A rotating device is fixedly arranged on the upper surface of the lifting platform of the lifting device, and the rotating device body is fixedly installed on the upper surface of the lifting platform. A rotating motor is fixedly arranged at the upper end of the rotating device body, and a driving gear is fixedly arranged on the output shaft of the rotating motor. A driven gear is also arranged in the middle position of the rotating device body. The driven gear is installed on the rotating device body through the driven gear shaft and can rotate freely. The rotating chassis is fixedly connected to the driven gear and the rotating chassis is circular and coaxial with the driven gear. When the rotating motor rotates, the driven gear can be driven to rotate through the driving gear, and the rotating chassis is also driven to rotate at the same time.

[0007] A detection switch assembly support frame is fixedly installed on the rotating chassis, and an adjusting motor is fixedly arranged on the detection switch assembly support frame. The output shaft of the adjusting motor is fixedly connected to the switch detection radius adjusting screw rod, and the other end of the switch detection radius adjusting screw rod is installed on the central support shaft through a supporting bearing. The central support shaft is fixedly installed on the detection switch assembly support frame through a central support shaft seat. The switch detection radius adjusting screw rod is horizontally installed and is perpendicular to the rotating chassis and coaxial with the rotating chassis; an adjusting nut is also movably sleeved on the switch detection radius adjusting screw rod; a four-bar mechanism with a parallelogram structure is also arranged on the outer surface of the central support shaft, and the four-bar mechanism is hinged on the central support shaft and can rotate around the hinge shaft, and the horizontal bar at the upper end of the four-bar mechanism is replaced by a laser reflection switch mounting plate, and the laser reflection switch is fixedly installed on the laser reflection switch mounting plate, and the laser reflection switch can emit laser The laser light is horizontal to the ground, and the distance from the central support shaft is adjusted under the drive of the parallelogram structure, and it is kept horizontal all the time; the long rod on the right side of the four-bar linkage is the power rod of the four-bar linkage, and one end of the adjusting push rod is hinged at the middle position of the power rod of the four-bar linkage, and the other end of the adjusting push rod is hinged on the adjusting nut; when the adjusting motor rotates, it drives the switch detection radius adjusting screw rod, and at this time the adjusting nut will move left and right in the horizontal direction under the drive of the switch detection radius adjusting screw rod, and at the same time drive the adjusting push rod to move, and under the push of the adjusting push rod, the power rod of the four-bar linkage starts to rotate, driving the laser reflection switch mounting plate and the laser reflection switch located at the top of the four-bar linkage away from or close to the central support shaft, so as to realize the action of adjusting the detection radius of the laser reflection switch, and under the drive of the rotating motor, the rotating chassis rotates with the detection switch assembly to realize the circumferential detection of the laser reflection switch.

[0008] The present invention is installed on the body of the AGV. When the AGV drives to the vicinity of the uncoiler with the steel coil, the present invention first guides the lifting device of the present invention to automatically adjust the height of the rotating center axis of the laser reflection switch of the present invention according to the three data of the height, diameter parameter and center hole diameter of the uncoiler support shaft pre-input into the system, and guides the detection switch component to adjust the detection radius, so that the detection radius of the laser reflection switch is smaller than the inner hole diameter of the steel coil and larger than the diameter of the uncoiler support shaft; the lifting device of the AGV also lifts the steel coil to the specified height in advance according to the above parameters. At this time, The rotating device starts to rotate several times with the detection switch assembly to confirm that the center hole of the steel coil is not deformed or free of foreign matter. At this time, the AGV continuously adjusts its own position to align with the uncoiler support shaft. Before the steel coil is put on the uncoiler support shaft, the present invention rotates again to detect whether there is any reflected information. When the laser reflection switch detects a reflected signal, it means that the steel coil is not aligned with the support shaft of the uncoiler. When the laser reflection switch rotates several times and no reflected signal is received, it means that the steel coil is aligned with the support shaft of the uncoiler and the steel coil can be moved toward the switch to be put on the support shaft of the uncoiler.

[0009] Furthermore, the four-bar linkage, laser reflection switch adjustment push rod, laser reflection switch mounting plate, and laser reflection switch of the present invention can be arranged in 2 or 3 groups and evenly distributed in a circle on the central support shaft, which can further improve the detection efficiency and reliability of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] Figure 1 It is the front view of the present invention. DETAILED DESCRIPTION

