Automatic guide vehicle with coil taking clamp

Abstract

The utility model discloses an automatic guide vehicle with a roll taking clamp, which comprises a roll taking automatic guide vehicle and a roll taking clamp, and the roll taking clamp comprises a support, a material taking structure, a cargo carrying detection structure and a driving structure. The material taking structure is assembled on one side of the support, the driving structure is assembled on the support, and the driving structure is connected with the material taking structure; the cargo carrying detection structure is assembled on the material taking structure; the coil taking clamp comprises an AGV body, a lifting mechanism and a scissor fork mechanism, the lifting mechanism is assembled on the AGV body, and the scissor fork mechanism is connected with the lifting mechanism; and the bracket is connected with the scissor fork mechanism. By means of the coil taking-out device, the coil taking-out efficiency can be greatly improved, the manual operation time is shortened, human errors in the production process can be effectively reduced, and the accuracy and consistency of the coil taking-out process are guaranteed; and the taken-out coiled materials are automatically carried, the production efficiency is effectively improved, the labor cost is reduced, and the accuracy and safety of the production process are improved.

Description

Technical Field

[0001] This utility model relates to the field of wind turbine blade manufacturing technology, and in particular to an automatic guide vehicle with a wind turbine blade take-up clamp. Background Technology

[0002] In the production of wind turbine blades, composite sheets, as one of the main raw materials, are usually processed using large-size coils. These coils are generally between 40 and 90 meters in length, and are large in volume and heavy in weight, requiring extremely high production efficiency in handling and processing.

[0003] However, most composite panel workshops still rely on manual operation for tasks such as unloading and removing coils from the production line. This traditional manual method of unloading and moving coils is not only inefficient, but also leads to high labor costs due to the increasing number of operators and their workload as production scales up. Furthermore, manual operation is prone to errors and instability, making it difficult to guarantee the precision and accuracy of each coil retrieval, which poses a significant challenge to the smooth operation of the entire production process. Moreover, manually removing the coils from the production line and transferring them to the designated location is not only tedious but also susceptible to human error, resulting in unnecessary time waste.

[0004] With the increasing demand and expansion of wind turbine blade production, the traditional manual unwinding and handling methods are clearly no longer able to meet the integrated requirements of efficiency, precision and quality in modern production.

[0005] Therefore, it is necessary to design a new structure that can not only significantly improve the efficiency of roll material removal and reduce manual operation time, but also effectively reduce human error in the production process, ensure the accuracy and consistency of the roll removal process, and automatically transport the removed roll material, thereby effectively improving production efficiency, reducing labor costs, and improving the accuracy and safety of the production process. Utility Model Content

[0006] The purpose of this invention is to overcome the shortcomings of the prior art and provide an automated guided vehicle with a roll-taking clamp.

[0007] To solve the above-mentioned technical problems, the purpose of this utility model is achieved through the following technical solution: An automated guided vehicle (AGV) with a winding clamp is provided, comprising a winding AGV and a winding clamp. The winding clamp includes: a bracket, a material handling structure, a cargo detection structure, and a drive structure; the material handling structure is mounted on one side of the bracket, the drive structure is mounted on the bracket, and the drive structure is connected to the material handling structure; the cargo detection structure is mounted on the material handling structure; the winding clamp includes: an AGV body, a lifting mechanism, and a scissor fork mechanism; the lifting mechanism is mounted on the AGV body, and the scissor fork mechanism is connected to the lifting mechanism; the bracket is connected to the scissor fork mechanism.

[0008] The further technical solution is as follows: the material handling structure includes an upper material handling claw, a lower material handling claw, and a sliding component, the sliding component being connected to the bracket; the upper material handling claw and the lower material handling claw are respectively connected to the sliding component; the cargo detection structure is respectively mounted on the upper material handling claw and the lower material handling claw.

[0009] The further technical solution is as follows: the sliding component includes a slide rail and a slider, the slide rail is connected to the bracket; the slider is slidably connected to the slide rail; the upper picking claw and the lower picking claw are respectively connected to the slider.

[0010] The further technical solution is as follows: the cargo detection structure includes a detection plate, a first elastic element, a proximity switch, a connecting rod, and a housing. The detection plate is connected above the housing, and the first elastic element is inserted into the housing. The upper end of the first elastic element extends to the outside of the housing and is connected to the detection plate. The connecting rod passes through the first elastic element, and the upper end of the connecting rod is connected to the detection plate. The proximity switch is located on one side of the housing, and the housing is assembled on the material handling structure.

[0011] The further technical solution is as follows: the drive structure includes a drive motor, a reducer, a coupling, a lead screw fixing seat, a lead screw, and a connecting member; the upper and lower picking claws are respectively connected to the connecting member, the drive motor is connected to the reducer, the reducer is connected to the lead screw through the coupling, both ends of the lead screw are connected to the lead screw fixing seat, and the lead screw fixing seat is fixed on the bracket, and the connecting member is connected to the lead screw.

[0012] The further technical solution is as follows: the roll-taking clamp also includes a camera device, which is mounted on the bracket.

[0013] The further technical solution is as follows: the camera device includes a camera and a mounting base; the mounting base is connected to the bracket; the camera is connected to the mounting base.

[0014] A further technical solution is as follows: the camera device further includes an adjustment plate and a second elastic element; one end of the second elastic element is connected to the mounting base; the other end of the second elastic element is connected to the adjustment plate; the camera is mounted on the adjustment plate.

[0015] The further technical solution is as follows: the lifting mechanism includes a lifting power source and a gantry, the lifting power source is connected to the gantry, and the gantry is mounted on the AGV body.

[0016] The further technical solution is as follows: the scissor fork mechanism includes a telescopic power source, a sliding structure, and a scissor fork arm. The two sides of the sliding structure are installed inside the gantry, and the sliding structure is connected to the lifting power source. One end of the scissor fork arm serves as a fixed end, and the other end serves as a movable end. The sliding structure is connected to the fixed end of the scissor fork arm. The sliding structure is connected to the telescopic power source. The movable end of the scissor fork arm is connected to the bracket.

