Pick-and-place device for a jib-type automated guided vehicle and jib-type automated guided vehicle

Abstract

This application provides a pick-and-place device for a cantilever automated guided vehicle (AGV) and the cantilever AGV itself. The pick-and-place device includes a gantry assembly and a cantilever shaft assembly. The cantilever shaft assembly is slidably connected to the gantry assembly. The cantilever shaft assembly includes a cantilever shaft, a pushing mechanism, and a clamping mechanism. The length of the cantilever shaft is greater than the axial length of two rolls, and it is used to carry one or two rolls. The pushing mechanism is used to push the rolls. The clamping mechanism has a liftable clamping part, which is used to clamp the end of the roll with a limiting structure when it descends, so as to achieve axial constraint on the roll. The clamping mechanism moves axially synchronously with the pushing mechanism. When the pushing mechanism retracts, the clamping part clamps with the limiting mechanism of the inner roll, so as to pull the inner roll axially and separate the inner roll from the outer roll.

Description

Technical Field

[0001] This application relates to the field of warehousing and logistics technology, and in particular to a pick-and-place device for a cantilever automated guided vehicle and the cantilever automated guided vehicle. Background Technology

[0002] Automated Guided Vehicles (AGVs) are capable of traveling along a prescribed navigation path and have the function of transporting materials.

[0003] In related technologies, automated guided vehicles (AGVs) come in various types for handling different types of materials. Currently, in the lithium battery industry, cantilevered AGVs are commonly used to move coils between coil buffer racks and machine stations. The coil buffer rack is a device used to store coiled materials, primarily used in industrial production, especially on automated production lines, for temporary storage and buffering of coiled materials to ensure continuous production line operation. The coil machine station is a mechanical device used to handle and process coiled materials, mainly used in automated production processes to achieve automated production of metal coils. A cantilevered AGV typically includes a moving chassis, a gantry mounted on the moving chassis, and a cantilever mounted on the gantry. The cantilever is used for picking up and placing coils.

[0004] In existing technologies, cantilever automated guided vehicles can only automatically transport one roll of material at a time, resulting in low handling efficiency. Utility Model Content

[0005] The purpose of this application is to provide a pick-and-place device for a cantilever automated guided vehicle (AGV) and the cantilever AGV itself, so as to improve handling efficiency. The specific technical solution is as follows:

[0006] An embodiment of the first aspect of this application provides a pick-and-place device for a cantilever automated guided vehicle (AGV). The pick-and-place device includes a gantry assembly and a cantilever shaft assembly. The cantilever shaft assembly is slidably connected to the gantry assembly. The cantilever shaft assembly includes a cantilever shaft, a pushing mechanism, and a clamping mechanism. The length of the cantilever shaft is greater than the axial length of two rolls, and it is used to carry one or two rolls. The pushing mechanism is axially movable along the cantilever shaft and is used to push the roll. The clamping mechanism is mounted on the pushing mechanism and has a liftable clamping part for engaging with a limiting structure at the end of the roll during descent to achieve axial constraint on the roll. The clamping mechanism moves axially synchronously with the pushing mechanism. When the pushing mechanism retracts, the clamping part engages with the limiting mechanism of the inner roll to axially pull the clamped inner roll, thereby separating the inner roll from the outer roll.

[0007] An embodiment of the second aspect of this application provides a cantilever automated guided vehicle, which includes a mobile chassis and the above-described cantilever automated guided vehicle loading and unloading device.

[0008] The gantry assembly is mounted on the mobile chassis, and the loading and unloading device of the cantilever automated guided vehicle is mounted on the gantry assembly; the mobile chassis can drive the gantry assembly and the loading and unloading device of the cantilever automated guided vehicle to move.

[0009] Beneficial effects of the embodiments in this application:

[0010] The cantilever-type automated guided vehicle (AGV) pick-and-place device provided in this application embodiment, by setting the length of the cantilever shaft to be greater than the axial length of two material rolls, enables the cantilever shaft to carry two material rolls. Compared with the prior art, which can only handle one material roll at a time, it can handle multiple material rolls at once, effectively improving handling efficiency. With the cooperation of the pushing mechanism and the clamping mechanism, when the pushing mechanism retracts, the clamping part of the clamping mechanism engages with the limiting structure of the inner material roll and pulls the inner material roll, which can realize the separation of the inner material roll from the outer material roll. No additional separation equipment or manual operation is required, ensuring the orderly separation of multiple material rolls during the pick-and-place and handling process. It meets the automated handling needs of material rolls between the buffer rack and the machine, and improves the overall automation level of the operation.

