Material coil carrying device and automatic guide vehicle thereof

Abstract

The utility model relates to the technical field of material transportation tools, in particular to a material coil carrying device and an automatic guide trolley thereof, and the device comprises a bottom plate, a vertical plate, a portal frame, a lifting mechanism, a telescopic mechanism, a material taking fork and a movable material storage frame, the vertical plate, the bottom plate and the portal frame are connected in a concave shape; the lifting mechanism is arranged on the portal frame; the lifting mechanism is connected with the telescopic mechanism; the telescopic mechanism is connected with the material taking fork; the movable storage rack is arranged on the end face, facing the portal frame, of the vertical plate and is slidably connected with the portal frame in the transverse direction. A pair of first material forks is vertically arranged on the end face, facing the portal frame, of the movable storage frame. The pair of first material forks are sequentially and obliquely arranged in the transverse direction, and the top end distance of the inclined faces of the pair of material supporting pieces is larger than the bottom end distance. A pair of second material forks are sequentially and obliquely arranged on the material taking fork in the transverse direction, and the top end distance of the inclined faces of the pair of second material forks is larger than the bottom end distance. The size of the material taking fork and the size of the telescopic mechanism in the transverse direction are both smaller than the distance between the bottom ends of the pair of material supporting pieces.

Description

Technical Field

[0001] This utility model relates to the field of material transportation tooling technology, specifically to a material roll handling device and its automatic guide vehicle. Background Technology

[0002] Automated Guided Vehicles (AGVs) are industrial vehicles that load goods automatically or manually, travel automatically along a set route or tow a cargo trolley to a designated location, and then load and unload goods automatically or manually.

[0003] Automated guided vehicles can integrate material transport fixtures, such as roll handling devices, to transport rolls (materials) to designated locations, enabling automatic loading and unloading of rolls.

[0004] Existing AGVs for handling stock rolls typically have only one storage location, resulting in low transportation efficiency. Secondly, the forks of existing AGVs are usually designed for specific machines and have poor adaptability to handling materials of different shapes and sizes. This necessitates the manufacture of additional forks of corresponding shapes and sizes, impacting transportation costs and efficiency. Utility Model Content

[0005] (a) Technical problems to be solved

[0006] In view of the above-mentioned shortcomings and deficiencies of the prior art, the present invention provides a material roll handling device and its automatic guide vehicle, which solves the technical problems of low material transportation efficiency and poor compatibility of the picking fork with different types of materials in the existing material roll handling AGV.

[0007] (II) Technical Solution

[0008] To achieve the above objectives, the material roll handling device of this utility model includes a base plate, a vertical plate, a gantry frame, a lifting mechanism, a telescopic mechanism, a material picking fork, and a movable storage rack.

[0009] The upright plate, the base plate, and the gantry frame are connected in a U-shape; the lifting mechanism is mounted on the gantry frame; the lifting mechanism is connected to the telescopic mechanism and can drive the telescopic mechanism to move vertically; the telescopic mechanism is connected to the picking fork and can drive the picking fork to extend longitudinally; the movable storage rack is mounted on the end face of the upright plate facing the gantry frame, and the two are slidably connected laterally; a pair of first forks are vertically mounted on the end face of the movable storage rack facing the gantry frame; the pair of first forks are sequentially inclined along the lateral direction, and the distance between the top ends of the inclined surfaces of the pair of first forks is greater than the distance between the bottom ends; a pair of second forks are sequentially inclined along the lateral direction, and the distance between the top ends of the inclined surfaces of the pair of second forks is greater than the distance between the bottom ends; the dimensions of the picking fork and the telescopic mechanism in the lateral direction are both smaller than the distance between the bottom ends of the pair of first forks.

[0010] Optionally, a receiving groove is provided on the base plate;

[0011] In its original position, the telescopic mechanism and the picking fork are disposed within the receiving groove; and the top heights of the telescopic mechanism and the picking fork are both lower than the bottom height of the first fork.

[0012] Optionally, when fully loaded, a pair of the movable storage racks are symmetrically arranged on both sides of the receiving slot.