[0017] The advantages of this invention compared to existing technologies are as follows: By setting up an automated guided vehicle (AGV) for unwinding coils and a coil-unwinding fixture, this invention achieves efficient coil unwinding and automated handling. The bracket, unwinding structure, drive structure, and cargo detection structure of the coil-unwinding fixture work together to ensure accurate and reliable unwinding. The cooperation between the lifting mechanism and the scissor fork mechanism allows the AGV to precisely adjust its height and position during dynamic movement, thereby significantly improving the efficiency of coil unwinding, reducing manual operation time, and effectively avoiding human error. Automated handling further reduces labor costs in the production process, ensuring efficient, safe, and consistent production operations.

[0018] The present invention will be further described below with reference to the accompanying drawings and specific embodiments. Attached Figure Description

[0019] To more clearly illustrate the technical solutions of the embodiments of this utility model, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0020] Figure 1 A three-dimensional structural schematic diagram of an automated guided vehicle with a roll-taking clamp provided for an embodiment of this utility model;

[0021] Figure 2 A side view of an automated guided vehicle with a roll-up clamp provided for an embodiment of this utility model;

[0022] Figure 3 A schematic diagram of the winding process of an automated guided vehicle with a winding clamp provided in this embodiment of the present invention. Figure 1 ;

[0023] Figure 4 A schematic diagram of the winding process of an automated guided vehicle with a winding clamp provided in this embodiment of the present invention. Figure 2 ;

[0024] Figure 5 A three-dimensional structural diagram of the roll-removing clamp provided in an embodiment of this utility model;

[0025] Figure 6 This is an exploded view of the winding clamp provided in an embodiment of the present utility model.

[0026] Figure 7 An exploded view of the cargo detection structure provided in this embodiment of the utility model;

[0027] Explanation of the markings in the image:

[0028] 1. Formed coil; 2. Winding machine; 10. Coil take-up clamp; 11. Upper take-up claw; 12. Lower take-up claw; 13. Load detection structure; 131. Detection plate; 132. First elastic element; 134. Proximity switch; 133. Connecting rod; 135. Housing; 14. Drive structure; 141. Drive motor; 142. Reducer; 143. Coupling; 144. Lead screw fixing seat; 145. Left-hand nut; 146. 147. Lead screw; 15. Right-hand nut; 16. Camera device; 17. Camera; 18. Mounting base; 19. Adjusting plate; 10. Second elastic element; 11. Bracket; 22. AGV body; 23. Lifting mechanism; 24. Lifting power source; 25. Gantry; 26. Scissor fork mechanism; 27. Telescopic power source; 28. Carriage; 29. ​​Scissor fork arm; 20. Navigation module; 20. Obstacle avoidance radar. Detailed Implementation

[0029] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of the present utility model.

[0030] It should be understood that, when used in this specification and the appended claims, the terms "comprising" and "including" indicate the presence of the described features, integrals, steps, operations, elements and / or components, but do not exclude the presence or addition of one or more other features, integrals, steps, operations, elements, components and / or collections thereof.

[0031] It should also be understood that the terminology used in this specification is for the purpose of describing particular embodiments only and is not intended to limit the scope of the invention. As used in this specification and the appended claims, the singular forms “a,” “an,” and “the” are intended to include the plural forms unless the context clearly indicates otherwise.

[0032] It should also be further understood that the term "and / or" as used in this specification and the appended claims refers to any combination of one or more of the associated listed items and all possible combinations, and includes such combinations.

[0033] In wind turbine blade production, composite sheet metal, as the main raw material, is typically processed in large-size coils. These coils are bulky, heavy, and require precise handling. Currently, most workshops rely on manual operation for unloading and moving these coils. However, this traditional method is inefficient, and as production scales up, labor costs and workload increase, making it difficult to guarantee operational precision and affecting the smooth operation of the production process. Manual handling is not only cumbersome but also susceptible to human error, resulting in wasted time and failing to meet the demands of modern production for efficiency, precision, and quality.

[0034] To address this, this utility model provides an automated guided vehicle with a roll-retrieving clamp, which not only significantly improves the efficiency of roll removal and reduces manual operation time, but also effectively reduces human error in the production process, ensuring the accuracy and consistency of the roll-retrieving process; furthermore, the automatic handling of the removed rolls effectively improves production efficiency, reduces labor costs, and enhances the accuracy and safety of the production process.

[0035] Specifically, by integrating a coil-retrieving clamp, a drive structure 14, a lifting mechanism, a scissor fork mechanism, and a load detection structure 13, the system achieves efficient removal and automated handling of coil materials. Through automated control, the system optimizes the coil-retrieving process, reduces manual operation time, and ensures accuracy and consistency in the coil-retrieving process through precise load detection and a drive mechanism. The design of the lifting and scissor fork structures allows the AGV to operate flexibly and automatically handle coil materials, thereby significantly improving production efficiency, reducing labor costs, and enhancing the accuracy and safety of the production process, while reducing the occurrence of human error.

[0036] To better understand the above technical solutions, the following will provide a detailed explanation of the technical solutions in conjunction with the accompanying drawings and specific implementation methods.

[0037] Please see Figures 1 to 5The automated guided vehicle (AGV) with a winding clamp includes a winding AGV and a winding clamp. The winding clamp includes a bracket 16, a material handling structure, a load detection structure 13, and a drive structure 14. The material handling structure is mounted on one side of the bracket 16, and the drive structure 14 is mounted on the bracket 16 and connected to the material handling structure. The load detection structure 13 is mounted on the material handling structure. The winding AGV includes an AGV body 21, a lifting mechanism 22, and a scissor fork mechanism 23. The lifting mechanism 22 is mounted on the AGV body 21, and the scissor fork mechanism 23 is connected to the lifting mechanism 22. The bracket 16 is connected to the scissor fork mechanism 23.

[0038] In this embodiment, the bracket 16 is the supporting structure of the entire coil unwinding fixture 10, providing fixation and support for the various components of the fixture. The structural design of the bracket 16 needs to ensure that the fixture is stable during operation and can withstand a certain weight and force in order to perform efficient coil loading and unloading operations.

