Double-shaft cantilever AGV suitable for automatic feeding and discharging of pole rolls

Abstract

The utility model belongs to the technical field of logistics automation in the lithium battery industry, and particularly relates to a double-shaft cantilever AGV (Automatic Guided Vehicle) suitable for automatically loading and unloading pole rolls. Comprising an AGV body, a material taking and placing device outer shell, a material taking and placing main shaft lifting driving mechanism, a main shaft cantilever fixing seat, a main shaft cantilever mechanism, a material taking and placing auxiliary shaft lifting driving mechanism, a lifting adapter seat, a material taking and placing auxiliary shaft telescopic driving mechanism, an auxiliary shaft cantilever fixing seat and an auxiliary shaft cantilever mechanism. The double-shaft cantilever AGV provided by the utility model can finish the operation processes of picking up full coils, obtaining empty coils, putting the full coils and returning the empty coils at one time, breaks through the limitation of the operation range of a single cantilever, greatly reduces the butting times and the walking distance of a machine table, and thoroughly solves the efficiency bottleneck of a high-speed production line; and the butt joint requirements of machine tables in different directions and at different heights can be met, the complex ground adaptability can be guaranteed, the obstacle avoidance capacity is enhanced, and the adaptation cost during production line layout adjustment is reduced.

Description

Technical Field

[0001] This utility model belongs to the field of logistics automation technology in the lithium battery industry, specifically a dual-axis cantilever AGV suitable for automatic loading and unloading of electrode rolls. Background Technology

[0002] Under the general trend of automation upgrade in the lithium battery industry, single cantilever AGVs, as the core equipment of logistics automation, are used to achieve high-precision docking with the machine and complete a series of actions such as automatic loading and unloading of corresponding electrode rolls, effectively connecting various production processes and building a continuous automated logistics link.

[0003] Single-cantilever AGVs, due to their single cantilever shaft structure, can only carry one type of material unit—either an empty roll or a full roll—in each operation. The complete exchange process of "empty roll retrieval - full roll delivery" requires two independent operations: first, obtaining an empty roll from the machine and transferring it to a buffer shelf; then, picking up a full roll from the buffer shelf and transferring it to the machine. This increases the number of docking attempts between the AGV and the machine, as well as the inefficient travel distance, creating a bottleneck in production line efficiency, especially unsuitable for the cycle time requirements of high-speed production equipment. Furthermore, due to the strict limitation of the cantilever, the operating range of a single-cantilever AGV is typically limited to a fan-shaped area centered on the AGV, making it difficult to achieve multi-directional, large-scale material transfer. In lithium battery production lines, if docking with machines at different orientations and heights is required, single-cantilever AGVs often need to frequently adjust their position, exhibiting poor adaptability to complex terrain, significantly reducing operational efficiency, and making it difficult to quickly adapt to operational needs after adjustments to the production line layout. Utility Model Content

[0004] To address the aforementioned problems, the purpose of this utility model is to provide a dual-axis cantilever AGV suitable for automatic loading and unloading of rotary rolls.

[0005] The objective of this utility model is achieved through the following technical solution:

[0006] A dual-axis cantilever AGV suitable for automatic loading and unloading of rotary rolls includes an AGV body, a material handling device housing, a material handling main shaft lifting drive mechanism, a main shaft cantilever fixing seat, a main shaft cantilever mechanism, a material handling secondary shaft lifting drive mechanism, a lifting adapter seat, a material handling secondary shaft telescopic drive mechanism, a secondary shaft cantilever fixing seat, and a secondary shaft cantilever mechanism.

[0007] The bottom of the AGV body has an omnidirectional moving chassis mechanism, and the outer shell of the material handling device is located on the top of the AGV body.

[0008] The material handling spindle lifting drive mechanism is disposed in the inner cavity of the material handling device housing. The front side of the material handling device housing has a spindle cantilever fixing seat mounting opening. The spindle cantilever fixing seat is located at the spindle cantilever fixing seat mounting opening, and the spindle cantilever mechanism is disposed on the spindle cantilever fixing seat. The material handling spindle lifting drive mechanism is used to drive the spindle cantilever fixing seat to lift and lower at the spindle cantilever fixing seat mounting opening. The spindle cantilever mechanism is used to pick up full rolls from the buffer shelf and to feed full rolls onto the machine.

[0009] The lifting drive mechanism for the material handling sub-shaft is also located within the inner cavity of the material handling device housing. Lifting adapter through-holes are respectively provided on the left and right sides of the material handling device housing. Each lifting adapter through-hole corresponds to the insertion of a lifting adapter. One end of each lifting adapter located within the inner cavity of the material handling device housing is connected to the lifting drive mechanism for the material handling sub-shaft, while the other end of each lifting adapter located outside the inner cavity of the material handling device housing is connected to the telescopic drive mechanism for the material handling sub-shaft. The material handling sub-shaft telescopic drive mechanism is connected to the sub-shaft cantilever fixing seat located on the front side of the housing of the material handling device. The sub-shaft cantilever mechanism is mounted on the sub-shaft cantilever fixing seat. The material handling sub-shaft lifting drive mechanism is used to drive the material handling sub-shaft telescopic drive mechanism to lift and lower through each of the lifting adapter seats. The material handling sub-shaft telescopic drive mechanism drives the sub-shaft cantilever fixing seat to move back and forth relative to the housing of the material handling device through its own telescopic movement. The sub-shaft cantilever mechanism is used to obtain empty rolls from the machine and to place empty rolls onto the buffer shelf.

[0010] When the material pick-and-place sub-shaft telescopic drive mechanism moves the sub-shaft cantilever fixing seat to the preset foremost position, the material pick-and-place device housing, the sub-shaft cantilever fixing seat, and the material pick-and-place sub-shaft telescopic drive mechanism together form a space that can accommodate the main shaft cantilever mechanism and the full roll picked up by the main shaft cantilever mechanism.

[0011] The spindle cantilever mechanism includes a spindle cantilever body, a support roller A, and a tensioning assembly;

[0012] One end of the main shaft cantilever body is fixed to the front side of the main shaft cantilever fixing seat, and the other end of the main shaft cantilever body faces away from the front side of the material handling device housing. Several support rollers A are provided on the top surface of the main shaft cantilever body near the other end of the main shaft cantilever body. The tensioning assembly is located at the bottom of the main shaft cantilever body.

[0013] After the other end of the main spindle cantilever body is inserted into the corresponding full roll, the tensioning assembly tensions and fixes the full roll from the inside of the full roll located on the main spindle cantilever body.

[0014] A vision camera A is provided on the end face of the other end of the main shaft cantilever body along its length direction.

[0015] A lifting pin A is also provided on the top surface of the main spindle cantilever body near the other end of the main spindle cantilever body. The main spindle cantilever body is provided with a lifting pin drive assembly A, which is used to drive the lifting pin A to move vertically up and down. Before the other end of the main spindle cantilever body in the length direction is inserted into the corresponding full roll, the lifting pin A is in a lowered state. After the other end of the main spindle cantilever body in the length direction is inserted into the corresponding full roll, the lifting pin A is in a raised state and is used to block the full roll from one side to prevent the full roll from falling off the main spindle cantilever body.

[0016] The spindle cantilever mounting base is also provided with a pusher assembly, which is used to push the full roll located on the spindle cantilever body forward and make the full roll leave the spindle cantilever mounting base.