[0013] Optionally, the lifting mechanism includes a first driver, a reduction gearbox, a transmission wheel, a belt, a connecting rod, and a transition block;

[0014] The first driver is connected to the gearbox, and both are located at the top of the gantry frame; the connecting rod is rotatably connected to the gearbox around the transverse direction; both ends of the connecting rod are coaxially connected to a pair of transmission wheels; a pair of transmission wheels are provided on both sides of the bottom end of the gantry frame; the belt is mirror-image located on both sides of the gantry frame and is wound around a pair of vertically arranged transmission wheels;

[0015] A pair of adapter blocks are mirror-mounted on the inner walls of both sides of the gantry frame, and the adapter blocks are connected to the belt; the two sides of the telescopic mechanism are correspondingly connected to the pair of adapter blocks.

[0016] Optionally, the movable storage rack further includes a second drive, a first lead screw, an adapter plate, and a concave plate;

[0017] The second driver is mounted on the end face of the upright plate; one end of the first lead screw is connected to the second driver, and the other end is rotatably connected to the stop block on the upright plate;

[0018] The top end of the adapter plate is threaded to the first lead screw; the bottom end of the adapter plate is connected to the top end of the concave plate.

[0019] One end face of the concave plate is slidably connected to the upright plate along the lateral direction, and the other end face is connected to the first feed fork.

[0020] Optionally, the picking fork further includes a connecting plate; both ends of the connecting plate are connected to a pair of second forks in a one-to-one correspondence;

[0021] A material detection sensor is installed at the top of the connecting plate.

[0022] Optionally, a displacement sensor is installed at the bottom of the free end of the second fork.

[0023] Optionally, a material drop sensor is embedded in the inclined surface of the second fork facing the gantry.

[0024] Optionally, the first fork and the second fork are plates or rods.

[0025] Furthermore, this utility model also provides an automated guided vehicle, which includes the material roll handling device described above; the automated guided vehicle also includes an AGV chassis and a multi-functional housing;

[0026] The base plate is connected to the top of the AGV chassis;

[0027] The multi-functional housing is connected to the top of the AGV chassis; the material roll handling device is built into the multi-functional housing;

[0028] The multifunctional housing has a material clearance groove; the material picking fork can extend longitudinally out of the material clearance groove and can move up and down vertically within the material clearance groove.

[0029] (III) Beneficial Effects

[0030] The beneficial effects of this utility model are:

[0031] The material handling device integrates a lifting mechanism and a telescopic mechanism, enabling the picking fork to achieve vertical lifting and longitudinal sliding. In conjunction with the AGV chassis, the telescopic mechanism can improve the flexibility of the picking fork when loading and unloading materials, and realize the compensation adjustment of the picking fork's longitudinal picking or unloading position.

[0032] A pair of first forks are arranged at an angle laterally, with the distance between the top edges of the inclined surfaces being greater than the distance between the bottom edges. When a coil is placed on the pair of first forks, the support surfaces of the forks can adapt to the size of the coil, enabling support and handling of coils of various sizes. The inclined surfaces of the pair of second forks are similarly designed, improving the adaptability of the forks to coils of various sizes, reducing the storage capacity of different fork models, saving handling costs, reducing the frequency of fork replacement on-site, and improving handling efficiency.

[0033] The dimensions of the picking fork and the telescopic mechanism in the lateral direction are both smaller than the bottom distance of a pair of first forks. This allows the picking fork and the telescopic mechanism to pass through the gap between the pair of first forks when the pair of first forks moves below the pair of second forks, thereby transferring the material on the picking fork to the mobile storage rack. Ultimately, this allows the mobile storage rack and the picking fork to each store one roll of material, increasing the storage space of the roll handling device and improving transportation efficiency. Attached Figure Description

[0034] Figure 1 This is a schematic diagram of the material roll handling device of this utility model in its in-situ state;

[0035] Figure 2 This is a schematic diagram of the material picking fork of this utility model;

[0036] Figure 3 This is a schematic diagram showing the state of the material-picking fork extending out of the receiving groove according to this utility model.