[0039] The material handling structure is the most critical part of the coil-taking clamp 10, and it includes an upper material handling jaw 11 and a lower material handling jaw 12. The upper and lower material handling jaws 11 and 12 are mounted on one side of the support 16 and are typically connected to the support 16 via a linear guide slider. This allows them to perform clamping and releasing actions under the action of the drive structure 14. By controlling the opening and retraction of the upper and lower material handling jaws 12, the material handling structure can clamp or release the coiled material, thereby achieving the gripping and release of the coiled material.

[0040] In the material handling structure, the upper picking claw 11 and the lower picking claw 12 are connected to the left-hand nut 145 and the right-hand nut 147, respectively. Under the action of the drive motor 141, the picking claws are synchronously opened and retracted by the forward and reverse rotation of the lead screw 146. This ensures that the clamp can effectively hold the coiled material and complete the material handling operation.

[0041] The loading detection structure 13 is used to detect whether the picking claw has correctly gripped the coil. This structure is accomplished by a compression spring connected to the picking claw and a detection plate 131. When the picking claw clamps the coil, the coil compresses the spring, causing the detection plate 131 to move and triggering a proximity switch 134, generating a signal to confirm that the coil has been clamped. Conversely, when the picking claw releases, the spring rebounds, the detection plate 131 returns to its original position, the proximity switch 134 disconnects the signal, and the coil has been released.

[0042] The drive structure 14 is the power source for the entire coil-taking clamp 10. It mainly consists of a drive motor 141, a reducer 142, a coupling 143, and a lead screw 146. The drive motor 141 drives the reducer 142, which in turn drives the lead screw 146 to rotate. The lead screw 146 is connected to the left-hand nut 145 and the right-hand nut 147 of the take-up claw. The rotation of the lead screw 146 drives the opening and closing movement of the take-up claw, thereby realizing the clamping and releasing of the coil.

[0043] The drive motor 141 drives the lead screw 146 to rotate in both directions, causing the gripper claws to open and retract synchronously. This action can be adjusted as needed to accommodate different specifications of coiled material. Through the spring and detection plate 131 of the load detection structure 13, the clamp can monitor in real time whether the coiled material is properly clamped and ensure that the clamp will not loosen the coiled material during handling. The synchronous action of the upper gripper claw 11 and the lower gripper claw 12 ensures that the clamp can stably grip and release the coiled material without damaging it.

[0044] The camera device 15 scans the QR code to determine in real time whether the docking position of the coil clamp 10 is accurate. This ensures that the clamp can accurately dock with the coil, guaranteeing operational precision.

[0045] In summary, the design concept of the coil unloading fixture 10 is to achieve automated unloading and handling of coil materials during the composite board production process by integrating the drive structure 14, the material handling structure, the cargo detection structure 13, and the camera 151 positioning system. This can improve production efficiency and reduce the complexity and risk of manual operation.

[0046] In one embodiment, please refer to Figure 5 The aforementioned material handling structure includes an upper material handling claw 11, a lower material handling claw 12, and a sliding assembly. The sliding assembly is connected to the bracket 16. The upper material handling claw 11 and the lower material handling claw 12 are respectively connected to the sliding assembly. The upper material handling claw 11 and the lower material handling claw 12 are respectively equipped with a cargo detection structure 13.

[0047] In this embodiment, the upper picking claw 11 and the lower picking claw 12 are used to clamp or pick up and put away the roll material to be processed.

[0048] In one embodiment, the outer end of the upper picking claw 11 extends upward with an upper baffle, and the outer end of the lower picking claw 12 extends downward with a lower baffle. The upper baffle and the lower baffle can block the forming roll 1.

[0049] The sliding component is connected to the bracket 16. The function of the sliding component is to support the sliding movement of the upper picking claw 11 and the lower picking claw 12 in the vertical direction or other directions, so as to ensure the smooth progress of the picking process.

[0050] These grippers are also equipped with a load detection structure 13, which can detect whether the roll material has been gripped to ensure that the clamp can work properly.

[0051] In one embodiment, please refer to Figure 6 The aforementioned sliding assembly includes a slide rail and a slider. The slide rail is connected to the bracket 16; the slider is slidably connected to the slide rail; and the upper picking claw 11 and the lower picking claw 12 are respectively connected to the slider.

[0052] In this embodiment, the slide rail is fixed to the bracket 16, providing a sliding path.

[0053] The slider is slidably connected to the slide rail, allowing it to slide freely along a specific track. The upper and lower picking claws 11 and 12 are respectively connected to the slider, and the height or position of the picking claws is adjusted by the movement of the slider, thereby achieving the purpose of picking up materials.

[0054] In one embodiment, please refer to Figures 6 to 7 The aforementioned cargo detection structure 13 includes a detection plate 131, a first elastic element 132, a proximity switch 134, a connecting rod 133, and a housing 135. The detection plate 131 is connected above the housing 135, and the first elastic element 132 is inserted into the housing 135. The upper end of the first elastic element 132 extends to the outside of the housing 135 and is connected to the detection plate 131. The connecting rod 133 passes through the first elastic element 132, and the upper end of the connecting rod 133 is connected to the detection plate 131. The proximity switch 134 is located on one side of the housing 135, and the housing 135 is mounted on the material handling structure.

[0055] In one embodiment, please refer to Figure 7 The first elastic element 132 mentioned above includes a spring.

[0056] In this embodiment, the cargo detection structure 13 is designed to detect whether a roll of material or an item has been gripped, ensuring that the material gripper can accurately determine whether it has grasped the material during the gripping operation. The detection plate 131 is one of the key components of the cargo detection structure 13. Its main function is to contact the roll of material and determine whether an item has been gripped based on changes in its position or state. The detection plate 131 is typically mounted above the housing 135 to allow direct contact with the material. The detection plate 131 can shift according to changes in the weight or position of the roll of material, transmitting a signal to the proximity switch 134.

[0057] When the material is gripped, the position of the detection plate 131 changes, triggering the proximity switch 134, and the system can then determine whether the material has been gripped.