[0017] The material handling sub-shaft lifting drive mechanism includes a sub-shaft lifting drive motor reducer, a sub-shaft lifting transmission screw, a sub-shaft lifting transmission screw nut, a sub-shaft lifting guide rail, and a sub-shaft lifting guide rail slider. The housing of the sub-shaft lifting drive motor reducer is located in the upper part of the inner cavity of the material handling device housing. A sub-shaft lifting transmission screw is rotatably mounted on the left and right sides of the inner cavity of the material handling device housing. A sub-shaft lifting guide rail is also mounted on the left and right sides of the inner cavity of the material handling device housing. The axial center lines of all sub-shaft lifting transmission screws and the length directions of all sub-shaft lifting guide rails are perpendicular to the horizontal plane. Each sub-shaft lifting transmission screw is threadedly connected to a corresponding sub-shaft lifting transmission screw nut. Corresponding secondary shaft lifting guide sliders are slidably connected to the lowering guide rails. The drive shaft of the material handling device housing is connected to the upper end of each secondary shaft lifting transmission screw via a synchronous steering transmission assembly, and is used to simultaneously drive each secondary shaft lifting transmission screw to rotate. The secondary shaft lifting transmission screw nut and the secondary shaft lifting guide slider located on the left side of the inner cavity of the material handling device housing are respectively connected to one end of the lifting adapter located on the left side of the material handling device housing within the inner cavity of the material handling device housing. The secondary shaft lifting transmission screw nut and the secondary shaft lifting guide slider located on the right side of the inner cavity of the material handling device housing are respectively connected to one end of the lifting adapter located on the right side of the material handling device housing within the inner cavity of the material handling device housing.

[0018] Two auxiliary shaft lifting transmission screws are symmetrically arranged in the inner cavity of the housing of the material handling device; the synchronous steering transmission assembly includes gear A, gear B, power transmission shaft A, and a rotary reducer; gear A is fixed to the drive shaft of the housing of the material handling device, gear B is fixed to the power transmission shaft A, gear A and gear B mesh, and both ends of the power transmission shaft A are respectively connected to the input end of one of the rotary reducers, and the output end of each rotary reducer is respectively connected to the upper end of the corresponding auxiliary shaft lifting transmission screw.

[0019] The material handling sub-shaft telescopic drive mechanism includes a sub-shaft telescopic drive motor reducer. The material handling sub-shaft telescopic drive mechanism also includes two sets of telescopic fixed connecting plates, transmission gear mounting plates, first-stage telescopic plates and second-stage telescopic plates that are symmetrically arranged on the outer side of the outer shell of the material handling device.

[0020] Each set of telescopic fixed connecting plates is fixedly connected to the other end of the corresponding lifting adapter located on the outer side of the inner cavity of the material handling device housing. Each set of telescopic fixed connecting plates has a primary telescopic guide rail on the side away from the material handling device housing. Each primary telescopic guide rail has a sliding primary telescopic guide rail slider. Each primary telescopic guide rail slider is fixedly connected to the primary telescopic plate of the corresponding set. Each set of primary telescopic plates has a secondary telescopic guide rail on the side away from the material handling device housing. Each secondary telescopic guide rail has a sliding secondary telescopic guide rail slider. Each secondary telescopic guide rail slider... Each set of secondary telescopic plates is fixedly connected to a corresponding group of plates. The ends of all secondary telescopic plates furthest from the housing of the material handling device are respectively fixedly connected to the secondary shaft cantilever fixing seat. The transmission gear mounting plates of each group are respectively fixedly connected to the telescopic fixed connecting plates of the same group and are all located on the front side of the housing of the material handling device. Each group's transmission gear mounting plate is rotatably equipped with gear C and gear D. The positions of gear C on the transmission gear mounting plates of the two groups correspond left and right to each other, and the positions of gear D on the transmission gear mounting plates of the two groups also correspond left and right to each other. The axial center lines of all gear C and all gear D are parallel to the material handling device. In the left-right direction of the outer casing, the gears D on the two sets of transmission gear mounting plates are connected by a power transmission shaft B. Gears C and D on each set of transmission gear mounting plates mesh with each other. The outer casing of the secondary shaft telescopic drive motor reducer is mounted on one of the transmission gear mounting plates. The drive shaft of the secondary shaft telescopic drive motor reducer is connected to the axle of a corresponding gear C. A rack is fixedly attached to each primary telescopic plate of each set, and each rack meshes with a gear C on the corresponding set of transmission gear mounting plates. Two transmission pulleys are sequentially rotatably arranged on each primary telescopic plate of each set along the front-rear direction. The center lines of the shafts of all the drive pulleys are perpendicular to the horizontal plane. The two drive pulleys on the first-stage telescopic plate of each group are connected by a corresponding drive belt. The part of the drive belt on the first-stage telescopic plate of each group that is closer to the housing of the material handling device is fixedly connected to the telescopic fixed connecting plate of the same group. The other part of the drive belt on the first-stage telescopic plate of each group that is farther away from the housing of the material handling device is fixedly connected to the second-stage telescopic plate of the same group. The length directions of all the first-stage telescopic guides, all the second-stage telescopic plates, all the racks, and all the drive belts are parallel to the front-back direction of the housing of the material handling device.

[0021] The secondary shaft cantilever mechanism includes a secondary shaft cantilever body and a support roller B;

[0022] One end of the secondary shaft cantilever body in the longitudinal direction is fixed to the front side of the secondary shaft cantilever fixing seat, and the other end of the secondary shaft cantilever body in the longitudinal direction faces away from the front side of the material handling device housing. Several support rollers B are provided on the top surface of the secondary shaft cantilever body near the other end in the longitudinal direction of the secondary shaft cantilever body.

[0023] A vision camera B is provided on the end face of the other end of the main body of the secondary shaft cantilever along the length direction;

[0024] A lifting pin B is also provided on the top surface of the secondary shaft cantilever body near the other end of the secondary shaft cantilever body. The secondary shaft cantilever body is provided with a lifting pin drive assembly B, which is used to drive the lifting pin B to move vertically up and down. Before the other end of the secondary shaft cantilever body in the length direction is inserted into the corresponding empty roll, the lifting pin B is in a lowered state. After the other end of the secondary shaft cantilever body in the length direction is inserted into the corresponding empty roll, the lifting pin B is in a raised state and is used to block the empty roll from one side to prevent the empty roll from falling off the secondary shaft cantilever body.

[0025] The omnidirectional moving chassis mechanism includes a chassis body, a swing seat, a swing hinge shaft, a hinge seat, a drive wheel, and a driven wheel. The chassis body is located at the bottom of the AGV body and is fixedly connected to the outer shell of the AGV body. A swing seat receiving opening is provided on the front side of the chassis body. The swing seat is located inside the swing seat receiving opening. The length direction of the swing seat is parallel to the left-right direction of the material handling device outer shell. A swing hinge shaft is fixedly connected to the front and rear sides of the swing seat. Each swing hinge shaft is hinged to a corresponding hinge seat. Each hinge seat is fixedly connected to the chassis body. The axial center lines of all the swing hinge shafts are collinear and parallel to the front-rear direction of the material handling device outer shell.

[0026] Two drive wheels and two driven wheels are provided respectively; the upper end of the wheel frame of each driven wheel is fixedly connected to the outer rotating gear ring of a corresponding slewing support A, the inner fixed ring of each slewing support A is fixedly connected to a corresponding driven wheel adapter, a corresponding steering motor A is installed on each driven wheel adapter, and a gear E is fixedly connected to the drive shaft of each steering motor A, and each gear E meshes with the outer rotating gear ring of a corresponding slewing support A.