[0011] Of course, implementing any product or method of this application does not necessarily require achieving all of the advantages described above at the same time. Attached Figure Description

[0012] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings.

[0013] Figure 1 An axonometric view of the loading and unloading device of the cantilever automated guided vehicle provided in this application embodiment;

[0014] Figure 2 for Figure 1 A schematic diagram of the pick-and-place device of the cantilevered automated guided vehicle from another angle.

[0015] Figure 3a This is an isometric view of a fully loaded roll in an embodiment of this application;

[0016] Figure 3b for Figure 3a The side view of the full roll shown;

[0017] Figure 4 This is a schematic diagram of an empty stock roll in an embodiment of this application;

[0018] Figure 5 for Figure 1 A schematic diagram showing the docking of the pick-and-place device of the cantilever automated guided vehicle with the buffer rack.

[0019] Figure 6a for Figure 1 The diagram shows the docking of the pick-and-place device of the cantilever automated guided vehicle with the machine platform.

[0020] Figure 6b for Figure 6a The enlarged schematic diagram shows another angle of the material clamping component engaging with the material roll when the cantilevered automated guided vehicle's pick-and-place device is docked with the machine.

[0021] Figure 6c for Figure 6a The enlarged side view of the material clamping assembly engaging with the material roll when the cantilevered automated guided vehicle's loading and unloading device is docked with the machine base.

[0022] Figure 7 for Figure 1 Axonometric view of the fit between the pusher base and the secondary sliding component in the loading and unloading device of the cantilevered automated guided vehicle shown.

[0023] Figure 8 for Figure 7 An exploded view of the pusher base and the secondary sliding assembly shown.

[0024] Figure 9 for Figure 1 An exploded view of the loading and unloading device of the cantilevered automated guided vehicle shown.

[0025] Figure 10 for Figure 1 The image shows an axonometric view of the loading and unloading device of a cantilevered automated guided vehicle (AGV) carrying two rolls of material.

[0026] Figure 11a for Figure 10 The side view of the loading and unloading device of the cantilever automated guided vehicle and two rolls shown.

[0027] Figure 11b for Figure 11a A magnified view at point M;

[0028] Figure 12 for Figure 1 Axonometric view of the material clamping mechanism and part of the material pushing mechanism in the loading and unloading device of the cantilever automated guided vehicle shown.

[0029] Figure 13 for Figure 12The exploded view of the clamping mechanism and part of the pushing mechanism shown (with the clamping shell);

[0030] Figure 14a for Figure 1 Axonometric view of the material-blocking mechanism in the loading and unloading device of the cantilever automated guided vehicle shown.

[0031] Figure 14b for Figure 14a The diagram shows the fit between the material-stopping mechanism and the end cap housing.

[0032] Figure 15 for Figure 1 Axonometric view of the tensioning mechanism in the loading and unloading device of the cantilever automated guided vehicle shown.

[0033] Figure 16 for Figure 15 An exploded view of the tensioning mechanism shown;

[0034] Figure 17 An axle view of an automated guided vehicle provided in an embodiment of this application;

[0035] Figure 18 for Figure 17 The image shows an axonometric view of the gantry assembly in the automated guided vehicle.

[0036] Figure 19 for Figure 17 Axonometric view of the translation and traverse mechanisms in the gantry assembly shown;

[0037] Figure 20 for Figure 19 The exploded view of the translation mechanism and the lateral movement mechanism is shown.

[0038] Figure label:

[0039] Mounting plate 100; reinforcing support plate 110; cantilever shaft assembly 200; guide wheel 201; roller bearing 202; cantilever shaft 210; first end of cantilever shaft 2101; second end of cantilever shaft 2102; stopper assembly 211; stopper base 2111; stop rod 2112; stop rod sliding structure 2113; guide sleeve 21131; stop rod drive device 2114; stop rod drive motor 21141; stop rod drive gear 21142; stop rod drive rack 21143; tensioning mechanism 212; tensioning mounting base 2121; tensioning component through hole 21211; tensioning drive assembly 2122; tensioning drive component 21221; tensioning drive gear 21222; tensioning drive rack 21223; tensioning reducer 212 24; Gearbox mounting component 21225; Tensioning moving component 2123; Tensioning component bearing 2124; Tensioning baffle 2131; Tensioning sensor 2132; Photoelectric sensor 214; Code reader camera 215; Distance sensor 216; End cover housing 217; Code reader camera mounting hole 2171; Distance sensor mounting hole 2172; Pushing mechanism 220; First-stage cable chain 2201; Second-stage cable chain 2202; First mounting component 2203; Second mounting component 2204; Third mounting component 2205; Fourth mounting component 2206; First housing connector 2207; Pushing base 221; Side wall 2211; Top wall 2212; Clamping mechanism 222; Pushing base plate 2221; Pushing plate 2222; Clamping plate 2223; Clamping slide Moving component 2224; clamping slide rail 22241; clamping slider 22242; clamping drive mechanism 2225; clamping drive component 22251; clamping drive gear 22252; clamping drive rack 22253; first reducer 22254; clamping base plate 2226; clamping plate gasket 22261; pushing drive mechanism 224; first drive output component 2241; second drive output component 2242; pushing drive component 2243; pushing drive shaft 2244; first drive rack 2245; second drive rack 2246; first-stage sliding component 225; first-stage slide rail 2251; first-stage slider 2252; second-stage sliding component 226; second-stage slide rail 2261; second-stage slider 2262; connecting component 227; first connecting plate 2 271; Second connecting plate 2272; Slide rail connecting part 22721; Clamping plate connecting part 22722; Pushing housing 228; Clamping housing 229; Gantry assembly 300; Lifting sliding guide rail 301; Lifting sliding slider 302; Gantry 310; Gantry post 311; First gantry 310a; First gantry connecting base plate 3101a; Second gantry 310b; Second gantry connecting base plate 3101b; Lifting mechanism 320; Lifting drive motor 321; Lifting drive screw 322; Lifting drive nut 323; Gantry housing 330; Bellows cover 331; Material roll 400; Shaft hole 401; Limiting flange 410; Roll 411; Axial end face 412 on the first side of the limiting flange; Moving chassis 500; Translation mechanism 600;Side-shifting base plate 610; side-shifting drive device 620; side-shifting drive motor 621; side-shifting drive screw 622; side-shifting drive nut 623; side-shifting sliding connection structure 630; side-shifting slide rail 631; side-shifting slider 632; side-shifting mounting plate 640; transverse movement mechanism 700; transverse movement drive device 710, transverse movement drive motor 711; transverse movement drive screw 712; transverse movement drive nut 713; transverse movement sliding connection structure 720; transverse movement slide rail 721; transverse movement slider 722; transverse movement mounting plate 730; workstation 801; buffer rack 802; machine base 803; bearing shaft 804;

[0040] Roll material A. Detailed Implementation

[0041] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art based on this application are within the scope of protection of this application.

[0042] To improve handling efficiency, an embodiment of the first aspect of this application provides a pick-and-place device for a cantilever automated guided vehicle (AGV). This pick-and-place device is applied to the cantilever AGV. (See also...) Figures 1 to 5 , Figure 1 An axonometric view of the loading and unloading device of the cantilever automated guided vehicle provided in this application embodiment; Figure 2 for Figure 1 A schematic diagram of the pick-and-place device of the cantilevered automated guided vehicle from another angle. Figure 3a This is an isometric view of a fully loaded roll in an embodiment of this application; Figure 3b for Figure 3a The side view of the full roll shown; Figure 4 This is a schematic diagram of an empty stock roll in an embodiment of this application; Figure 5 for Figure 1The diagram shows the docking of the pick-and-place device of the cantilever automated guided vehicle (AGV) with the buffer rack. The pick-and-place device of the cantilever AGV includes a gantry assembly 300 and a cantilever shaft assembly 200. The cantilever shaft assembly 200 is slidably connected to the gantry assembly 300. The cantilever shaft assembly 200 includes a cantilever shaft 210, a pushing mechanism 220, and a clamping mechanism 222. The length of the cantilever shaft 210 is greater than the axial length of two material rolls 400, and it is used to carry one or two material rolls 400. The pushing mechanism 220 can move along the cantilever shaft 210. Axial movement is used to push the material roll 400; the clamping mechanism 222, installed on the pushing mechanism 220, has a liftable clamping part, which is used to clamp with the limiting structure at the end of the material roll 400 when descending, so as to achieve axial constraint on the material roll 400; the clamping mechanism 222 moves axially synchronously with the pushing mechanism 220, and when the pushing mechanism 220 retracts, the clamping part clamps with the limiting mechanism of the inner material roll 400, so as to pull the clamped inner material roll 400 axially, thereby realizing the separation of the inner material roll 400 from the outer material roll 400.

[0043] In this embodiment, by setting the length of the cantilever shaft 210 to be greater than the axial length of the two rolls, the cantilever shaft 210 can carry two rolls. Compared with the prior art, which can only handle one roll at a time, it can handle multiple rolls at once, effectively improving handling efficiency. With the cooperation of the pushing mechanism 220 and the clamping mechanism 222, when the pushing mechanism 220 retracts, the clamping part of the clamping mechanism 222 engages with the limiting structure of the inner roll and pulls the inner roll, which can realize the separation of the inner roll from the outer roll. No additional separation equipment or manual operation is required, which ensures the orderly separation of multiple rolls during the picking, placing and handling process, adapts to the automated handling needs of rolls between the buffer rack and the machine, and improves the overall automation level of the operation.