[0058] The first elastic element 132 is a spring installed between the detection plate 131 and the housing 135, which provides a restoring force. When the detection plate 131 is displaced due to contact with material, the first elastic element 132 provides elastic force to restore the detection plate 131 to its original position. The spring ensures that the detection plate 131 is always in its initial state when there is no material. When material is picked up, the detection plate 131 can shift, thereby triggering the corresponding detection signal.

[0059] The function of the first elastic element 132 is to allow the detection plate 131 to respond flexibly when the material is clamped and to return to its original position after the material is removed, so as to ensure the accuracy and stability of each detection.

[0060] The proximity switch 134 is a sensing component in the cargo detection structure 13. It is located on one side of the housing 135 and is used to detect changes in the position of the detection plate 131. The proximity switch 134 can sense the offset or contact state of the detection plate 131. When the detection plate 131 changes due to contact with the material, the proximity switch 134 will send a signal to the control system to report whether the material has been gripped.

[0061] The proximity switch 134 is responsible for monitoring the positional changes of the detection plate 131 in real time. It sends a signal when the detection plate 131 shifts, thereby determining whether material has been picked up. Through this signal, the system can determine whether the material picking process is proceeding smoothly.

[0062] The connecting rod 133 connects the first elastic element 132 and the detection plate 131. It passes through the spring and links the detection plate 131 with other components (such as the drive structure 14). The function of the connecting rod 133 is to transmit the elastic force of the first elastic element 132 to the detection plate 131 and to transmit the movement of the detection plate 131 to the proximity switch 134. Its design ensures a tight connection between the detection plate 131 and the spring, ensuring that the system can work normally during material gripping.

[0063] The connecting rod 133 is connected to the detection plate 131 via a spring, ensuring that the spring force can effectively act on the detection plate 131, while transmitting the movement of the detection plate 131 to the proximity switch 134 to help monitor the material handling process.

[0064] The housing 135 serves as the external frame of the cargo detection structure 13, primarily providing support and protection. All components are assembled within the housing 135. The housing 135 not only provides support for these components but also ensures their stability during use, preventing external factors from affecting their performance.

[0065] The function of housing 135 is to provide a robust structure to house and protect internal components such as detection plate 131, spring, proximity switch 134, etc., ensuring that they can perform cargo detection tasks accurately and stably.

[0066] The detection plate 131 is mounted above the housing 135 to ensure direct contact with the item to be detected. A first elastic element 132 is inserted inside the housing 135, with its upper end extending to the outside of the housing 135 and connecting to the detection plate 131, serving to restore the position of the detection plate 131. A connecting rod 133 passes through a spring, with its upper end connected to the detection plate 131, ensuring that the spring force is transmitted to the detection plate 131. A proximity switch 134 is mounted on one side of the housing 135 and is responsible for real-time monitoring of changes in the position of the detection plate 131.

[0067] The cargo detection structure 13 in this embodiment cleverly combines components such as springs, detection plates 131, connecting rods 133, and proximity switches 134. The elastic force provided by the springs ensures the flexible response and recovery capability of the detection plates 131 during the item gripping process. The proximity switch 134 can promptly provide feedback on whether the item has been gripped, helping the entire system to work efficiently and accurately. The housing 135 serves to support, protect, and stabilize the components, ensuring the long-term stable operation of the system.

[0068] The cargo detection structure 13 is fixed to the upper picking claw 11 and the lower picking claw 12 respectively. As the picking claw moves, it opens. When it contacts the coil compression spring detection plate 131, the detection plate 131 triggers the proximity switch 134 to determine whether the coil is clamped in place. When the picking claw retracts, the spring rebounds and the detection plate 131 moves back to its original position, and the proximity switch 134 disconnects the signal.

[0069] In one embodiment, please refer to Figure 6 The aforementioned drive structure 14 includes a drive motor 141, a reducer 142, a coupling 143, a lead screw fixing seat 144, a lead screw 146, and a connecting member; the upper picking claw 11 and the lower picking claw 12 are respectively connected to the connecting member, the drive motor 141 is connected to the reducer 142, the reducer 142 is connected to the lead screw 146 through the coupling 143, the two ends of the lead screw 146 are connected to the lead screw fixing seat 144, and the lead screw fixing seat 144 is fixed on the bracket 16, and the connecting member is connected to the lead screw 146.

[0070] In one embodiment, please refer to Figure 3 The aforementioned connectors include a left-handed nut 145 and a right-handed nut 147; the upper picking claw 11 is connected to the left-handed nut 145, and the lower picking claw 12 is connected to the right-handed nut 147.

[0071] In this embodiment, the design of the drive structure 14 and the picking claw is mainly to realize automated picking operations, ensuring that the material can be picked up and moved efficiently and accurately.

[0072] The drive motor 141 is the core component of the entire drive system, responsible for providing the power source. It typically converts electrical energy into mechanical energy to drive the movement of other components. The rotation of the motor is adjusted to the required speed and torque by the reducer 142 to drive the other components of the system.

[0073] The function of the speed reducer 142 is to convert the high-speed rotation output of the drive motor 141 into a lower speed suitable for actual operation, while increasing the output torque. The speed reducer 142 is connected to the drive motor 141 and transmits the motion to the lead screw 146 through the coupling 143.

[0074] Coupling 143 connects the reducer 142 and the lead screw 146, ensuring power transmission between them. Coupling 143 can effectively transmit torque and allows for a certain degree of error adjustment in the system, thereby avoiding damage caused by installation misalignment or shaft misalignment.

[0075] The lead screw 146 is one of the core components of the drive system, converting rotary motion into linear motion. Both ends of the lead screw 146 are fixed to the lead screw mounting base 144. The rotation of the lead screw 146 drives the connected picking claws to move up and down. By rotating the lead screw 146, the system can achieve precise adjustment of the upper picking claw 11 and the lower picking claw 12.

[0076] The lead screw fixing seat 144 is used to fix the lead screw 146, ensuring the stability of the lead screw 146 during operation. Both ends of the lead screw 146 are connected to the lead screw fixing seat 144, which is then fixed to the bracket 16, providing stable support for the entire drive system.

[0077] The connector is used to connect the lead screw 146 and the picking claw. Through the connector, the linear motion of the lead screw 146 can directly affect the movement of the upper picking claw 11 and the lower picking claw 12, thereby realizing the gripping and placement of materials.