[0011] The utility model is described in detail below in conjunction with the accompanying drawings: A steel coil feeding positioning detection device for AGV, comprising: a lifting device 1, a rotating device 2, and a detection switch assembly 3. The lifting device main body bracket 102 is directly fixed on the AGV body 4, and a lifting screw rod 101 is arranged on the lifting device main body bracket 102. The lifting screw rod 101 is movably arranged on the lifting device main body bracket 102 perpendicular to the ground through a bearing 103, and the driving end of the lifting screw rod 101 extends from the lower part of the lifting device main body bracket 102, and the lower driving end of the lifting screw rod 101 is connected to the lifting motor 104; on the lifting screw rod 101, there is also a movable device A lifting nut 105 is provided, and the lifting platform 108 is fixedly connected to the lifting nut 105, and the lifting nut 105 can move up and down with the lifting platform 108. On the right side of the lifting platform 108, a lifting slider 107 is also fixedly provided, and the lifting slider 107 is movably installed on the lifting guide rail 106, and the lifting guide rail 106 is fixedly installed on the lifting device main body bracket 102; when the lifting motor 104 rotates, the lifting screw rod 101 also rotates, and the lifting nut 105 arranged on the lifting screw rod 101 will move up and down under the rotation of the lifting screw rod 101, and at the same time, it also brings the lifting platform 108 to move up and down along the direction of the lifting guide rail 106.

[0012] A rotating device 2 is fixedly arranged on the upper surface of the lifting platform 108 of the lifting device 1, and a rotating device body 201 is fixedly installed on the upper surface of the lifting platform 108. A rotating motor 202 is fixedly arranged on the upper end of the rotating device body 201, and a driving gear 203 is fixedly arranged on the output shaft of the rotating motor 202. A driven gear 204 is also arranged in the middle position of the rotating device body 201. The driven gear 204 is installed on the rotating device body 201 through a driven gear shaft 205 and can rotate freely. A rotating chassis 206 is fixedly connected to the driven gear 204 and the rotating chassis 206 is circular and coaxial with the driven gear 204; when the rotating motor 202 rotates, the driven gear 204 can be driven to rotate through the driving gear 203, and the rotating chassis 206 is also driven to rotate.

[0013] A detection switch assembly support frame 301 is fixedly installed on the rotating chassis 206, and an adjustment motor 307 is fixedly arranged on the detection switch assembly support frame 301. The output shaft of the adjustment motor 307 is fixedly connected to the switch detection radius adjustment screw rod 305. The other end of the switch detection radius adjustment screw rod 305 is installed on the central support shaft 303 through the support bearing 306. The central support shaft 303 is fixedly installed on the detection switch assembly support frame 301 through the central support shaft seat 313. The switch detection radius adjustment screw rod 305 is installed horizontally and vertically. The central support shaft 303 is perpendicular to the rotating chassis 206 and is coaxial with the rotating chassis 206. An adjusting nut 312 is movably mounted on the switch detection radius adjusting screw rod 305. A four-bar linkage 304 with a parallelogram structure is also provided on the outer surface of the central support shaft 303. The four-bar linkage 304 is hinged on the central support shaft 303 and can rotate around the hinge axis. The horizontal rod at the upper end of the four-bar linkage 304 is replaced by a laser reflection switch mounting plate 308. The laser reflection switch 302 is fixedly mounted on the laser reflection switch mounting plate 308. The laser reflection switch 302 can emit The laser beam 310 is horizontal to the ground, and the distance from the central support shaft 303 is adjusted under the drive of the four-bar linkage 304, and it is kept horizontal all the time; the long rod on the right side of the four-bar linkage 304 is the four-bar linkage power rod 309, and one end of the adjusting push rod 311 is hinged at the middle position of the four-bar linkage power rod 309, and the other end of the adjusting push rod 311 is hinged on the adjusting nut 312; when the adjusting motor 307 rotates, it drives the switch detection radius adjusting screw rod 305 to rotate, and at this time the adjusting nut 312 will be at the switch detection radius Driven by the adjusting screw rod 305, it moves left and right in the horizontal direction, and at the same time drives the adjusting push rod 311 to move. Under the push of the adjusting push rod 311, the power rod 309 of the four-bar mechanism starts to rotate, driving the laser reflection switch mounting plate 308 and the laser reflection switch 302 located at the top of the four-bar mechanism 304 away from or close to the central support shaft 303, so as to adjust the detection radius of the laser reflection switch 302. Driven by the rotating motor 202, the rotating chassis 206 rotates with the detection switch assembly 3 to realize circular detection of the laser reflection switch 302.