[0027] The top surface of the outer shell of each drive wheel is fixedly connected to the inner fixed ring of a corresponding slewing support member B. A corresponding steering motor mounting bracket is also fixedly connected to the lower side of the inner fixed ring of each slewing support member B. A corresponding steering motor B is mounted on each steering motor mounting bracket. A gear F is fixedly connected to the drive shaft of each steering motor B. Each gear F meshes with the outer rotating gear ring of a corresponding slewing support member B.

[0028] One of the driven wheel adapters and one of the slewing support members B are respectively fixed to the bottom surface of the swing seat and are positioned symmetrically to each other. The other driven wheel adapter and the other slewing support member B are respectively fixed to the rear of the bottom surface of the chassis body and are positioned symmetrically to each other. The positions of the driven wheel adapter and the other slewing support member B are symmetrically to each other front and back. The positions of the slewing support member B and the driven wheel adapter are symmetrically to each other front and back. The axial center lines of all the slewing support members A as a whole are perpendicular to the horizontal plane.

[0029] The advantages and positive effects of this utility model are as follows:

[0030] 1. The dual-axis cantilever AGV proposed in this utility model can complete the operation process of picking up a full roll, obtaining an empty roll, placing a full roll, and returning an empty roll in one go, breaking through the limitation of the single cantilever operation range, greatly reducing the number of machine dockings and travel distances, and completely solving the efficiency bottleneck of high-speed production lines.

[0031] 2. The dual-axis cantilever AGV proposed in this utility model has an omnidirectional moving chassis mechanism that supports multi-directional travel. With the stroke compensation function of the material picking and unloading sub-shaft telescopic drive mechanism, it can adapt to the docking requirements of machine tools in different orientations and heights, and can ensure adaptability to complex terrain, enhance obstacle avoidance ability, and reduce adaptation costs when adjusting production line layout.

[0032] 3. The dual-axis cantilever AGV proposed in this utility model can effectively prevent materials from falling, and significantly improve docking accuracy and operational safety. Attached Figure Description

[0033] Figure 1 This is a three-dimensional structural diagram of the present invention.

[0034] Figure 2 This is a side view of the overall structure of this utility model;

[0035] Figure 3 This is a schematic diagram of the overall front structure of this utility model;

[0036] Figure 4 This is a structural schematic diagram of the spindle cantilever fixing seat and spindle cantilever mechanism of this utility model;

[0037] Figure 5 This is a schematic diagram of the overall structure of the material handling sub-shaft lifting drive mechanism, the material handling sub-shaft telescopic drive mechanism, the sub-shaft cantilever fixing seat and the sub-shaft cantilever mechanism of this utility model.

[0038] Figure 6 This is a bottom view of the omnidirectional moving chassis mechanism of this utility model.

[0039] Figure 7 This is a three-dimensional structural diagram of the entire assembly of the swing seat, swing hinge shaft, hinge seat, drive wheel and driven wheel of this utility model;

[0040] Figure 8 This is a front view schematic diagram of the overall structure of the swing seat, swing hinge shaft, hinge seat, drive wheel and driven wheel of this utility model;

[0041] Figure 9 A schematic diagram of the relevant connection structure of the driven wheel of this utility model;

[0042] Figure 10 This is a schematic diagram of the connection structure of the drive wheel of this utility model.

[0043] In the diagram: 1 is the AGV vehicle body, 101 is the chassis body, 2 is the outer shell of the material handling device, 201 is the through-hole of the lifting adapter, 3 is the main shaft cantilever fixing seat, 4 is the lifting adapter, 5 is the secondary shaft cantilever fixing seat, 6 is the main shaft cantilever body, 7 is the support roller A, 8 is the vision camera A, 9 is the lifting pin A, 10 is the pushing assembly, 11 is the secondary shaft lifting drive motor reducer, 12 is the secondary shaft lifting transmission screw, 13 is the secondary shaft lifting guide rail, 14 is gear A, 15 is gear B, 16 is the power transmission shaft A, 17 is the angle reducer, 18 is the secondary shaft telescopic drive motor reducer, 19 is the telescopic fixed connection plate, 20 is the transmission gear mounting plate, 21 is a... 21 is the first-stage telescopic plate, 22 is the second-stage telescopic plate, 23 is the first-stage telescopic guide rail, 24 is the second-stage telescopic guide rail, 25 is gear C, 26 is gear D, 27 is the power transmission shaft B, 28 is the rack, 29 is the transmission pulley, 30 is the transmission belt, 31 is the main body of the secondary shaft cantilever, 32 is the support roller B, 33 is the vision camera B, 34 is the lifting pin B, 35 is the swing seat, 36 is the swing hinge shaft, 37 is the hinge seat, 38 is the drive wheel, 39 is the driven wheel, 40 is the slewing support A, 41 is the driven wheel adapter, 42 is the steering motor A, 43 is gear E, 44 is the slewing support B, 45 is the steering motor mounting bracket, 46 is the steering motor B, and 47 is gear F. Detailed Implementation

[0044] The following is in conjunction with the appendix Figures 1-10 The present invention will be described in further detail.

[0045] A dual-axis cantilever AGV suitable for automatic loading and unloading of rolls, such as Figures 1-10 As shown, this embodiment includes an AGV vehicle body 1, a material handling device housing 2, a material handling main shaft lifting drive mechanism, a main shaft cantilever fixing seat 3, a main shaft cantilever mechanism, a material handling secondary shaft lifting drive mechanism, a lifting adapter seat 4, a material handling secondary shaft telescopic drive mechanism, a secondary shaft cantilever fixing seat 5, and a secondary shaft cantilever mechanism.

[0046] The AGV body 1 has an omnidirectional moving chassis mechanism at its bottom, and the material handling device housing 2 is located on top of the AGV body 1. The fixing method between the material handling device housing 2 and the AGV body 1 uses existing technology. The connection method between the omnidirectional moving chassis mechanism of the AGV body 1 and the housing and other internal structures of the AGV body 1 also uses existing technology. The main controller of the dual-axis cantilever AGV is located inside the housing of the AGV body 1, and the main controller's configuration also uses existing technology.

[0047] The material handling spindle lifting drive mechanism is located inside the housing 2 of the material handling device. A spindle cantilever mounting port is provided on the front side of the housing 2. The spindle cantilever mounting port 3 is located at the spindle cantilever mounting port, and the spindle cantilever mechanism is mounted on the spindle cantilever mounting port 3. The material handling spindle lifting drive mechanism is used to drive the spindle cantilever mounting port 3 to move up and down at the spindle cantilever mounting port. The spindle cantilever mechanism is used to pick up full rolls from the buffer shelf and to load full rolls onto the machine. In this embodiment, the material handling spindle lifting drive mechanism adopts existing technology, such as a lifting drive structure consisting of a motor, reducer, lead screw, guide rail, and slider. The operation of the material handling spindle lifting drive mechanism is controlled by the main controller of the dual-axis cantilever AGV.