[0078] The picking claws include an upper picking claw 11 and a lower picking claw 12, which are connected to the lead screw 146 via connectors and work in conjunction with different nuts.

[0079] The upper gripper 11 is responsible for grasping the upper part of the material, ensuring accurate material handling. It is connected to the lead screw 146 via a left-handed nut 145. The rotation of the lead screw 146 pushes the left-handed nut 145 to move, thereby causing the upper gripper 11 to move up and down. When the left-handed nut 145 moves in a certain direction under the rotational drive of the lead screw 146, the upper gripper 11 will also move accordingly, completing the gripping or placement task.

[0080] The lower gripper 12 is responsible for gripping the lower part of the material, opposite to the upper gripper 11. It is connected to the lead screw 146 via a right-hand nut 147. The rotation of the lead screw 146 causes the right-hand nut 147 to move along the lead screw 146, thereby driving the lower gripper 12 to move up and down. Similar to the upper gripper 11, when the right-hand nut 147 rotates along the lead screw 146, the lower gripper 12 will also move accordingly, completing the material picking and placing operation.

[0081] The left-hand nut 145 and right-hand nut 147 are designed to ensure that the upper and lower grippers 11 and 12 can move synchronously and in opposite directions, thereby achieving the gripping operation. By using the left-hand and right-hand nuts 147 respectively, when the left-hand nut 145 moves along the screw 146, the upper gripper 11 rises; while the right-hand nut 147 drives the lower gripper 12 to descend, and vice versa. This reverse movement ensures that the material can be accurately gripped and moved.

[0082] The drive motor 141 starts running, and after being reduced in speed by the reducer 142, it drives the coupling 143 to rotate. The coupling 143 transmits power to the lead screw 146, which then begins to rotate. The rotating lead screw 146 drives the left-hand nut 145 and the right-hand nut 147 to move along its axial direction. The left-hand nut 145 drives the upper picking claw 11 to move up and down, and the right-hand nut 147 drives the lower picking claw 12 to move up and down. The up and down movement of the upper picking claw 11 and the lower picking claw 12 completes the material gripping and releasing operation.

[0083] In this embodiment, the lead screw 146 is, but is not limited to, a ball screw.

[0084] In this embodiment, the drive structure 14 adopts a design combining a motor, a reducer 142, a lead screw 146, and a nut system, ensuring that the picking claw can move accurately and synchronously, thereby efficiently completing the task of gripping and releasing materials. Through the design of left-hand and right-hand rotating nuts 147, the system realizes the opposite synchronous movement of the upper and lower picking claws 12, improving the accuracy and efficiency of operation.

[0085] In one embodiment, please refer to Figures 5 to 6 The aforementioned roll-out clamp 10 also includes a camera device 15, which is mounted on the bracket 16.

[0086] In one embodiment, please refer to Figure 6 The aforementioned camera device 15 includes a camera 151 and a mounting base 152; the mounting base 152 is connected to the bracket 16; and the camera 151 is connected to the mounting base 152.

[0087] In one embodiment, please refer to Figure 6The camera device 15 described above also includes an adjustment plate 153 and a second elastic member 154; one end of the second elastic member 154 is connected to the mounting base 152; the other end of the second elastic member 154 is connected to the adjustment plate 153; the camera 151 is mounted on the adjustment plate 153.

[0088] In this embodiment, camera 151 is the core component of the system, responsible for scanning the QR code of the target object and acquiring image information. In this embodiment, camera 151 is mainly used to identify the QR code on the roll-to-roll device and further determine whether the roll-to-roll clamp 10 is aligned with the correct position.

[0089] Mount 152 is used to securely connect camera 151 to bracket 16. It provides a fixed structure to ensure that camera 151 remains stable during operation, avoiding inaccurate images due to vibration or improper operation. The connection between mount 152 and bracket 16 ensures that camera 151 can be operated in a specific position.

[0090] The adjustment plate 153 allows for fine-tuning of the camera 151 to ensure it is positioned at the optimal scanning angle. The design of the adjustment plate 153 enables users to easily adjust the position and angle of the camera 151, thereby ensuring higher accuracy when scanning QR codes.

[0091] The second elastic element 154 (typically a spring or other flexible material) is connected at one end to the mounting base 152 and at the other end to the adjustment plate 153. Its function is to provide elastic support for fine-tuning, allowing the adjustment plate 153 to be adjusted slightly without tools. This elastic support ensures that the camera 151 is always in the optimal position, while preventing positional deviations due to misoperation or environmental factors.

[0092] The installation and adjustment of the camera device 15 is a crucial part of the entire system. The operation of the camera device 15 depends on its ability to accurately align with and scan the target object. The camera 151 is fixed to the mounting base 152 using screws or clamps. The mounting base 152 secures the camera 151 to the bracket 16, ensuring its stable position.

[0093] Mount 152 is connected to bracket 16 via a suitable structure (e.g., threaded connection or slot). Bracket 16 is the skeleton of roll take-up clamp 10, and the stability of bracket 16 ensures that camera 151 can perform scanning operations accurately and stably.

[0094] Of course, in another embodiment, one end of the second elastic member 154 is connected to the mounting base 152, and the other end is connected to the adjustment plate 153. This allows the adjustment plate 153 to be flexibly adjusted. The fine-tuning function of the adjustment plate 153 allows the user to adjust the angle of the camera 151 as needed to ensure that it can always scan QR codes and obtain clear images.

[0095] The camera 151 is fixed by an adjustment plate 153. The design of the adjustment plate 153 provides sufficient flexibility to allow the camera 151 to be precisely positioned and adjusted according to different operating environments.

[0096] The core function of the camera device 15 is to determine the docking position of the roll-to-roll clamp 10 by scanning a QR code. Its working principle is as follows:

[0097] Camera 151 obtains relevant information by scanning a QR code on the roll-to-roll device. The QR code may contain data such as location information, material type, and operating status. Camera 151 decodes the QR code and transmits the recognition result to the control system.

[0098] Based on the QR code image captured by camera 151, the system determines whether the roll-to-roll gripper 10 is aligned in the correct position. If the QR code information indicates that the gripper is not aligned correctly with the device, the system can adjust the gripper's position through a feedback mechanism.