[0044] In this embodiment, the material clamping mechanism 222 can clamp the material roll under the following two working conditions:

[0045] The first working condition: When it is necessary to transfer the material roll on the cantilever shaft to the docking shaft on the machine, after the pushing mechanism pushes the outer material roll to the designated position of the first receiving shaft, the locking part of the locking mechanism descends and locks with the limiting structure of the inner material roll to achieve axial constraint on the inner material roll. Then the pushing mechanism is retracted to drive the locking mechanism to pull the inner material roll back to the cantilever shaft.

[0046] The second working condition: When it is necessary to transfer the material roll on the cantilever shaft to station 801 on the buffer rack 802, after the cantilever automatic guided transport vehicle moves to the corresponding position on the buffer rack, the locking part of the locking mechanism is controlled to descend and lock with the limiting structure of the inner material roll to axially constrain the inner material roll; the pushing mechanism is controlled to retract to drive the locking mechanism to pull the inner material roll toward the inside of the cantilever shaft, so that the axial distance between the inner material roll and the outer material roll matches the distance between the two stations on the buffer rack; then the inner material roll and the outer material roll are simultaneously placed on the two stations of the buffer rack.

[0047] Furthermore, such as Figure 1 , Figures 5 to 11b As shown, Figure 6a for Figure 1 The diagram shows the docking of the pick-and-place device of the cantilever automated guided vehicle with the machine platform. Figure 6b for Figure 6a The enlarged schematic diagram shows another angle of the material clamping component engaging with the material roll when the cantilevered automated guided vehicle's pick-and-place device is docked with the machine. Figure 6c for Figure 6a The enlarged side view of the material clamping assembly engaging with the material roll when the cantilevered automated guided vehicle's loading and unloading device is docked with the machine base.

[0048] Figure 7 for Figure 1 Axonometric view of the fit between the pusher base and the secondary sliding component in the loading and unloading device of the cantilevered automated guided vehicle shown. Figure 8 for Figure 7 An exploded view of the pusher base and the secondary sliding assembly shown. Figure 9 for Figure 1 An exploded view of the loading and unloading device of the cantilevered automated guided vehicle shown. Figure 10 for Figure 1 The image shows an axonometric view of the loading and unloading device of a cantilevered automated guided vehicle (AGV) carrying two rolls of material. Figure 11a for Figure 10 The side view of the loading and unloading device of the cantilever automated guided vehicle and two rolls shown. Figure 11b for Figure 11a A magnified view at point M;

[0049] like Figure 1 , Figure 3a , Figure 3b and Figure 4 , Figures 5 to 11bAs shown, the limiting structure at the end of the material roll is: limiting flanges 410 located at both ends of the axial direction of each material roll 400; the clamping mechanism 222 includes: a clamping plate 2223 and a clamping drive mechanism 2225; the clamping plate 2223 serves as a clamping part, and in the horizontal direction, the clamping plate 2223 is located on the outside of the pushing mechanism 220 in the direction of extension toward the cantilever shaft; the clamping drive mechanism 2225 is drivenly connected to the clamping plate 2223; the clamping plate 2223 can be raised and lowered relative to the pushing mechanism 220 in an axial direction perpendicular to the cantilever shaft under the drive of the clamping drive mechanism 2225, so as to clamp with the limiting flange when descending, thereby realizing axial constraint on the material roll.

[0050] By engaging the second side of the limiting flange when the clamping plate 2223 descends, axial constraint is achieved on the material roll 400. This structure effectively prevents the material roll 400 from shifting or falling off along the cantilever shaft 210 during loading, unloading, or transportation, thus improving the stability of the material roll 400.

[0051] in, Figure 3a , Figure 3b The image shows a fully loaded roll. Figure 4 The image shows an empty roll of material. The empty roll of material has a spool 411 and limiting flanges 410 are disposed at both ends of the spool 411. The spool 411 of the empty roll of material is used to wind up roll A.

[0052] Furthermore, such as Figure 1 , Figures 5 to 6c As shown, the pushing mechanism 220 includes a pushing plate 2222 and a pushing drive mechanism 224. The pushing plate 2222 is disposed above the cantilever shaft 210 and can move along the axial direction of the cantilever shaft. The pushing drive mechanism 224 is drivenly connected to the pushing plate 2222. The pushing plate 2222, driven by the pushing drive mechanism 224, can abut against the axial end face 412 of the first side of the limiting flange of the material roll 400 to push the material roll 400. The pushing plate 2222 and the clamping plate 2223 are offset along the axial direction of the cantilever shaft so that when the pushing plate 2222 abuts against the axial end face of the first side of the limiting flange of the material roll, the clamping plate 2223 can clamp the second side of the limiting flange.