[0048] The material handling sub-shaft lifting drive mechanism is also located within the inner cavity of the material handling device housing 2. Lifting adapter through-holes 201 are respectively provided on the left and right sides of the material handling device housing 2. Each lifting adapter through-hole 201 of the material handling device housing 2 corresponds to a lifting adapter 4. One end of each lifting adapter 4 located within the inner cavity of the material handling device housing 2 is connected to the material handling sub-shaft lifting drive mechanism, while the other end of each lifting adapter 4 located outside the inner cavity of the material handling device housing 2 is connected to the material handling sub-shaft telescopic drive mechanism. The material handling sub-shaft telescopic drive mechanism is connected to the sub-shaft cantilever fixing seat 5 located on the front side of the material handling device housing 2, and the sub-shaft cantilever mechanism is mounted on the sub-shaft cantilever fixing seat 5. The material handling sub-shaft lifting drive mechanism is used to drive the material handling sub-shaft telescopic drive mechanism to lift and lower via each lifting adapter 4. The retraction and loading sub-shaft telescopic drive mechanism drives the sub-shaft cantilever fixed seat 5 to move back and forth relative to the outer shell 2 of the retraction and loading device through its own telescopic movement. The sub-shaft cantilever mechanism is used to retrieve empty rolls from the machine and to load empty rolls onto the buffer shelf. In this embodiment, the sub-shaft cantilever mechanism and the main shaft cantilever mechanism are located in the same vertical plane, which facilitates reducing the number of position adjustments during docking.

[0049] When the material handling sub-shaft telescopic drive mechanism moves the sub-shaft cantilever fixing seat 5 to the preset foremost position, the entire enclosure 2 of the material handling device, the sub-shaft cantilever fixing seat 5, and the material handling sub-shaft telescopic drive mechanism form a space that can accommodate the main shaft cantilever mechanism and the full roll picked up by the main shaft cantilever mechanism. This allows the sub-shaft cantilever mechanism to be at the same height as the main shaft cantilever mechanism and avoids interference between the sub-shaft cantilever mechanism and the main shaft cantilever mechanism.

[0050] Specifically, such as Figure 4 As shown, in this embodiment, the spindle cantilever mechanism includes a spindle cantilever body 6, a support roller A7, and a tensioning assembly.

[0051] One end of the main shaft cantilever body 6 is fixed to the front side of the main shaft cantilever fixing seat 3 along its length, and the other end of the main shaft cantilever body 6 faces away from the front side of the outer shell 2 of the material handling device. Several support rollers A 7 are provided on the top surface of the main shaft cantilever body 6 near the other end along its length, and a tensioning assembly is provided at the bottom of the main shaft cantilever body 6. The arrangement of each support roller A 7 on the main shaft cantilever body 6 adopts existing technology, which facilitates the movement of the corresponding full roll onto or off the main shaft cantilever body 6.

[0052] After the other end of the main shaft cantilever body 6 is inserted into the corresponding full roll, the tensioning assembly tensions and secures the full roll from the inside of the full roll located on the main shaft cantilever body 6. In this embodiment, the specific structure of the tensioning assembly adopts existing technology, such as a tensioning structure composed of a motor, cam, lever, tensioning block, etc.; the tensioning assembly is controlled by the main controller of the dual-axis cantilever AGV. By setting the tensioning assembly, it is further ensured that the full roll can maintain a stable position on the main shaft cantilever body 6.

[0053] In this embodiment, a vision camera A8 is provided on the end face of the other end of the main shaft cantilever body 6 along its length. In this embodiment, the vision camera A8 is a commercially available product and is connected and communicates with the main controller of the dual-axis cantilever AGV. The vision camera A8 is used to accurately determine the full roll position when the main shaft cantilever body 6 is docked with the machine and the buffer shelf, and to transmit information to the main controller of the dual-axis cantilever AGV to accurately adjust its own position.

[0054] In this embodiment, a lifting pin A9 is also provided on the top surface of the main shaft cantilever body 6 near the other end of the main shaft cantilever body 6, and a lifting pin drive assembly A is provided inside the main shaft cantilever body 6. The lifting pin drive assembly A is used to drive the lifting pin A9 to move vertically up and down. In this embodiment, the lifting pin drive assembly A adopts existing technology, such as a lifting drive structure composed of a linear electric cylinder; the lifting pin drive assembly A is controlled by the main controller of the dual-axis cantilever AGV. Before the other end of the main shaft cantilever body 6 in the length direction is inserted into the corresponding full roll, the lifting pin A9 is in a lowered state. After the other end of the main shaft cantilever body 6 in the length direction is inserted into the corresponding full roll, the lifting pin A9 is in a raised state and is used to block the full roll from one side to prevent the full roll from falling off the main shaft cantilever body 6, so as to ensure stable transport of the full roll.

[0055] In this embodiment, the spindle cantilever mounting base 3 is also equipped with a pushing assembly 10. The pushing assembly 10 is used to push the full roll located on the spindle cantilever body 6 forward and to make the full roll leave the spindle cantilever mounting base 3, so as to smoothly complete the operation of feeding the full roll onto the machine. In this embodiment, the pushing assembly 10 adopts existing technology, such as a telescopic pushing structure composed of a linear electric cylinder and a pushing plate; the pushing assembly 10 is controlled by the main controller of the dual-axis cantilever AGV.

[0056] Specifically, such as Figure 5As shown, in this embodiment, the material handling sub-shaft lifting drive mechanism includes a sub-shaft lifting drive motor reducer 11, a sub-shaft lifting transmission screw 12, a sub-shaft lifting transmission screw nut, a sub-shaft lifting guide rail 13, and a sub-shaft lifting guide rail slider. The housing of the sub-shaft lifting drive motor reducer 11 can be mounted on the upper part of the inner cavity of the material handling device housing 2 via a corresponding bracket. The sub-shaft lifting drive motor reducer 11 is a commercially available product and its operation is controlled by the main controller of the dual-axis cantilever AGV. A secondary shaft lifting transmission screw 12 is rotatably provided on the left and right sides of the inner cavity of the outer shell 2 of the material handling device via corresponding bearing seats. A secondary shaft lifting guide rail 13 is also provided on the left and right sides of the inner cavity of the outer shell 2 of the material handling device. The axial center line of all secondary shaft lifting transmission screws 12 and the length direction of all secondary shaft lifting guide rails 13 are perpendicular to the horizontal plane. Each secondary shaft lifting transmission screw 12 is connected to a secondary shaft lifting transmission screw nut by thread. A corresponding secondary shaft lifting guide rail slider is slidably connected on each secondary shaft lifting guide rail 13. The drive shaft of the housing 2 of the material handling device is connected to the upper end of each secondary shaft lifting transmission screw 12 via a synchronous steering transmission assembly, and is used to simultaneously drive each secondary shaft lifting transmission screw 12 to rotate. The secondary shaft lifting transmission screw nut and the secondary shaft lifting guide rail slider located on the left side of the inner cavity of the housing 2 are respectively connected to one end of the lifting adapter seat 4 located on the left side of the housing 2, which is located in the inner cavity of the housing 2. The secondary shaft lifting transmission screw nut and the secondary shaft lifting guide rail slider located on the right side of the inner cavity of the housing 2 are respectively connected to one end of the lifting adapter seat 4 located on the right side of the housing 2, which is located in the inner cavity of the housing 2. The drive shaft of the housing 2 of the material handling device drives each secondary shaft lifting transmission screw 12 to rotate via the synchronous steering transmission assembly, thereby causing each lifting adapter seat 4 connected to the secondary shaft lifting transmission screw nut to rise and fall simultaneously, thereby driving the entire connected material handling secondary shaft telescopic drive mechanism to rise and fall.