[0099] If the system detects that the position of the roll-up clamp 10 is inaccurate, the camera 151 will adjust its angle and position in real time based on the image information it acquires, so as to obtain a more accurate QR code image and thus complete the correction of the docking position.

[0100] The adjustment plate 153 provides a function for fine-tuning the camera 151 during this process. If the QR code position is not ideal, the adjustment plate 153 can adjust the angle of the camera 151 so that the camera 151 can scan a clearer and more accurate QR code image.

[0101] The second elastic element 154 provides elastic support for the camera 151 and the adjustment plate 153, ensuring accuracy and stability during the adjustment process. The elastic element allows the camera 151 to be finely adjusted within a certain range to adapt to different scanning requirements.

[0102] The precise scanning capability of camera 151 ensures accurate interpretation of QR codes and precise judgment of the docking position of the roll-up clamp 10. The design of the adjustment plate 153 and the second elastic element 154 allows for flexible adjustment of camera 151, ensuring optimal scanning angle and position in both vertical and horizontal directions. Through the stable connection between the mounting base 152 and the bracket 16, the camera device 15 remains stable during operation, less susceptible to interference from the external environment, ensuring the high efficiency of the visual guidance system. The fine-tuning of the adjustment plate 153 and the support of the second elastic element 154 make the adjustment process very simple, requiring no additional tools and greatly improving ease of use.

[0103] In this embodiment, the camera device 15, through its rational design, enables the roll-to-roll clamp 10 to accurately determine the docking position. The camera 151 acquires data by scanning a QR code, and combined with the fine-tuning function of the adjustment plate 153 and the second elastic element 154, ensures the stability and efficiency of the vision system. These designs enhance the automation, precision, and flexibility of the entire roll-to-roll clamp 10, improving the system's working efficiency and accuracy.

[0104] The aforementioned unwinding fixture 10, through the coordinated work of the bracket 16, the material handling structure, the loading detection structure 13, and the drive structure 14, achieves highly efficient and automated unwinding of the roll material. The material handling structure is assembled on one side of the bracket 16, the drive structure 14 is connected to the material handling structure, and the loading detection structure 13 is assembled on the material handling structure. This allows for accurate identification of the roll material and rapid unwinding through the drive structure 14, reducing manual operation time and human error. At the same time, it ensures the accuracy and consistency of the unwinding process, significantly improving production efficiency.

[0105] In one embodiment, the AGV body 21 described above includes a dual-steering wheel driven AGV.

[0106] The AGV body 21 is the core component of the entire automated guided vehicle, featuring a dual-steering wheel drive system for precise directional control. Through this dual-steering wheel drive, the AGV can perform various complex motion modes, including:

[0107] Forward and backward: the traditional forward and backward movement.

[0108] Lateral and diagonal movement: This allows the AGV body 21 to move flexibly in confined spaces.

[0109] Spin walking: allows the AGV body 21 to rotate in place, adapting to complex environments or adjusting direction.

[0110] The lifting mechanism 22 is an important component of the automated guided vehicle (AGV) for unwinding coils, responsible for lifting the coil material vertically. The lifting mechanism 22 includes:

[0111] The main function of the lifting mechanism 22 is to lift the roll material to the required height, ensuring that the roll material can be smoothly loaded or unloaded onto the AGV body 21.

[0112] The scissor fork mechanism 23 is another important part of the automated guided vehicle (AGV), responsible for providing the functions of gripping and transporting the coil material. Through the action of a telescopic hydraulic cylinder, the scissor fork mechanism 23 can adjust the length of the fork arms forward and backward, achieving precise gripping and transport of the coil material.

[0113] The entire automated guided vehicle (AGV) system is highly integrated, possessing a high degree of automation and intelligence. The AGV body 21 utilizes laser navigation and obstacle avoidance radar 25 to ensure safe operation in complex environments. The lifting mechanism 22 and the scissor fork mechanism 23 work together to achieve precise gripping, lifting, and transportation of the coil material. The design of the coil gripper 10, combined with the scissor fork mechanism 23, ensures that the coil material is not easily slipped or damaged during handling, thereby greatly improving the efficiency and safety of the production line.

[0114] This design not only enables fully automated handling operations, but also reduces manual labor, improves production efficiency, and ensures the accuracy and safety of operations.

[0115] In one embodiment, please refer to Figure 1 The AGV body 21 is equipped with obstacle avoidance radar 25 on its outer periphery. Specifically, obstacle avoidance radar 25 is installed at each of the four corners of the AGV body 21. This design aims to enhance the AGV's autonomous navigation and obstacle avoidance capabilities. Located on the outside of the AGV body 21, the obstacle avoidance radar 25, through lidar or other types of sensors, can scan the environment around the AGV in real time and detect the presence of obstacles. For example, the radar can detect the position, shape, and distance of objects and feed the data back to the AGV's control system. This allows the AGV to flexibly avoid obstacles in complex working environments, thereby ensuring that collisions or accidents do not occur during transportation.

[0116] In one embodiment, please refer to Figure 1 The aforementioned lifting mechanism 22 includes a lifting power source 221 and a gantry 222. The lifting power source 221 is connected to the gantry 222, and the gantry 222 is mounted on the AGV body 21.

[0117] The lifting mechanism 22 includes a lifting power source 221 and a gantry 222. The lifting power source 221 typically refers to the component that provides power, such as a hydraulic cylinder or an electric motor, while the gantry 222 is the frame structure that supports the entire lifting mechanism 22. These two parts are connected together and assembled onto the AGV body 21, ensuring that the lifting mechanism 22 can adjust its height and position as needed. Driven by the lifting power source 221, the gantry 222 can perform lifting actions, ensuring that the rolled material can be easily raised from the ground to the AGV's carrying platform or lowered.

[0118] In one embodiment, please refer to Figure 1 The aforementioned lifting power source 221 includes, but is not limited to, the lifting cylinder.