[0037] Figure 4 This is a schematic diagram of the material handling state of the material handling fork of this utility model;

[0038] Figure 5 This is a schematic diagram showing the state of the mobile storage rack of this utility model when retrieving materials;

[0039] Figure 6 This is a schematic diagram showing the state of the mobile storage rack after material retrieval according to this utility model;

[0040] Figure 7 This is a schematic diagram showing the state of the mobile storage rack after it has been picked up and reset according to this utility model.

[0041] Figure 8 This is a schematic diagram of the material roll handling device of this utility model under full load conditions;

[0042] Figure 9 This is a schematic diagram showing the state of the material roll handling device of this utility model transporting boxed materials;

[0043] Figure 10 This is a structural schematic diagram of the automated guided vehicle of this utility model.

[0044] [Explanation of Labels in the Attached Image]

[0045] 1: Base plate; 11: Receiving groove;

[0046] 2: Erecting board;

[0047] 3: Gantry frame;

[0048] 4: Lifting mechanism; 41: First driver; 42: Gearbox; 43: Transmission wheel; 44: Belt; 45: Connecting rod; 46: Adapter block; 47: First linear guide;

[0049] 5: Telescopic mechanism; 51: Third actuator; 52: Third linear guide; 53: Second lead screw;

[0050] 6: Picking fork; 61: Second fork; 62: Material detection sensor; 63: Displacement sensor; 64: Material drop sensor;

[0051] 7: Mobile storage rack; 71: First fork; 72: Second drive; 73: First lead screw; 74: Adapter plate; 75: Concave plate; 76: Second linear guide;

[0052] 8: AGV chassis;

[0053] 9: Multifunctional housing; 91: Material clearance trough; 92: Tri-color light; 93: Anti-collision strip; 94: Depth camera; 95: Emergency stop button. Detailed Implementation

[0054] To better explain and facilitate understanding of this utility model, the present utility model will be described in detail below with reference to the accompanying drawings and specific embodiments.

[0055] It should be noted that all directional indicators (such as up, down, left, right, front, back, etc.) in this utility model embodiment are only used to explain the relative positional relationship and movement of each component in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indicator will also change accordingly.

[0056] Furthermore, in this utility model, the use of terms such as "first," "second," etc., is for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this utility model, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0057] In this utility model, unless otherwise explicitly specified and limited, the terms "connection," "fixing," etc., should be interpreted broadly. For example, "fixing" can mean a fixed connection, a detachable connection, or an integral part; "connection" can mean a mechanical connection or an electrical connection; it can mean a direct connection or an indirect connection through an intermediate medium; it can mean the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0058] See Figures 1 to 3 This utility model provides a material roll handling device, which includes a base plate 1, a vertical plate 2, a gantry frame 3, a lifting mechanism 4, a telescopic mechanism 5, a picking fork 6, and a movable storage rack 7. The vertical plate 2, the base plate 1, and the gantry frame 3 are connected in a U-shape. The lifting mechanism 4 is mounted on the gantry frame 3. The lifting mechanism 4 is connected to the telescopic mechanism 5 and can drive the telescopic mechanism 5 to move vertically. The telescopic mechanism 5 is connected to the picking fork 6 and can drive the picking fork 6 to extend and retract longitudinally. The movable storage rack 7 is mounted on the vertical plate 2 facing the gantry frame. On the end face of 3, the two are slidably connected laterally; a pair of first forks 71 are vertically arranged on the end face of the movable storage rack 7 facing the gantry 3; the pair of first forks 71 are arranged in a laterally inclined manner, and the top distance between the inclined surfaces of the pair of first forks 71 is greater than the bottom distance; a pair of second forks 61 are arranged in a laterally inclined manner on the picking fork 6, and the top distance between the inclined surfaces of the pair of second forks 61 is greater than the bottom distance; the dimensions of the picking fork 6 and the telescopic mechanism 5 in the lateral direction are both smaller than the bottom distance between the pair of first forks 71. The lateral direction is the sliding direction of the second rail 76, the longitudinal direction is the sliding direction of the third rail 52, and the vertical direction is the sliding direction of the first rail 47.

