Automatic guiding and transporting device for large shaft body paper

Abstract

An automatic guiding and transporting device for large-shaft base paper comprises an AGV trolley and a lifting frame, a trolley body of the AGV trolley is of an L-shaped structure, a hydraulic cylinder is installed in an installation cabin in the middle of the trolley body, the lifting frame is installed on the trolley body and fixedly connected with a piston rod of the hydraulic cylinder, and the lifting frame is controlled by the hydraulic cylinder to ascend and descend; a bearing tray is fixedly connected to the bottom of the lifting frame and extends out of the bottom of the lifting frame in advance to be horizontally arranged. An electric conveyor is transversely installed on the bearing tray, and an inner side limiting supporting plate and an outer side limiting supporting plate which are used for limiting rolling of the large-shaft raw paper are correspondingly arranged on the bearing tray on the two sides of the electric conveyor; the top of the lifting frame extends forwards, and photoelectric sensors used for detecting whether the large-shaft body paper is centered or not are installed at the two ends of the lifting frame respectively. According to the automatic guiding and transporting device for the large shaft body paper, goods can be automatically taken and unloaded, manual intervention is reduced, the carrying efficiency is improved, the automatic guiding and transporting device can be matched with material detection laser for automatic adjustment, roll paper is centered, and the safety of overall operation is improved.

Description

TECHNICAL FIELD

[0001] The utility model relates to the technical field of paper roll carrying, and specifically relates to an automatic guiding and transporting device for large-shaft raw paper. BACKGROUND

[0002] Large-shaft raw paper is paper that is cut into a roll by a rewinder and meets the width and diameter requirements of national standards or users. Existing paper mills and other factories that need to carry large paper rolls usually use existing manual or electric hydraulic carriers for carrying. During use, two forks arranged on the left and right of the frame of the carrier are inserted into the bottom of the large paper roll, and the lifting of the paper roll is realized by manually or electrically driving the hydraulic system. The carrier is moved to realize the carrying of the paper roll. This carrying operation requires a dedicated operator.

[0003] With the continuous upgrading and optimization of AGV in recent years, AGV has become a mature standardized product. If AGV is used for carrying large-shaft raw paper, the labor input can be reduced, and automatic carrying operation can be realized. Therefore, an automatic guiding and transporting device for large-shaft raw paper using AGV is needed. SUMMARY

[0004] The utility model aims at the problems existing in the prior art and provides an automatic guiding and transporting device for large-shaft raw paper. The automatic guiding and transporting device for large-shaft raw paper can automatically pick up and unload goods, reduces manual intervention, improves carrying efficiency, and can automatically adjust the material detection laser to center the paper roll, thereby improving the safety of the overall operation.

[0005] The utility model is implemented by using the following technical solutions:

[0006] The application discloses an automatic guide transport device for large shaft raw paper, which comprises an AGV trolley and a lifting frame, wherein the trolley body of the AGV trolley is in L-shaped structure, a hydraulic cylinder is arranged in the mounting cabin in the middle of the trolley body, the hydraulic system of the hydraulic cylinder comprises a hydraulic pump and a speed regulating valve and the like, the hydraulic pump is responsible for providing hydraulic power to push the piston rod of the hydraulic cylinder to ascend or descend, and the speed regulating valve is used for controlling the flow of hydraulic oil so as to realize the rapid ascending and slow stable stopping of the carrying tray, when it is needed to carry the large shaft raw paper, the hydraulic lifting system works to lift the carrying tray to a suitable height to complete the lifting action of the goods, the lifting frame is fixedly connected with the piston rod of the hydraulic cylinder and is controlled to ascend and descend by the hydraulic cylinder, the bottom of the lifting frame is fixedly connected with the carrying tray, the carrying tray is arranged in a horizontal mode and protrudes forward at the bottom of the lifting frame, an electric conveyor is horizontally arranged on the carrying tray, inner and outer limiting supporting plates for limiting the rolling of the large shaft raw paper are arranged on the two sides of the electric conveyor, the top of the lifting frame protrudes forward, and photoelectric sensors for detecting whether the large shaft raw paper is in the center are arranged at the two ends of the top of the lifting frame respectively. The two material detection photoelectric sensors are symmetrically arranged on the two sides above the carrying tray, which can accurately detect whether the large shaft raw paper is placed in the center. When the large shaft raw paper is placed on the carrying tray, the laser beam emitted by the material detection photoelectric sensor can detect the large shaft raw paper, and the detected signal is transmitted to the controller system, the controller system judges the position deviation of the large shaft raw paper according to the signal, and instructs the transverse moving module system to adjust the position of the large shaft raw paper, so that the large shaft raw paper is always in the center position in the carrying process, the accuracy of the equipment docking is improved, the collision and falling risk caused by the deviation of the large shaft raw paper is effectively reduced, the damage rate of the goods is reduced, and the stability and safety of the carrying are improved. The AGV trolley is provided with a hidden mobile power supply, the charging interface is ingeniously hidden at the bottom of the trolley body in the hidden charging design, so that the collision, scratching and the like of the traditional exposed charging interface in the walking process of the AGV trolley are avoided, dust, sundries and the like are prevented from entering the charging interface, the service life and safety of the charging interface are improved, when the AGV trolley needs to be charged, the charging pile can be connected for charging only by simple operation, the normal use and carrying efficiency of the AGV trolley are not affected, and the appearance of the AGV trolley is more neat and beautiful.