[0119] The lifting mechanism 22 is powered by a hydraulic system, with the hydraulic cylinder providing lifting force through the compression and release of hydraulic oil. The lifting cylinder can precisely control the lifting speed and force, ensuring a smooth lifting process and capable of withstanding material loads of varying weights. Using hydraulic cylinders to drive lifting systems is a common design in industrial automation, especially suitable for applications requiring large loads and high stability.

[0120] In one embodiment, please refer to Figure 1 The aforementioned scissor fork mechanism 23 includes a telescopic power source 231, a sliding structure, and a scissor fork arm 233. Both sides of the sliding structure are installed inside the gantry 222, and the sliding structure is connected to the lifting power source 221. One end of the scissor fork arm 233 serves as a fixed end, and the other end of the scissor fork arm 233 serves as a movable end. The sliding structure is connected to the fixed end of the scissor fork arm 233. The sliding structure is connected to the telescopic power source 231. The movable end of the scissor fork arm 233 is connected to the bracket 16.

[0121] In this embodiment, the telescopic power source 231 is the core component of the scissor fork mechanism 23, responsible for providing power to extend and retract the scissor fork arm 233. This power source is typically a hydraulic cylinder, electric motor, or pneumatic device, used to drive the vertical extension and retraction of the scissor fork arm 233. The telescopic power source 231 is connected to a sliding structure, and the lifting and retraction of the scissor fork arm 233 is achieved by controlling the movement of the telescopic power source 231.

[0122] The sliding structure is another key component of the scissor fork mechanism 23. It is installed within the gantry 222 and is typically designed to slide along a track or groove within the gantry 222. The sliding structure is secured to the inside of the gantry 222 on both sides by appropriate supports, ensuring smooth movement within the gantry 222. The function of the sliding structure is to support and guide the movement of the scissor fork arm 233, ensuring its stability during lifting and lowering.

[0123] In this design, one end of the scissor arm 233 serves as a fixed end, connected to the lifting power source 221 via a sliding structure. The other end of the scissor arm 233, in conjunction with the automatic take-up gripper 10, supports the transported item, ensuring stable gripping during lifting. The precise connection between the scissor arm 233 and the sliding structure enables movement, allowing it to move vertically to accommodate items of varying heights.

[0124] The sliding structure is connected to the lifting power source 221, enabling the lifting power source 221 to drive the movement of the sliding structure. During the lifting process, the movement of the lifting power source 221 directly affects the movement of the sliding structure, thereby indirectly controlling the lifting and lowering of the scissor arm 233. The movement of the sliding structure and the lifting and lowering of the scissor arm 233 are closely coordinated to ensure the stability of the fork arm when handling items.

[0125] In addition to being connected to the lifting power source 221, the sliding structure is also connected to the telescopic power source 231. The telescopic power source 231 drives the sliding structure to further adjust the telescopic position of the scissor arms 233, thereby accommodating items of different sizes and heights. This connection ensures that the scissor arms 233 can adjust their length and height as needed, enabling them to handle items of different sizes.

[0126] The lifting power source 221 controls the movement of the sliding structure, enabling the scissor arms 233 to rise and fall vertically, facilitating the lifting or lowering of items from the ground or other platforms. The telescopic power source 231 allows the sliding structure to adjust the length of the scissor arms 233 to accommodate items of different sizes. The telescopic power source 231 and the sliding structure work together to ensure the precise movement of the scissor arms 233. The stability of the sliding structure is crucial for the precise control of the scissor mechanism 23. The track or groove design within the gantry 222 ensures smooth sliding of the sliding structure, preventing instability caused by friction or misalignment.

[0127] The scissor fork mechanism 23, through the coordinated design of the telescopic power source 231, the sliding structure, and the scissor fork arm 233, achieves the functions of lifting and extending / retracting items. The sliding structure allows the scissor fork arm 233 to rise and fall smoothly in the vertical direction, and its length can be adjusted by the telescopic power source 231 to accommodate items of different sizes. This structural design ensures that the AGV can complete tasks accurately and efficiently in automated material handling.

[0128] In one embodiment, please refer to Figure 1 The aforementioned sliding structure includes a carriage 232.

[0129] In this embodiment, the carriage 232 is used to support and guide the movement of the scissor arm 233. The carriage 232 can slide in the track or channel within the gantry 222. Through the action of the carriage 232, the scissor arm 233 can remain stable during lifting and lowering, and avoid unnecessary wear or unstable movement caused by friction or other factors.

[0130] In one embodiment, please refer to Figure 1 The aforementioned gantry 222 has a groove, and the slide 232 is placed in the groove.

[0131] In this embodiment, the gantry 222 has a groove, and the slide 232 is placed within the groove. This design ensures that the slide 232 remains stable and smooth during movement. The groove provides a fixed track in which the slide 232 can slide freely, reducing offset and instability when the scissor fork arm 233 moves. This design improves the accuracy and durability of the scissor fork mechanism 23, ensuring that no displacement or collision occurs during lifting and gripping.

[0132] In one embodiment, please refer to Figure 1 The above also includes a navigation module 24, which is mounted on the lifting mechanism 22.

[0133] In this embodiment, the navigation module 24 provides positioning and path planning functions to ensure the AGV's accurate movement in complex environments. Mounted on the lifting mechanism 22, the navigation module 24 can collaborate with other control systems of the AGV to adjust and optimize the path in real time during lifting and movement.

[0134] In one embodiment, please refer to Figure 1 The navigation module 24 described above is mounted on top of the gantry 222. This location helps ensure that the navigation module 24 has a wide field of view; generally, a top position is beneficial for increasing the detection range of radar or laser equipment and avoiding obstruction by other equipment or obstacles. The top position enhances the positioning accuracy and response speed of the navigation module 24, and effectively improves the AGV's adaptability, especially in complex working environments.

[0135] The aforementioned automated guided vehicle (AGV) for unloading rolls achieves automated handling of roll materials through the cooperation of the lifting mechanism 22 and the scissor fork mechanism 23. The lifting mechanism 22 is mounted on the AGV body 21, and the scissor fork mechanism 23 is connected to the lifting mechanism 22, enabling precise adjustment of the height and extension of the fork arms, allowing the AGV to automatically transport and place roll materials. This design effectively improves production efficiency, reduces manual intervention, lowers labor costs, and ensures the accuracy and safety of the handling process.