[0057] In this embodiment, two secondary shaft lifting transmission screws 12 are symmetrically arranged in the inner cavity of the housing 2 of the material handling device. The synchronous steering transmission assembly includes gear A 14, gear B 15, power transmission shaft A 16, and angle reducer 17. Gear A 14 is fixed to the drive shaft of the housing 2 of the material handling device, and gear B 15 is fixed to the power transmission shaft A 16. Gear A 14 and gear B 15 mesh. Both ends of the power transmission shaft A 16 are connected to the input end of an angle reducer 17, and the output end of each angle reducer 17 is connected to the upper end of a corresponding secondary shaft lifting transmission screw 12. The power transmission shaft A 16 can also maintain a fixed relative position with the inner cavity of the housing 2 of the material handling device through a rotatably connected corresponding bearing seat. With the above-mentioned synchronous steering transmission assembly, only one secondary shaft lifting drive motor reducer 11 is needed to drive the two secondary shaft lifting transmission screws 12 to move synchronously, which is simple and reliable.

[0058] Specifically, such as Figure 5 As shown, in this embodiment, the material handling sub-shaft telescopic drive mechanism includes a sub-shaft telescopic drive motor reducer 18. The mechanism also includes two sets of telescopic fixed connecting plates 19, a transmission gear mounting plate 20, a first-stage telescopic plate 21, and a second-stage telescopic plate 22, symmetrically arranged on the outer side of the material handling device housing 2. The sub-shaft telescopic drive motor reducer 18 is a commercially available product and its operation is controlled by the main controller of the dual-shaft cantilever AGV.

[0059] Each group of telescopic fixed connecting plates 19 is fixedly connected to the other end of the corresponding lifting adapter 4 located on the outer side of the inner cavity of the material handling device housing 2. Each group of telescopic fixed connecting plates 19 has a primary telescopic guide rail 23 on the side away from the material handling device housing 2. A primary telescopic guide rail slider is slidably connected to each primary telescopic guide rail 23. Each primary telescopic guide rail slider is fixedly connected to the primary telescopic plate 21 of the corresponding group. Each group of primary telescopic plate 21 has a secondary telescopic guide rail 24 on the side away from the material handling device housing 2. A secondary telescopic guide rail slider is slidably connected to each secondary telescopic guide rail 24. Each secondary telescopic guide rail slider is fixedly connected to the secondary telescopic plate 22 of the corresponding group. One end of all secondary telescopic plates 22 away from the material handling device housing 2 is fixedly connected to the secondary shaft cantilever fixing seat 5. Each group of transmission gear mounting plates 20 is fixedly connected to the telescopic fixed connecting plates 19 of the same group and is located on the front side of the material handling device housing 2. Each group of transmission gear mounting plates 20 has a rotatable gear C. Gears C 25 and D 26 are mounted on the two sets of transmission gear mounting plates 20. The positions of gears C 25 and D 26 on the two sets of transmission gear mounting plates 20 are mutually corresponding. The axial center lines of all gears C 25 and all gears D 26 are parallel to the left and right directions of the housing 2 of the material handling device. The axles of gears D 26 on the two sets of transmission gear mounting plates 20 are connected by a power transmission shaft B 27. Gears C 25 and D 26 on each set of transmission gear mounting plates 20 mesh with each other. The housing of the secondary shaft telescopic drive motor reducer 18 is mounted on one of the transmission gear mounting plates 20. The drive shaft of the secondary shaft telescopic drive motor reducer 18 is connected to the axle of a corresponding gear C 25. A rack 28 is fixed on each of the first-stage telescopic plates 21 of each set. Each rack 28 is connected to a gear C 25 on the corresponding set of transmission gear mounting plates 20. 25 meshing, each group of first-stage telescopic plates 21 is provided with two transmission pulleys 29 that rotate sequentially along the front-back direction of the first-stage telescopic plate 21. The center lines of the shafts of all transmission pulleys 29 are perpendicular to the horizontal plane. The two transmission pulleys 29 on the first-stage telescopic plates 21 of each group are connected by a corresponding transmission belt 30. The part of the transmission belt 30 on the first-stage telescopic plate 21 of each group that is close to the housing 2 of the material handling device is fixedly connected to the telescopic fixed connecting plate 19 of the same group. The other part of the transmission belt 30 on the first-stage telescopic plate 21 of each group that is away from the housing 2 of the material handling device is fixedly connected to the second-stage telescopic plate 22 of the same group. The length directions of all first-stage telescopic guide rails 23, all second-stage telescopic plates 22, all racks 28, and all transmission belts 30 are parallel to the front-back direction of the housing 2 of the material handling device.The drive shaft of the secondary shaft lifting drive motor reducer 11 drives a corresponding gear C 25 to rotate. Through the meshing of gears D 26, another gear C 25, and two racks 28, the primary telescopic plates 21 can be extended and retracted relative to the telescopic fixed connecting plates 19 in the same group. The transmission belt 30 and transmission pulley 29 allow the primary telescopic plates 21 to simultaneously extend and retract, driving the secondary telescopic plates 22 to extend and retract. The coordinated arrangement of the telescopic fixed connecting plates 19, primary telescopic plates 21, and secondary telescopic plates 22 effectively achieves the telescopic action and reliably reaches the required extension and retraction stroke. The primary telescopic guide rail 23 and the secondary telescopic guide rail 24 ensure accurate and stable extension and retraction of the primary telescopic plates 21 and 22 respectively.

[0060] Specifically, such as Figure 5 As shown, in this embodiment, the secondary shaft cantilever mechanism includes a secondary shaft cantilever body 31 and a support roller B32.

[0061] One end of the secondary shaft cantilever body 31 is fixed to the front side of the secondary shaft cantilever fixing seat 5 along its length, and the other end of the secondary shaft cantilever body 31 faces away from the front side of the outer shell 2 of the material handling device. Several support rollers B 32 are provided on the top surface of the secondary shaft cantilever body 31 near the other end along its length. The arrangement of each support roller B 32 on the secondary shaft cantilever body 31 adopts the prior art, which facilitates the movement of the corresponding empty roll onto or off the secondary shaft cantilever body 31.

[0062] A vision camera B 33 is provided on the end face of the other end of the secondary shaft cantilever body 31 along its length. In this embodiment, the vision camera B 33 is a commercially available product and is connected and communicates with the main controller of the dual-axis cantilever AGV. The vision camera B 33 is used to accurately determine the position of the empty roll when the secondary shaft cantilever body 31 is docked with the machine and the buffer shelf, and to transmit information to the main controller of the dual-axis cantilever AGV so as to accurately adjust its own position.

[0063] A lifting pin B34 is also provided on the top surface of the secondary shaft cantilever body 31 near the other end of the secondary shaft cantilever body 31. A lifting pin drive assembly B is provided inside the secondary shaft cantilever body 31, which is used to drive the lifting pin B34 to move vertically up and down. In this embodiment, the lifting pin drive assembly B adopts existing technology, such as a lifting drive structure composed of a linear electric cylinder; the lifting pin drive assembly B is controlled by the main controller of the dual-axis cantilever AGV. Before the other end of the secondary shaft cantilever body 31 in the longitudinal direction is inserted into the corresponding empty roll, the lifting pin B34 is in a lowered state. After the other end of the secondary shaft cantilever body 31 in the longitudinal direction is inserted into the corresponding empty roll, the lifting pin B34 is in a raised state and is used to block the empty roll from one side to prevent the empty roll from falling off the secondary shaft cantilever body 31.