[0007] Further preferably, the electric conveyor is a belt conveyor or an electric rail car, and a supporting plate is installed on the electric rail car for supporting the bottom of the large-axle raw paper. When picking up the large-axle raw paper, the horizontal movement module system moves the supporting plate to the designated position below the large-axle raw paper according to the instruction of the controller system, and then the hydraulic lifting system lifts the large-axle raw paper, and the supporting plate pushes the large-axle raw paper to the center of the bearing tray. When unloading the large-axle raw paper, the horizontal movement module system accurately pushes the large-axle raw paper to the designated position of the target equipment, and the whole process does not need manual intervention, greatly improving the carrying efficiency. Moreover, the horizontal movement module system cooperates with the material detection system, and when the material detection system judges that the large-axle raw paper is not centered, the horizontal movement module system can accurately adjust the position of the large-axle raw paper according to the instruction of the controller system, further improving the safety and accuracy of the whole operation, and reducing the errors and risks caused by manual operation.

[0008] Further preferably, the controller is installed on the vehicle body, and a rudder wheel walking and turning system is installed at the bottom of the vehicle body. The controller is matched with the rudder wheel walking and turning system, controls the working of the rudder wheel walking and turning system, and the rudder wheel walking and turning system includes an electric rudder wheel and a walking support wheel. The rudder wheel walking and turning system adjusts the walking speed and turning angle in real time according to the position and direction deviation fed back by the navigation system through the single rudder wheel driven by two independent motors, realizes flexible turning and accurate positioning of the AGV car, and the independent driving design enables the AGV car to rotate in place when turning, improving the passability and adaptability of the AGV car in complex environments.

[0009] Further preferably, a laser radar is installed on the top of the vehicle body, and the laser radar is matched with the controller to form a laser positioning navigation system. The laser positioning navigation system can accurately scan and construct a working environment map in real time using the laser radar, and the positioning accuracy can reach millimeter level, ensuring that the AGV car accurately travels according to the preset path in complex working scenes with little deviation. Moreover, the system has high adaptability to environmental changes, and can be quickly put into use in warehouses, workshops and other different scenes without additional modification of the working place, such as laying magnetic strips and pasting two-dimensional codes, greatly improving the universality and convenience of the AGV car. At the same time, the laser navigation system has strong reliability, can maintain stable performance under long-time continuous working, reduces the interruption or mistake in carrying caused by navigation system failure, and ensures the efficient operation of the production and carrying process.

[0010] Further preferably, two safety laser sensors are respectively installed on the two sides of the vehicle body, and the safety laser sensors are matched with the controller to form a safety detection system. The safety detection system monitors the surrounding environment in real time through the safety laser sensors on the two sides of the vehicle body. Once an obstacle or a person enters the dangerous area, an alarm is triggered immediately, and the controller system is notified to take emergency braking or avoidance measures. The omnidirectional monitoring and rapid response mechanism effectively ensures the safety of the AGV trolley during driving and avoids equipment damage and personnel injury caused by collision.