[0059] The upright plate 2, the base plate 1, and the gantry frame 3 are connected in a U-shape, and the interior is used for temporary storage of material rolls. The gantry frame 3 is used to drive the telescopic mechanism 5 to move vertically, and the material rolls pass through the interior of the gantry frame 3 during loading and unloading. The picking fork 6 is used to pick up the material. The lifting mechanism 4, the telescopic mechanism 5, and the mobile storage rack 7 are all driven by linear telescopic devices, which can be pneumatic cylinders, hydraulic cylinders, or electric push rods.

[0060] Traditional material handling devices typically only allow the picking fork 6 to move vertically, coordinating with the movement of the AGV chassis for loading and unloading. This invention integrates a lifting mechanism 4 and a telescopic mechanism 5, enabling the picking fork 6 to achieve both vertical lifting and longitudinal sliding. In conjunction with the AGV chassis 8, the telescopic mechanism 5 enhances the flexibility of the picking fork 6 during loading and unloading, allowing for compensatory adjustment of the picking fork 6's longitudinal picking or unloading position.

[0061] A pair of first forks 71 are arranged at an angle laterally, with the distance between the top ends of the inclined surfaces of the pair of first forks 71 being greater than the distance between the bottom ends. When a coil is placed on the pair of first forks 71, the support surfaces of the pair of first forks 71 can adapt to the size of the coil, enabling support and handling of coils of various sizes. The inclined surfaces of a pair of second forks 61 are arranged similarly, which can improve the adaptability of the picking forks 6 to coils of various sizes, reduce the storage capacity of different models of picking forks 6, save handling costs, reduce the frequency of replacement of picking forks 6 on site, and improve handling efficiency.

[0062] The dimensions of the picking fork 6 and the telescopic mechanism 5 in the lateral direction are both smaller than the bottom distance of the pair of first forks 71. This allows the picking fork 6 and the telescopic mechanism 5 to pass through the gap between the pair of first forks 71 when the pair of first forks 71 moves below the pair of second forks 61, thereby transferring the material on the picking fork 6 to the mobile storage rack 7. Ultimately, the mobile storage rack 7 and the picking fork 6 each store one roll of material, increasing the storage space of the roll handling device and improving transportation efficiency.

[0063] like Figure 5 As shown, a receiving groove 11 is provided on the base plate 1. In its original position, the telescopic mechanism 5 and the picking fork 6 are located within the receiving groove 11. The top heights of both the telescopic mechanism 5 and the picking fork 6 are lower than the bottom height of the first fork 71, ensuring that the first fork 71 will not collide with the telescopic mechanism 5 (and the picking fork 6) during its lateral movement above the receiving groove 11. This ensures that after the picking fork 6 unloads the material roll onto the mobile storage rack 7, the mobile storage rack 7 can move laterally to its reset position. Therefore, the receiving groove 11 provides space for the telescopic mechanism 5 and the picking fork 6, effectively reducing the installation height of the first fork 71, thereby lowering the center of gravity of the material roll on the mobile storage rack 7 and improving the stability of the material roll handling device during the material roll handling process.

[0064] Furthermore, under full load, a pair of movable storage racks 7 are symmetrically arranged on both sides of the receiving groove 11. Compared to the method where the movable storage racks 7 and the telescopic mechanism 5 are respectively arranged on both sides of the base plate 1, on the one hand, an additional movable storage rack 7 is added, bringing the total number of storage positions for the material roll handling device to three, further improving transportation efficiency. On the other hand, the pair of movable storage racks 7 are symmetrically arranged based on the receiving groove 11, ensuring that the vertical height of the center of gravity of the material rolls on both sides of the base plate 1 is consistent, further improving the stability during the handling of the material rolls.