[0064] Specifically, such as Figures 6-10 As shown, the omnidirectional moving chassis mechanism in this embodiment includes a chassis body 101, a swing seat 35, a swing hinge shaft 36, a hinge seat 37, a drive wheel 38, and a driven wheel 39. The chassis body 101 is located at the bottom of the AGV body body 1 and is fixedly connected to the outer shell of the AGV body body 1. The connection between the chassis body 101 and the outer shell of the AGV body body 1 adopts the prior art. A swing seat receiving opening is provided on the front side of the chassis body 101. The swing seat 35 is located inside the swing seat receiving opening. The length direction of the swing seat 35 is parallel to the left and right direction of the material handling device outer shell 2. A swing hinge shaft 36 is fixedly connected to the front and rear sides of the swing seat 35, and each swing hinge shaft 36 is hinged to the corresponding hinge seat 37. Each hinge seat 37 is fixedly connected to the chassis body 101. The axial center lines of all swing hinge shafts 36 are collinear and parallel to the front and rear direction of the material handling device outer shell 2. With the above configuration, the swing seat 35 can swing around the axial centerline of the swing hinge shaft 36 within the swing seat receiving opening. In this embodiment, there are two drive wheels 38 and two driven wheels 39, both of which are commercially available products. The actions of each drive wheel 38 are controlled by the main controller of the dual-axis cantilever AGV.

[0065] like Figure 9As shown, in this embodiment, the upper end of the wheel frame of each driven wheel 39 is fixedly connected to the outer rotating gear ring of a corresponding slewing support A 40. The inner fixed ring of each slewing support A 40 is fixedly connected to a corresponding driven wheel adapter frame 41. A corresponding steering motor A 42 is mounted on each driven wheel adapter frame 41. A gear E 43 is fixedly connected to the drive shaft of each steering motor A 42. Each gear E 43 meshes with the outer rotating gear ring of a corresponding slewing support A 40. In this embodiment, both the slewing support A 40 and the steering motor A 42 are commercially available products. The steering motor A 42 is controlled by the main controller of the dual-axis cantilever AGV. The drive shaft of the steering motor A 42 drives the gear E 43 to rotate, thereby causing the driven wheel 39, which is fixedly connected to the outer rotating gear ring of the slewing support A 40, to rotate as a whole.

[0066] like Figure 10 As shown, in this embodiment, the top surface of the outer shell of each drive wheel 38 is fixedly connected to the inner fixing ring of a corresponding slewing support member B 44. A corresponding steering motor mounting bracket 45 is also fixedly connected to the lower side of the inner fixing ring of each slewing support member B 44. A corresponding steering motor B 46 is mounted on each steering motor mounting bracket 45. A gear F 47 is fixedly connected to the drive shaft of each steering motor B 46. Each gear F meshes with the outer rotating gear ring of a corresponding slewing support member B 44.

[0067] In this embodiment, both the slewing support B 44 and the steering motor B 46 are commercially available products. The steering motor B 46 is controlled by the main controller of the dual-axis cantilever AGV. The drive shaft of the steering motor B 46 drives the gear F 47 to rotate, thereby enabling the entire assembly consisting of the steering motor B 46, gear F 47, steering motor mounting bracket 45, and drive wheel 38 to rotate relative to the outer rotating gear ring of the slewing support B 44.

[0068] One driven wheel adapter 41 and one slewing support B 44 are respectively fixed to the bottom surface of the swing seat 35 and their positions correspond to each other. The other driven wheel adapter 41 and the other slewing support B 44 are respectively fixed to the rear part of the bottom surface of the chassis body 101 and their positions correspond to each other. The positions of the outer slewing gear of one driven wheel adapter 41 and the other slewing support B 44 correspond to each other front and back. The positions of the outer slewing gear of one slewing support B 44 and the other driven wheel adapter 41 correspond to each other front and back. The axial center line of all slewing support A 40 and the axial center line of all slewing support A 40 are perpendicular to the horizontal plane. Through the specific arrangement of the aforementioned chassis body 101, swing seat 35, drive wheels 38, and driven wheels 39, the rotation angles of each drive wheel 38 and driven wheel 39 can be easily adjusted, effectively supporting omnidirectional movement such as forward, backward, turning, spinning, and lateral movement. Furthermore, due to its arrangement relative to the chassis body 101, the omnidirectional moving chassis mechanism ensures that at least three of the two drive wheels 38 and two driven wheels 39 can reliably contact the ground and achieve three-point coplanarity even on uneven ground, thus guaranteeing driving stability. In this embodiment, the navigation system of the AGV body 1 itself can adopt 2D SLAM technology, with corresponding sensors arranged on opposite sides of the omnidirectional moving chassis mechanism. This eliminates the need for pre-laying navigation markers such as magnetic strips or QR codes, enabling high-precision autonomous navigation and positioning, and improving equipment flexibility.

[0069] The overall workflow of the dual-axis cantilever AGV suitable for automatic loading and unloading of polar rolls in this embodiment is as follows:

[0070] (1) When the corresponding machine needs to change materials after completing the current full roll processing, the upper system automatically generates a material calling task. After receiving the task, the AGV scheduling system assigns it to the designated dual-axis cantilever AGV.

[0071] (2) The AGV vehicle body 1 autonomously travels to the docking station of the buffer shelf according to the preset navigation path. The full roll position is located by the vision camera A8 on the main shaft cantilever body 6. The lifting drive mechanism of the material pick-and-place main shaft adjusts the main shaft cantilever body 6 to the height that matches the full roll.

[0072] (3) The main shaft cantilever body 6 extends into the inner side of the corresponding full roll, the tensioning component fixes the full roll, and the lifting pin drive component A moves to limit the full roll with the lifting pin A9; at the same time, the picking and unloading sub-shaft lifting drive mechanism moves the sub-shaft cantilever body 31 to the preset height, and the picking and unloading sub-shaft telescopic drive mechanism extends to the maximum stroke to prepare for subsequent empty roll picking; the picking and unloading main shaft lifting drive mechanism drives the full roll to rise so that the full roll is removed from the buffer shelf.

[0073] (4) The dual-axis cantilever AGV carries the full roll along the optimal path to the corresponding machine, ensuring that the main shaft cantilever body 6 and the auxiliary shaft cantilever body 31 can match the position of the machine docking shaft.

[0074] (5) The material pick-up and unload sub-shaft telescopic drive mechanism is kept extended to the maximum stroke state, while the material pick-up and unload sub-shaft lifting drive mechanism drives the sub-shaft cantilever body 31 to descend to the height that matches the empty roll on the machine platform, completing the docking of the sub-shaft cantilever body 31 with the empty roll; the machine platform itself pushes the empty roll onto the sub-shaft cantilever body 31, the sub-shaft cantilever body 31 passes into the inside of the empty roll, and the lifting pin drive component B moves to limit the lifting pin B 34 to the empty roll, completing the empty roll pickup;

[0075] (6) The material pick-and-place sub-shaft telescopic drive mechanism drives the sub-shaft cantilever body 31 to rise to the highest position again to avoid the working space of the main shaft cantilever body 6, and the material pick-and-place sub-shaft telescopic drive mechanism retracts to the minimum stroke.

[0076] (7) The lifting drive mechanism of the material pick-and-place spindle drives the main shaft cantilever body 6 to lift and finely adjust the full roll height to ensure that the main shaft cantilever body 6 is precisely aligned with the machine docking shaft. The tensioning component and the lifting pin drive component A retract respectively, and the pushing component 10 pushes the full roll to the machine docking shaft to complete the full roll delivery.