[0011] The automatic guided transport device of the large shaft raw paper adopts an AGV trolley as a bearing moving main body. A lifting frame controlled by a hydraulic cylinder is installed on the AGV trolley. A bearing tray is fixedly connected to the bottom of the lifting frame. An electric conveyor is installed on the bearing tray. Two material detection photoelectric sensors are symmetrically installed on the two sides of the lifting frame above the bearing tray, which are used to detect whether the large shaft raw paper is placed in the center. When the large shaft raw paper is placed on the transverse module, the material detection photoelectric sensor emits a laser beam to detect the large shaft raw paper, transmits the detection signal to the controller system, and the controller system judges the position deviation of the large shaft raw paper according to the signal, and instructs the transverse module to adjust the position of the large shaft raw paper, so as to ensure that the large shaft raw paper is always in the center position during the carrying process. Through the cooperation of the material detection photoelectric sensor and the transverse module, not only can the large shaft raw paper be detected whether it is in the center, but also the position of the large shaft raw paper can be automatically adjusted to ensure that it is always in the center state during the carrying process. This function significantly improves the accuracy of the equipment interface, effectively reduces the collision and falling risk caused by the deviation of the large shaft raw paper, reduces the damage rate of goods, improves the stability and safety of the carrying process, reduces the manual intervention, and also improves the reliability and efficiency of the AGV trolley during the carrying process of the large shaft raw paper. BRIEF DESCRIPTION OF DRAWINGS

[0012] Figure 1 FIG. 1 is a schematic view of the planar structure of the automatic guided transport device of the large shaft raw paper;

[0013] Figure 2 FIG. 2 is a top view of the automatic guided transport device of the large shaft raw paper; Figure 1

[0014] Figure 3 FIG. 3 is a schematic view of the three-dimensional structure of the automatic guided transport device of the large shaft raw paper; Figure 1

[0015] Figure 4 FIG. 4 is a schematic view of the three-dimensional structure of the automatic guided transport device of the large shaft raw paper; Figure 2

[0016] Figure 5 FIG. 5 is a schematic view of the connection structure of the vehicle body and the lifting frame;

[0017] Figure 6 ​​​Structure diagram of the carrying tray;

[0018] The component names corresponding to the serial numbers in the figure are:

[0019] 1, AGV trolley; 2, lifting frame; 3, photoelectric sensor; 4, carrying tray; 5, inner side limiting support plate; 6, electric rail car; 7, support plate; 8, outer side limiting support plate; 9, hydraulic cylinder; 10, rudder wheel walking steering system; 11, safety laser sensor; 12, vehicle body; 13, controller; 14, laser radar. DETAILED DESCRIPTION

[0020] The technical solutions in the application will be described clearly and completely in combination with the embodiments, and the described embodiments are only a part of the embodiments of the application, not all the embodiments. EMBODIMENT

[0021] An automatic guide transport device for large shaft raw paper includes an AGV trolley 1 and a lifting frame 2. The vehicle body 12 of the AGV trolley 1 is in an L-shaped structure. A hydraulic cylinder 9 is installed in the middle part of the vehicle body 12. The hydraulic system of the hydraulic cylinder includes a hydraulic pump and a speed regulating valve and other components. The hydraulic pump is responsible for providing hydraulic power to push the hydraulic cylinder piston rod to rise or fall. The speed regulating valve is used to control the flow of hydraulic oil, so as to realize the rapid lifting and slow stable stopping of the carrying tray. When it is necessary to transport large shaft raw paper, the hydraulic lifting system works to lift the carrying tray to the appropriate height to complete the lifting action of the goods. The lifting frame 2 is fixedly connected with the piston rod of the hydraulic cylinder 9 and is installed on the vehicle body 12. The lifting frame 2 is controlled to rise and fall by the hydraulic cylinder 9. The bottom of the lifting frame 2 is fixedly connected with a carrying tray 4, which is arranged horizontally in front of the bottom of the lifting frame 2. An electric conveyor is transversely installed on the carrying tray 4. Inner side limiting support plates 5 and outer side limiting support plates 8 for limiting the rolling of the large shaft raw paper are arranged on the two sides of the carrying tray 4. The top of the lifting frame 2 is forwardly protruding, and photoelectric sensors 3 for detecting whether the large shaft raw paper is centered are installed at the two ends of the top of the lifting frame 2. The photoelectric sensors emit laser beams to detect the large shaft raw paper and transmit the detection signals to the controller system. The controller system judges the position deviation of the large shaft raw paper according to the signals and controls the electric conveyor to accurately adjust the position of the large shaft raw paper, so as to ensure that the large shaft raw paper is always in the centered position during the transportation process, improve the accuracy of the equipment connection, and reduce the risk of damage to the goods.

[0022] The electric conveyor is an electric rail car 6, and a support plate 7 for supporting the bottom of the large shaft raw paper is installed on the electric rail car 6.