[0065] Secondly, the lifting mechanism 4 includes a first driver 41, a reduction gearbox 42, a transmission wheel 43, a belt 44, a connecting rod 45, and a transition block 46. The first driver 41 is connected to the reduction gearbox 42, and both are located at the top of the gantry frame 3. The connecting rod 45 is rotatably connected to the reduction gearbox 42 in a transverse direction. Both ends of the connecting rod 45 are coaxially connected to a pair of transmission wheels 43. A pair of transmission wheels 43 are correspondingly located on both sides of the bottom end of the gantry frame 3. The belt 44 is mirror-mounted on both sides of the gantry frame 3 and wound around a pair of vertically arranged transmission wheels 43. A pair of transition blocks 46 are mirror-mounted on the inner walls of both sides of the gantry frame 3, and the transition blocks 46 are connected to the belt 44. The two sides of the telescopic mechanism 5 are correspondingly connected to a pair of transition blocks 46. Specifically, the first driver 41 is a motor. One end face of the transition block 46 is slidably connected vertically to the first linear guide 47 located on the gantry frame 3, and the other end face is connected to the telescopic mechanism 5.

[0066] by Figure 3 Taking the indicated orientation as an example, the first driver 41 drives the reduction gearbox 42 to rotate; the reduction gearbox 42 drives the transmission wheel 43 at the upper left corner of the gantry 3 to rotate; the transmission wheel 43 correspondingly drives the left side belt 44 of the gantry 3 to move and drives the connecting rod 45 to rotate; the connecting rod 45 drives the transmission wheel 43 at the upper right corner of the gantry 3 to rotate, causing the right side belt 44 of the gantry 3 to move; a transmission wheel 43 is provided on each of the left and right sides below the gantry 3 to assist the movement of the belts 44 on the left and right sides of the gantry 3, ultimately achieving synchronous movement of a pair of belts 44, so that the telescopic mechanism 5 can stably rise and fall inside the gantry 3. Compared with the method of two first drivers 41 correspondingly driving two belts 44 to move, this embodiment only uses one first driver 41 to provide power, which saves equipment costs and avoids the problem of poor synchronization when using two first drivers 41, improves the synchronization of the movement of the two belts 44, and thus improves the stability of the telescopic mechanism 5 during the rising and falling process.

[0067] See Figure 6The mobile storage rack 7 also includes a second driver 72, a first lead screw 73, an adapter plate 74, and a concave plate 75. The second driver 72 is mounted on the end face of the upright plate 2. One end of the first lead screw 73 is connected to the second driver 72, and the other end is rotatably connected to a stop on the upright plate 2. The top end of the adapter plate 74 is threadedly connected to the first lead screw 73. The bottom end of the adapter plate 74 is connected to the top end of the concave plate 75. One end face of the concave plate 75 is slidably connected to the upright plate 2 laterally, and the other end face is connected to the first fork 71. Specifically, the second driver 72 is a motor. The second driver 72 drives the first lead screw 73 to rotate, causing the adapter plate 74 to move the concave plate 75 laterally, realizing the turnover of the material roll between its original position and the loading / unloading station (i.e., above the receiving slot 11). The stop is used to limit the lateral movement of the adapter plate 74, which can effectively prevent the material rolls on a pair of mobile storage racks 7 from colliding. The concave plate 75 is a single unit, which can ensure the synchronous movement of a pair of first forks 71 and improve transportation stability.

[0068] The telescopic mechanism 5, including the third drive 51, the third linear guide 52, and the second lead screw 53, can be compared with the transmission structure of the movable storage rack 7 and the upright plate 2 to form a lead screw motor module.