[0077] (8) The dual-axis cantilever AGV carries the empty roll to the docking station of the buffer shelf. The material pick-and-place sub-shaft telescopic drive mechanism extends to the maximum stroke. The material pick-and-place sub-shaft lifting drive mechanism drives the sub-shaft cantilever body 31 to the docking height of the buffer shelf and places the empty roll on the buffer shelf. The lifting pin drive component B retracts to complete the empty roll placement. Then the material pick-and-place sub-shaft telescopic drive mechanism retracts to the minimum stroke and drives the sub-shaft cantilever body 31 to retract, waiting for the next operation task and entering the cycle state.

Claims

1. A dual-axis cantilever AGV suitable for automatic loading and unloading of rotary coils, characterized in that: It includes the AGV vehicle body (1), the outer shell of the picking and placing device (2), the picking and placing main shaft lifting drive mechanism, the main shaft cantilever fixing seat (3), the main shaft cantilever mechanism, the picking and placing secondary shaft lifting drive mechanism, the lifting adapter seat (4), the picking and placing secondary shaft telescopic drive mechanism, the secondary shaft cantilever fixing seat (5), and the secondary shaft cantilever mechanism. The bottom of the AGV body (1) has an omnidirectional moving chassis mechanism, and the outer shell (2) of the material handling device is located on the top of the AGV body (1). The lifting drive mechanism of the material pick-and-place spindle is located in the inner cavity of the outer shell (2) of the material pick-and-place device. The front side of the outer shell (2) of the material pick-and-place device is provided with a spindle cantilever fixing seat setting port. The spindle cantilever fixing seat (3) is located at the spindle cantilever fixing seat setting port. The spindle cantilever mechanism is set on the spindle cantilever fixing seat (3). The material handling sub-shaft lifting drive mechanism is also located in the inner cavity of the material handling device housing (2). Lifting adapter through-holes (201) are respectively opened on the left and right sides of the material handling device housing (2). Each lifting adapter through-hole (201) of the material handling device housing (2) is respectively connected to a lifting adapter (4). One end of each lifting adapter (4) is connected to the material handling sub-shaft lifting drive mechanism, and the other end of each lifting adapter (4) is connected to the material handling sub-shaft telescopic drive mechanism. The material handling sub-shaft telescopic drive mechanism is connected to the sub-shaft cantilever fixing seat (5) located on the front side of the material handling device housing (2). The sub-shaft cantilever mechanism is located on the sub-shaft cantilever fixing seat (5).

2. The dual-axis cantilever AGV suitable for automatic loading and unloading of rotary coils according to claim 1, characterized in that: The main spindle cantilever mechanism includes a main spindle cantilever body (6), a support roller A (7), and a tensioning assembly; One end of the main shaft cantilever body (6) along its length is fixed to the front side of the main shaft cantilever fixing seat (3), and the other end of the main shaft cantilever body (6) along its length faces away from the front side of the material handling device housing (2). Several support rollers A (7) are provided on the top surface of the main shaft cantilever body (6) near the other end along its length. The tensioning assembly is located at the bottom of the main shaft cantilever body (6). After the other end of the main shaft cantilever body (6) in the length direction is inserted into the corresponding full roll, the tensioning assembly tensions and fixes the full roll from the inside of the full roll located on the main shaft cantilever body (6).

3. The dual-axis cantilever AGV suitable for automatic loading and unloading of rotary coils according to claim 2, characterized in that: A vision camera A (8) is provided on the end face of the other end of the main shaft cantilever body (6) along the length direction.

4. A dual-axis cantilever AGV suitable for automatic loading and unloading of rotary coils according to claim 2, characterized in that: A lifting pin A (9) is also provided on the top surface of the main shaft cantilever body (6) near the other end of the main shaft cantilever body (6). The main shaft cantilever body (6) is provided with a lifting pin drive assembly A. The lifting pin drive assembly A is used to drive the lifting pin A (9) to rise and fall vertically. Before the other end of the main shaft cantilever body (6) in the length direction is inserted into the corresponding full roll, the lifting pin A (9) is in a lowered state. After the other end of the main shaft cantilever body (6) in the length direction is inserted into the corresponding full roll, the lifting pin A (9) is in a raised state and is used to block the full roll from one side to prevent the full roll from falling off the main shaft cantilever body (6).

5. A dual-axis cantilever AGV suitable for automatic loading and unloading of rotary coils according to claim 2, characterized in that: The spindle cantilever fixing seat (3) is also provided with a pusher assembly (10), which is used to push the full roll located on the spindle cantilever body (6) forward and make the full roll leave the spindle cantilever fixing seat (3).

6. A dual-axis cantilever AGV suitable for automatic loading and unloading of rotary coils according to claim 1, characterized in that: The material handling sub-shaft lifting drive mechanism includes a sub-shaft lifting drive motor reducer (11), a sub-shaft lifting transmission screw (12), a sub-shaft lifting transmission screw nut, a sub-shaft lifting guide rail (13), and a sub-shaft lifting guide rail slider. The outer shell of the sub-shaft lifting drive motor reducer (11) is located in the upper part of the inner cavity of the material handling device outer shell (2). A sub-shaft lifting transmission screw (12) is rotatably provided on the left side and right side of the inner cavity of the material handling device outer shell (2). A sub-shaft lifting guide rail (13) is also provided on the left side and right side of the inner cavity of the material handling device outer shell (2). The axial center lines of all the sub-shaft lifting transmission screws (12) and the length directions of all the sub-shaft lifting guide rails (13) are perpendicular to the horizontal plane. Each sub-shaft lifting transmission screw (12) is connected to a sub-shaft lifting transmission screw nut by a thread. The secondary shaft lifting guide rail (13) is slidably connected to the corresponding secondary shaft lifting guide rail slider. The drive shaft of the housing (2) of the material handling device is connected to the upper end of each of the secondary shaft lifting transmission screws (12) through the synchronous steering transmission assembly and is used to drive each of the secondary shaft lifting transmission screws (12) to rotate at the same time. The secondary shaft lifting transmission screw nut and the secondary shaft lifting guide rail slider located on the left side of the inner cavity of the housing (2) of the material handling device are respectively connected to one end of the lifting adapter (4) located on the left side of the housing (2) of the material handling device, which is located in the inner cavity of the housing (2) of the material handling device. The secondary shaft lifting transmission screw nut and the secondary shaft lifting guide rail slider located on the right side of the inner cavity of the housing (2) of the material handling device are respectively connected to one end of the lifting adapter (4) located on the right side of the housing (2) of the material handling device, which is located in the inner cavity of the housing (2) of the material handling device.

7. A dual-axis cantilever AGV suitable for automatic loading and unloading of rotary coils according to claim 6, characterized in that: Two auxiliary shaft lifting transmission screws (12) are symmetrically arranged in the inner cavity of the housing (2) of the material handling device; the synchronous steering transmission assembly includes gear A (14), gear B (15), power transmission shaft A (16), and angle reducer (17); gear A (14) is fixed to the drive shaft of the housing (2) of the material handling device, gear B (15) is fixed to the power transmission shaft A (16), gear A (14) and gear B (15) mesh, and both ends of the power transmission shaft A (16) are respectively connected to the input end of one of the angle reducers (17), and the output end of each angle reducer (17) is respectively connected to the upper end of the corresponding auxiliary shaft lifting transmission screw (12).