[0136] Please see Figure 3 and Figure 4Based on the coordinated operation of the AGV body 21, lifting mechanism 22, and scissor fork mechanism 23, the AGV body 21 adjusts its height through the lifting mechanism 22, and works with the scissor fork mechanism 23 and the take-up clamp 10 to grab and transport materials. The take-up AGV moves the take-up clamp 10 onto the winding machine 2, and the drive structure 14 enables the upper take-up claw 11 and the lower take-up claw 12 to operate precisely under the action of the sliding component. The upper take-up claw 11 and the lower take-up claw 12 are inserted into the inner hole of the formed coil 1 and spread out, and must be completely in contact with the inner hole wall to ensure accurate grabbing of the formed coil 1 at different height positions. The loading detection structure 13 monitors in real time whether the goods are correctly loaded through the cooperation of the elastic element and the proximity switch 134.

[0137] Through the coordinated operation of the camera device 15, the sliding assembly, and the drive structure 14, this automated guided vehicle (AGV) for coil unloading can achieve precise material positioning and gripping. The camera device 15 assists the system in acquiring real-time image data, providing support for positioning and judgment during the material handling process. Simultaneously, the cooperation between the sliding assembly and the gripping claw ensures that the clamp can flexibly adjust its position during dynamic movement, ensuring stable gripping of the target material. The collaboration between the scissor fork mechanism 23 and the lifting mechanism 22 allows the system to be highly adaptable to the working environment, thereby improving the overall operational adaptability and efficiency.

[0138] The aforementioned automated guided vehicle (AGV) with a coil-retrieving clamp achieves efficient coil material retrieval and automated handling by incorporating the coil-retrieving AGV and the coil-retrieving clamp 10. The bracket 16, retrieval structure, drive structure 14, and load detection structure 13 of the coil-retrieving clamp 10 work together to ensure accurate and reliable retrieval. The cooperation between the lifting mechanism 22 and the scissor fork mechanism 23 allows the AGV to precisely adjust its height and position during dynamic movement, thereby significantly improving the efficiency of coil material retrieval, reducing manual operation time, and effectively avoiding human error. Automated handling further reduces labor costs in the production process, ensuring efficient, safe, and consistent production operations.

[0139] The above description is merely a specific embodiment of this utility model, but the protection scope of this utility model is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in this utility model, and these modifications or substitutions should all be covered within the protection scope of this utility model. Therefore, the protection scope of this utility model should be determined by the scope of the claims.

Claims

1. An automated guided vehicle with a tape take-up clamp, characterized by The device includes an automated guided vehicle (AGV) for unwinding coils and an unwinding fixture. The unwinding fixture comprises a bracket, a material handling structure, a load detection structure, and a drive structure. The material handling structure is mounted on one side of the bracket, and the drive structure is mounted on the bracket and connected to the material handling structure. The load detection structure is mounted on the material handling structure. The unwinding fixture also includes an AGV body, a lifting mechanism, and a scissor fork mechanism. The lifting mechanism is mounted on the AGV body, and the scissor fork mechanism is connected to the lifting mechanism. The bracket is connected to the scissor fork mechanism.

2. The automated guided vehicle with a take-up clamp according to claim 1, characterized in that The material handling structure includes an upper material handling claw, a lower material handling claw, and a sliding assembly. The sliding assembly is connected to the bracket. The upper material handling claw and the lower material handling claw are respectively connected to the sliding assembly. The loading detection structure is respectively mounted on the upper material handling claw and the lower material handling claw.

3. The automated guided vehicle with a take-up clamp according to claim 2, characterized in that The sliding assembly includes a slide rail and a slider. The slide rail is connected to the bracket; the slider is slidably connected to the slide rail; the upper and lower picking claws are respectively connected to the slider.

4. The automated guided vehicle with a take-up clamp according to any one of claims 1 to 3, characterized in that The cargo detection structure includes a detection plate, a first elastic element, a proximity switch, a connecting rod, and a housing. The detection plate is connected above the housing, and the first elastic element is inserted into the housing. The upper end of the first elastic element extends outside the housing and is connected to the detection plate. The connecting rod passes through the first elastic element, and the upper end of the connecting rod is connected to the detection plate. The proximity switch is located on one side of the housing, and the housing is assembled onto the material handling structure.

5. The automated guided vehicle with a take-up clamp according to claim 2, wherein The drive structure includes a drive motor, a reducer, a coupling, a lead screw fixing seat, a lead screw, and a connecting member; the upper and lower picking claws are respectively connected to the connecting member, the drive motor is connected to the reducer, the reducer is connected to the lead screw through the coupling, both ends of the lead screw are connected to the lead screw fixing seat, and the lead screw fixing seat is fixed on the bracket, and the connecting member is connected to the lead screw.

6. The automated guided vehicle with a take-up clamp according to claim 1, wherein The roll-out clamp also includes a camera device, which is mounted on the bracket.

7. The automated guided vehicle with a take-up clamp according to claim 6, characterized in that The camera device includes a camera and a mounting base; the mounting base is connected to the bracket; the camera is connected to the mounting base.

8. The automated guided vehicle with a take-up clamp according to claim 7, characterized in that The camera device further includes an adjustment plate and a second elastic element; one end of the second elastic element is connected to the mounting base; the other end of the second elastic element is connected to the adjustment plate; the camera is mounted on the adjustment plate.

9. The automated guided vehicle with a take-up clamp according to claim 1, wherein The lifting mechanism includes a lifting power source and a gantry. The lifting power source is connected to the gantry, and the gantry is mounted on the AGV body.

10. The automated guided vehicle with a take-up clamp according to claim 9, characterized in that The scissor fork mechanism includes a telescopic power source, a sliding structure, and a scissor fork arm. Both sides of the sliding structure are installed within the gantry, and the sliding structure is connected to the lifting power source. One end of the scissor fork arm serves as a fixed end, and the other end serves as a movable end. The sliding structure is connected to the fixed end of the scissor fork arm, and the sliding structure is connected to the telescopic power source. The moving end of the scissor fork arm is connected with the support.

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