[0069] See you again Figure 2 The picking fork 6 also includes a connecting plate 62; both ends of the connecting plate 62 are connected to a pair of second forks 61 in a one-to-one correspondence; a material detection sensor 62 is installed at the top of the connecting plate 62. A displacement sensor 63 is installed at the bottom of the free end of the second fork 61. A material drop sensor 64 is embedded in the inclined surface of the second fork 61 facing the gantry 3. Specifically, Figures 3 to 7 The diagram illustrates the loading process of a material roll onto a material roll transport device. The device moves to the designated picking position, and the picking fork 6 extends out of the receiving slot 11. A displacement sensor 63 monitors the extension length of the picking fork 6 to ensure precise picking. The set limit parameters of the displacement sensor 63 can be adjusted according to actual working conditions to improve the adaptability of the material roll transport device to picking up material rolls of different shapes and sizes. The lifting mechanism 4 drives the telescopic mechanism 5 to rise to a set height, cooperating with manual labor or the AGV chassis 8 for picking. After picking, the material detection sensor 62 is triggered, while the material drop sensor 64 is not triggered, allowing the material roll transport device to continue operating and ensuring the positional accuracy of the material roll on the picking fork 6. The telescopic mechanism 5 retracts the picking fork 6, and the mobile storage rack 7 moves laterally to below the picking fork 6. The lifting mechanism 4 drives the telescopic mechanism 5 back to the receiving slot 11, transferring the material roll from the picking fork 6 to the mobile storage rack 7. The material drop sensor 64 is triggered, but triggering is not allowed. The movable storage rack 7 resets, completing one material roll retrieval. Repeat the above steps to complete the retrieval of another movable storage rack 7. Furthermore, as... Figure 8As shown, the picking fork 6 itself can also temporarily store one roll of material. Therefore, the roll handling device can store a total of three rolls, completing the handling of three rolls in one turn, significantly improving transportation efficiency. The unloading method of the rolls loaded by the roll handling device is similar and will not be described in detail. Among them, the displacement sensor 63 improves the docking accuracy of the picking fork 6 during the loading and unloading process; the material detection sensor 62 and the material drop sensor 64 work together to improve the positional accuracy of the rolls loaded by the picking fork 6, avoiding material drop during the loading and unloading process.

[0070] Furthermore, the first fork 71 and the second fork 61 are plates or rods. In this embodiment, the first fork 71 consists of two rods that can abut against the material coil, providing strong adaptability to different types of material coils. The second fork 61 is a plate with an inclined top surface that can abut against the material coil surface, also providing strong adaptability to different types of material coils. See also Figure 9 The material roll handling device of this utility model can also be adapted to the handling of boxed materials, and has strong adaptability to handling materials of different shapes and sizes.

[0071] In addition, such as Figure 10 As shown, this utility model also provides an automated guided vehicle (AGV), which includes the material roll handling device described above; the AGV also includes an AGV chassis 8 and a multi-functional housing 9; the base plate 1 is connected to the top of the AGV chassis 8; the multi-functional housing 9 is connected to the top of the AGV chassis 8; the material roll handling device is built into the multi-functional housing 9; a material clearance groove 91 is provided on the multi-functional housing 9; the picking fork 6 can extend longitudinally out of the material clearance groove 91 and can move vertically within the material clearance groove 91. Specifically, during the loading and unloading process, the material passes through the material clearance groove 91 to effectively protect the internal components through the multi-functional housing 9. In this embodiment, the multi-functional housing 9 includes a tri-color light 92, a crash barrier 93, a depth camera 94, and an emergency stop button 95 installed on its wall; the tri-color light 92 displays different colors to indicate different working states of the AGV, making it easy for operators to quickly identify. The crash barrier 93 can buffer external collision forces and effectively protect the device. The depth camera 94 identifies obstacles on the travel route, improving driving safety. Emergency stop button 95 is used for emergency stopping of the automated guided vehicle, making it convenient for operators to carry out maintenance when the automated guided vehicle malfunctions.

[0072] It should be understood that the above description of the specific embodiments of this utility model is only for illustrating the technical route and features of this utility model, and its purpose is to enable those skilled in the art to understand the content of this utility model and implement it accordingly. However, this utility model is not limited to the specific embodiments described above. All changes or modifications made within the scope of the claims of this utility model should be covered by the protection scope of this utility model.