[0014] The present invention is installed on the body 4 of the AGV. When the AGV drives to the vicinity of the uncoiler with the steel coil, the present invention first guides the lifting device 1 of the present invention to automatically adjust the height of the rotating center axis of the laser reflection switch 302 of the present invention according to the three data of the height, diameter parameter and center hole diameter of the uncoiler support shaft pre-input in the system, and guides the detection switch component 3 to adjust the detection radius, so that the detection radius of the laser reflection switch 302 is smaller than the inner hole diameter of the steel coil and larger than the diameter of the uncoiler support shaft; the lifting device of the AGV also lifts the steel coil to the specified height in advance according to the above parameters. At this time The rotating device 2 starts to rotate several times with the detection switch assembly 3 to confirm that the center hole of the steel coil is not deformed or free of foreign matter. At this time, the AGV continuously adjusts its own position to align with the support shaft of the uncoiler. Before the steel coil is put on the support shaft of the uncoiler, the present invention rotates again to detect whether there is any reflected information. When the laser reflection switch 302 detects a reflected signal, it means that the steel coil is not aligned with the support shaft of the uncoiler. When the laser reflection switch 302 rotates for several times and does not receive a reflected signal, it means that the steel coil is aligned with the support shaft of the uncoiler, and the steel coil can be moved toward the switch to be put on the support shaft of the uncoiler.

[0015] Furthermore, the four-bar linkage 304, the laser reflection switch adjustment push rod 311, the laser reflection switch mounting plate 308, and the laser reflection switch 302 of the present invention can be arranged in 2 or 3 groups and evenly distributed in a circle on the central support shaft 303. This can further improve the detection efficiency and reliability of the present invention.

Claims

1. A steel coil feeding positioning detection device for AGV, characterized in that: include: The invention is composed of three parts: a lifting device (1), a rotating device (2), and a detection switch assembly (3); a lifting device main frame (102) is directly fixed on an AGV vehicle body (4); a lifting screw rod (101) is arranged on the lifting device main frame (102); the lifting screw rod (101) is movably arranged on the lifting device main frame (102) perpendicular to the ground through a bearing (103); a driving end of the lifting screw rod (101) extends from the lower part of the lifting device main frame (102); and the lower driving end of the lifting screw rod (101) is connected to a lifting motor (104); a lifting screw nut (101) is also movably arranged on the lifting screw rod (101). 05), the lifting platform (108) is fixedly connected to the lifting nut (105), and the lifting nut (105) can move up and down with the lifting platform (108), and a lifting slider (107) is fixedly arranged on the right side of the lifting platform (108), and the lifting slider (107) is movably mounted on the lifting guide rail (106), and the lifting guide rail (106) is fixedly mounted on the lifting device main body bracket (102); on the upper surface of the lifting platform (108) of the lifting device (1), a rotating device (2) is fixedly arranged, and the rotating device main body (201) is fixedly mounted on the upper surface of the lifting platform (108), and at the upper end of the rotating device main body (201) A rotating motor (202) is fixedly arranged, a driving gear (203) is fixedly arranged on the output shaft of the rotating motor (202), a driven gear (204) is also arranged at the middle position of the rotating device body (201), the driven gear (204) is mounted on the rotating device body (201) via a driven gear shaft (205), a rotating chassis (206) is fixedly connected to the driven gear (204), and the rotating chassis (206) is circular and coaxial with the driven gear (204); a detection switch assembly support frame (301) is fixedly installed on the rotating chassis (206), and a detection switch assembly support frame (301) is fixedly arranged on the detection switch assembly support frame (301). An adjusting motor (307) is arranged, the output shaft of the adjusting motor (307) is fixedly connected to a switch detection radius adjusting screw rod (305), the other end of the switch detection radius adjusting screw rod (305) is mounted on a central support shaft (303) via a support bearing (306), the central support shaft (303) is fixedly mounted on a detection switch assembly support frame (301) via a central support shaft seat (313), the switch detection radius adjusting screw rod (305) is horizontally mounted and perpendicular to the rotating chassis (206), and is coaxial with the rotating chassis (206); an adjusting nut (312) is also movably sleeved on the switch detection radius adjusting screw rod (305);A four-bar linkage (304) of a parallelogram structure is also provided on the outer surface of the central support shaft (303). The four-bar linkage (304) is hinged on the central support shaft (303) and can rotate around the hinge shaft. The horizontal rod at the upper end of the four-bar linkage (304) is a laser reflection switch mounting plate (308). The laser reflection switch (302) is fixedly mounted on the laser reflection switch mounting plate (308). The laser reflection switch (302) can emit a laser beam (310). The laser beam (310) is horizontal to the ground and can adjust the distance from the central support shaft (303) driven by the four-bar linkage (304) and always remain horizontal. The long rod on the right side of the four-bar linkage (304) is a four-bar linkage power rod (309). One end of an adjustment push rod (311) is hinged at the middle position of the four-bar linkage power rod (309). The other end of the adjustment push rod (311) is hinged on an adjustment nut (312). ; 2. The steel coil feeding positioning detection device for AGV according to claim 1, characterized in that: The four-bar linkage (304), the laser reflection switch adjustment push rod (311), the laser reflection switch mounting plate (308), and the laser reflection switch (302) are arranged in two or more groups and are evenly distributed in a circle on the central support shaft (303).

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