[0023] The controller 13 is installed on the vehicle body 12, and the rudder wheel walking steering system 10 is installed at the bottom of the vehicle body 12, the controller 13 is matched with the rudder wheel walking steering system 10, the rudder wheel walking steering system 10 is controlled to work, and the rudder wheel walking steering system 10 comprises an electric rudder wheel and a walking support wheel. The rudder wheel walking steering system is driven by two independent motor-driven single rudders, the walking speed and the steering angle are adjusted in real time according to the position and direction deviation fed back by the navigation system, flexible steering and accurate positioning of the AGV trolley are realized, and the independent driving design enables the AGV trolley to realize in-situ rotation when steering, and the passability and adaptability of the AGV trolley in a complex environment are improved.

[0024] The laser radar 14 is installed at the top of the vehicle body 12, and the laser radar 14 is matched with the controller 13 to form a laser positioning navigation system.

[0025] The safety laser sensor 11 is installed on the two sides of the vehicle body 12, and the safety laser sensor 11 is matched with the controller 13 to form a safety detection system. The safety detection system monitors the surrounding environment in real time through the safety laser sensors on the two sides of the vehicle body, and once an obstacle or a person enters a dangerous area, an alarm is triggered immediately and the controller system is informed to take emergency braking or avoidance measures, the 360-degree omnidirectional monitoring and rapid response mechanism effectively guarantee the safety of the AGV trolley during driving, and equipment damage and personnel injury caused by collision are avoided.

[0026] Before the automatic guided transport device of the large shaft base paper travels, the controller system performs self-checking after the AGV trolley is powered on, initializes system parameters, including checking the connection state and working mode of the hydraulic lifting system, the rudder wheel walking steering system, the laser positioning navigation system, the safety detection system, the material detection system and the transverse module system, ensures that each system is in standby state, activates the laser positioning navigation system at the same time, starts to scan the surrounding environment, locates the position, and is ready to receive the carrying task. After the AGV trolley receives the carrying task issued by the upper computer, according to the target position and the current position in the task information, combining the map constructed by the laser positioning navigation system, the optimal driving path is quickly calculated by using the path planning algorithm, the path information is sent to the rudder wheel walking steering system, and the state of the AGV trolley is adjusted, and the AGV trolley is ready to drive according to the planned path.

[0027] The above description is not a limitation of the utility model, and the utility model is not limited to the above examples, and the changes, modifications, additions or replacements made by the ordinary skilled in the art within the essential scope of the utility model should belong to the protection scope of the utility model.

Claims

1. An automatic guide transport device for a large shaft raw paper, comprising an AGV trolley (1), characterized in that: Also include the lifting frame (2), the AGV trolley (1) car body (12) is L-shaped structure, the car body (12) in the middle of the installation cabin is installed with hydraulic cylinder (9), lifting frame (2) is installed on the car body (12) and the piston rod of hydraulic cylinder (9) fixed connection, lifting frame (2) is controlled by hydraulic cylinder (9) to lift; The bottom of the lifting frame (2) is fixedly connected with the bearing tray (4), and the bearing tray (4) is arranged horizontally in front of the bottom of the lifting frame (2). The bearing tray (4) is transversely installed with an electric conveyor, and the bearing tray (4) on both sides of the electric conveyor is provided with an inner limiting tray (5) and an outer limiting tray (8) for limiting the rolling of the large shaft raw paper. The top of the lifting frame (2) is forwardly protruding, and the two ends are respectively provided with an optical sensor (3) for detecting whether the large shaft raw paper is centered.

2. The automatic guided transport device for the large shaft paper according to claim 1, characterized in that: The electric conveyor adopts a belt conveyor or an electric rail car (6), and the electric rail car (6) is provided with a tray (7) for supporting the bottom of the large shaft raw paper.

3. The automated guided transport device for a large shaft liner paper according to claim 1, characterized in that: The car body (12) is provided with a controller (13), and the bottom of the car body (12) is provided with a rudder wheel walking steering system (10). The controller (13) is matched with the rudder wheel walking steering system (10) to control the working of the rudder wheel walking steering system (10). The rudder wheel walking steering system (10) comprises an electric rudder wheel and a walking support wheel.

4. The automatic guided transport device for the large shaft paper according to claim 1 or 3, characterized in that: The top of the car body (12) is provided with a laser radar (14), and the laser radar (14) is matched with the controller (13) to form a laser positioning navigation system.

5. The automatic guided transport device for the large shaft paper according to claim 1 or 3, characterized in that: The two sides of the car body (12) are respectively provided with a safety laser sensor (11), and the safety laser sensor (11) is matched with the controller (13) to form a safety detection system.

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