Claims

1. A coil handling device, characterized in that, The material roll handling device includes a base plate (1), a vertical plate (2), a gantry frame (3), a lifting mechanism (4), a telescopic mechanism (5), a material picking fork (6), and a mobile storage rack (7); The upright plate (2), the base plate (1), and the gantry frame (3) are connected in a U-shape; the lifting mechanism (4) is mounted on the gantry frame (3); the lifting mechanism (4) is connected to the telescopic mechanism (5) and can drive the telescopic mechanism (5) to move vertically; the telescopic mechanism (5) is connected to the picking fork (6) and can drive the picking fork (6) to extend longitudinally; the movable storage rack (7) is mounted on the end face of the upright plate (2) facing the gantry frame (3), and the two are slidably connected laterally; the movable storage rack (7) A pair of first forks (71) are vertically arranged on the end face of the gantry (3); the pair of first forks (71) are arranged in a horizontal direction with the top end distance of the inclined surfaces of the pair of first forks (71) being greater than the bottom end distance; the picking fork (6) is arranged in a horizontal direction with a pair of second forks (61) arranged in a horizontal direction with the top end distance of the inclined surfaces of the pair of second forks (61) being greater than the bottom end distance; the dimensions of the picking fork (6) and the telescopic mechanism (5) in the horizontal direction are both smaller than the bottom end distance of the pair of first forks (71).

2. The coil handling device according to claim 1, characterized in that, The base plate (1) is provided with a receiving groove (11); In its original position, the telescopic mechanism (5) and the picking fork (6) are disposed in the receiving groove (11); and the top height of the telescopic mechanism (5) and the picking fork (6) is lower than the bottom height of the first fork (71).

3. The coil handling device according to claim 2, characterized in that, When fully loaded, a pair of movable storage racks (7) are symmetrically arranged on both sides of the receiving groove (11).

4. The coil handling device according to any one of claims 1-3, characterized in that, The lifting mechanism (4) includes a first driver (41), a reduction gearbox (42), a transmission wheel (43), a belt (44), a connecting rod (45), and a transition block (46); The first driver (41) is connected to the gearbox (42), and both are located at the top of the gantry (3); the connecting rod (45) is rotatably connected to the gearbox (42) around the transverse direction; the two ends of the connecting rod (45) are coaxially connected to a pair of transmission wheels (43) in a corresponding manner; a pair of transmission wheels (43) are provided on both sides of the bottom end of the gantry (3); the belt (44) is mirror-displayed on both sides of the gantry (3) and wound around a pair of vertically arranged transmission wheels (43); A pair of the adapter blocks (46) are mirror images disposed on the inner walls of both sides of the gantry frame (3), and the adapter blocks (46) are connected to the belt (44); the two sides of the telescopic mechanism (5) are correspondingly connected to the pair of adapter blocks (46).

5. The coil handling device according to any one of claims 1-3, characterized in that, The mobile storage rack (7) also includes a second driver (72), a first lead screw (73), a transition plate (74), and a concave plate (75); The second driver (72) is mounted on the end face of the upright plate (2); one end of the first lead screw (73) is connected to the second driver (72), and the other end is rotatably connected to the stop block on the upright plate (2); The top end of the adapter plate (74) is threaded to the first lead screw (73); the bottom end of the adapter plate (74) is connected to the top end of the concave plate (75); One end face of the concave plate (75) is slidably connected to the upright plate (2) along the transverse direction, and the other end face is connected to the first feed fork (71).

6. The coil handling device according to any one of claims 1-3, characterized in that, The picking fork (6) also includes a connecting plate; both ends of the connecting plate are connected to a pair of second forks (61) in a one-to-one correspondence; A material detection sensor (62) is installed at the top of the connecting plate.

7. The coil handling device according to any one of claims 1-3, characterized in that, A displacement sensor (63) is installed at the bottom of the free end of the second fork (61).

8. The coil handling device according to any one of claims 1-3, characterized in that, A material drop sensor (64) is embedded in the inclined surface of the second fork (61) facing the gantry (3).

9. The coil handling device according to any one of claims 1-3, characterized in that, The first fork (71) and the second fork (61) are plates or rods.

10. An automated guided vehicle, characterized in that, The automated guided vehicle includes the material roll handling device according to any one of claims 1-9; the automated guided vehicle also includes an AGV chassis (8) and a multi-functional housing (9); The base plate (1) is connected to the top of the AGV chassis (8); The multi-functional housing (9) is connected to the top of the AGV chassis (8); the material roll handling device is built into the multi-functional housing (9); The multifunctional housing (9) is provided with a material clearance groove (91); the material picking fork (6) can extend out of the material clearance groove (91) along the longitudinal direction and can move up and down vertically within the material clearance groove (91).

Images