8. A dual-axis cantilever AGV suitable for automatic loading and unloading of rotary coils according to claim 1, characterized in that: The material handling sub-shaft telescopic drive mechanism includes a sub-shaft telescopic drive motor reducer (18), and the material handling sub-shaft telescopic drive mechanism also includes two sets of telescopic fixed connecting plates (19), transmission gear mounting plates (20), first-stage telescopic plates (21) and second-stage telescopic plates (22) symmetrically arranged on the outside of the outer shell (2) of the material handling device. Each telescopic fixed connecting plate (19) of each group is fixedly connected to the other end of the corresponding lifting adapter (4) located on the outer side of the inner cavity of the material handling device housing (2). Each group of telescopic fixed connecting plates (19) has a first-level telescopic guide rail (23) on the side away from the material handling device housing (2). Each first-level telescopic guide rail (23) has a sliding block connected to it. Each first-level telescopic guide rail slider is fixedly connected to the first-level telescopic plate (21) of the corresponding group. Each group of first-level telescopic plate (21) has a second-level telescopic guide rail (24) on the side away from the material handling device housing (2). Each second-level telescopic guide rail (24) has a sliding block connected to it. The secondary telescopic guide rail sliders are respectively fixedly connected to a corresponding set of secondary telescopic plates (22). The ends of all the secondary telescopic plates (22) away from the outer shell (2) of the material handling device are respectively fixedly connected to the secondary shaft cantilever fixing seat (5). The transmission gear mounting plates (20) of each group are respectively fixedly connected to the telescopic fixed connecting plates (19) of the same group and are all located on the front side of the outer shell (2) of the material handling device. The transmission gear mounting plates (20) of each group are respectively rotatably provided with gear C (25) and gear D (26). The positions of gear C (25) on the transmission gear mounting plates (20) of the two groups correspond to each other left and right. The positions of gear D (26) on the transmission gear mounting plates (20) of the two groups are respectively rotatably provided with gear C (25) and gear D (26). The positions of the gears 6) are mutually corresponding, and the axial center lines of all gears C (25) and all gears D (26) are parallel to the left and right directions of the housing (2) of the material handling device. The gear shafts of the gears D (26) on the two sets of transmission gear mounting plates (20) are connected by the power transmission shaft B (27). The gears C (25) and D (26) on each set of transmission gear mounting plates (20) mesh with each other. The housing of the secondary shaft telescopic drive motor reducer (18) is mounted on one of the sets of transmission gear mounting plates (20). The drive shaft of the secondary shaft telescopic drive motor reducer (18) is connected to the corresponding gear shaft of one of the gears C (25). The first-stage telescopic drive motor reducer of each set is connected to the corresponding gear shaft of the gear C (25). A rack (28) is fixedly connected to each plate (21). Each rack (28) meshes with a gear C (25) on a corresponding set of transmission gear mounting plates (20). Two transmission pulleys (29) are sequentially arranged on each set of primary telescopic plates (21) along the front-rear direction of the primary telescopic plate (21). The center lines of the shafts of all the transmission pulleys (29) are perpendicular to the horizontal plane. The two transmission pulleys (29) on each set of primary telescopic plates (21) are connected by a corresponding transmission belt (30). A portion of the transmission belt (30) on each set of primary telescopic plates (21) near the outer shell (2) of the material handling device is fixedly connected to the telescopic fixed connecting plate (19) of the same set.The portion of the transmission belt (30) on each group's primary telescopic plate (21) away from the outer casing (2) of the material handling device is fixedly connected to the secondary telescopic plate (22) of the same group. The length directions of all primary telescopic guides (23), all secondary telescopic plates (22), all racks (28), and all transmission belts (30) are parallel to the front-rear direction of the outer casing (2).

9. A dual-axis cantilever AGV suitable for automatic loading and unloading of rotary coils according to claim 1, characterized in that: The secondary shaft cantilever mechanism includes a secondary shaft cantilever body (31) and a support roller B (32); One end of the secondary shaft cantilever body (31) along its length is fixed to the front side of the secondary shaft cantilever fixing seat (5), and the other end of the secondary shaft cantilever body (31) along its length faces away from the front side of the material handling device housing (2). Several support rollers B (32) are provided on the top surface of the secondary shaft cantilever body (31) near the other end along its length. A vision camera B (33) is provided on the end face of the other end of the secondary shaft cantilever body (31) along the length direction. A lifting pin B (34) is also provided on the top surface of the secondary shaft cantilever body (31) near the other end of the secondary shaft cantilever body (31). The secondary shaft cantilever body (31) is provided with a lifting pin drive assembly B. The lifting pin drive assembly B is used to drive the lifting pin B (34) to rise and fall vertically. Before the other end of the secondary shaft cantilever body (31) in the length direction is inserted into the corresponding empty roll, the lifting pin B (34) is in a lowered state. After the other end of the secondary shaft cantilever body (31) in the length direction is inserted into the corresponding empty roll, the lifting pin B (34) is in a raised state and is used to block the empty roll from one side to prevent the empty roll from falling off the secondary shaft cantilever body (31).

10. A dual-axis cantilever AGV suitable for automatic loading and unloading of rotary coils according to claim 1, characterized in that: The omnidirectional moving chassis mechanism includes a chassis body (101), a swing seat (35), a swing hinge shaft (36), a hinge seat (37), a drive wheel (38), and a driven wheel (39). The chassis body (101) is located at the bottom of the AGV body body (1) and is fixedly connected to the outer shell of the AGV body body (1). A swing seat receiving opening is provided on the front side of the chassis body (101), and the swing seat (35) is located inside the swing seat receiving opening. 5) The length direction is parallel to the left and right direction of the outer shell (2) of the material handling device. A swing hinge shaft (36) is fixedly connected to the front and rear sides of the swing seat (35). Each swing hinge shaft (36) is hinged to the corresponding hinge seat (37). Each hinge seat (37) is fixedly connected to the chassis body (101). The axial center lines of all the swing hinge shafts (36) are collinear and parallel to the front and rear direction of the outer shell (2) of the material handling device. Two drive wheels (38) and two driven wheels (39) are provided respectively; the upper end of the wheel frame of each driven wheel (39) is fixedly connected to the outer rotating gear ring of a corresponding rotary support A (40), the inner fixed ring of each rotary support A (40) is fixedly connected to a corresponding driven wheel adapter (41), a corresponding steering motor A (42) is installed on each driven wheel adapter (41), and a gear E (43) is fixedly connected to the drive shaft of each steering motor A (42), and each gear E (43) meshes with the outer rotating gear ring of a corresponding rotary support A (40); The top surface of the outer shell of each drive wheel (38) is fixedly connected to the inner fixed ring of a corresponding slewing support member B (44). A corresponding rudder motor mounting bracket (45) is also fixedly connected to the lower side of the inner fixed ring of each slewing support member B (44). A corresponding rudder motor B (46) is mounted on each rudder motor mounting bracket (45). A gear F (47) is fixedly connected to the drive shaft of each rudder motor B (46). Each gear F meshes with the outer rotating gear ring of a corresponding slewing support member B (44). One of the driven wheel adapters (41) and one of the rotary support members B (44) have their outer rotating gear rings fixed to the bottom surface of the swing seat (35) and their positions correspond to each other. The other driven wheel adapter (41) and the other rotary support member B (44) have their outer rotating gear rings fixed to the rear part of the bottom surface of the chassis body (101) and their positions correspond to each other. The positions of the outer rotating gear rings of one driven wheel adapter (41) and the other rotary support member B (44) correspond to each other front and back. The positions of the outer rotating gear rings of one rotary support member B (44) and the other driven wheel adapter (41) correspond to each other front and back. The axial center lines of all the rotary support members A (40) and the axial center lines of all the rotary support members A (40) are perpendicular to the horizontal plane.

Images