[0053] In this embodiment, as Figure 1 , Figures 5 to 6cAs shown, the pusher plate 2222 can move along the cantilever shaft axis and abut against the axial end face of the limiting flange of the material roll 400 to push the material roll 400, thus meeting the position adjustment requirements of the material roll 400 during the picking and placing process; while the offset arrangement of the pusher plate 2222 and the clamping plate 2223 along the cantilever shaft axis avoids structural interference between the two during operation, ensuring that when the pusher plate 2222 pushes the material roll 400, the clamping plate 2223 can still smoothly clamp the second side of the limiting flange.

[0054] In this embodiment, as Figure 1 , Figures 5 to 6c As shown, the pushing mechanism 220 further includes a pushing base plate 2221, and the pushing plate 2222 is located on the side of the pushing base plate 2221 facing the extension direction of the cantilever shaft; the pushing drive mechanism 224 is based on the pushing base plate 2221 and the pushing plate 2222 being drivenly connected, and the pushing base plate 2221 can move along the axial direction of the cantilever shaft under the drive of the pushing drive mechanism 224, so that the pushing plate 2222 abuts against the axial end face of the first side of the limiting flange of the material roll 400, pushing the material roll 400; the clamping mechanism 222 further includes a clamping base plate 2226; the clamping base plate 2226 is located on the side of the cantilever shaft facing the extension direction of the cantilever shaft. The pusher base plate 2221 is located on the side facing the cantilever shaft extension direction; the clamping plate 2223 is located on the side of the clamping base plate 2226 facing the cantilever shaft extension direction; the clamping drive mechanism 2225 is drivenly connected to the clamping base plate 2226 and the clamping plate 2223. The clamping base plate 2226 can move up and down relative to the pusher base plate 2221 in an axial direction perpendicular to the cantilever shaft under the drive of the clamping drive mechanism 2225, so as to drive the clamping plate 2223 to move up and down in an axial direction perpendicular to the cantilever shaft, so that the clamping plate 2223 clamps the second side of the limiting flange 410 when it descends, so as to achieve axial constraint on the material roll.

[0055] like Figure 1 , Figures 5 to 6c As shown, by adding a pusher base plate 2221 and a clamping base plate 2226, the pusher drive mechanism drives the pusher plate 2222 based on the pusher base plate 2221, and the clamping drive mechanism 2225 drives the clamping plate based on the clamping base plate 2226, thus strengthening the structural support of the pusher mechanism 220 and the clamping mechanism 222. The addition of the pusher base plate 2221 and the clamping base plate 2226 not only improves the stability and rigidity of the pusher plate 2222 and the clamping plate 2223 during movement, but also facilitates the installation and layout of the clamping drive mechanism 2225.

[0056] In this embodiment, as Figure 1 and Figure 12 , Figure 13 As shown, Figure 12 for Figure 1Axonometric view of the material clamping mechanism and part of the material pushing mechanism in the loading and unloading device of the cantilever automated guided vehicle shown. Figure 13 for Figure 12 The exploded view of the clamping mechanism and part of the pushing mechanism shown (with clamping shell); a clamping plate 22261 can also be provided between the clamping plate 2223 and the clamping base plate 2226. The two sides of the clamping plate 22261 are fixedly connected to the clamping plate 2223 and the clamping base plate 2226 respectively. The clamping plate 22261 can extend the installation position of the clamping plate 2223 outward so that the clamping plate 2223 can enter the second side of the limiting flange 410.

[0057] Furthermore, such as Figure 1 and Figure 12 , Figure 13 As shown, the material clamping base plate 2226 is slidably connected to the material pushing base plate via a material clamping sliding assembly 2224. The material clamping sliding assembly 2224 includes at least two material clamping slide rails 22241 and at least two sets of material clamping sliders 22242. The material clamping slide rails 22241 are fixedly installed on the material pushing base plate 2221 in a direction perpendicular to the axis of the cantilever shaft 210. The material clamping sliders 22242 are fixedly connected to the side of the material clamping base plate 2226 closest to the material pushing base plate 2221. The material clamping sliders 22242 are slidably connected to the material clamping slide rails 22241. The material clamping drive mechanism 2225 can drive the material clamping base plate 2226. Based on the reciprocating movement of the material clamping sliders 22242 along the material clamping slide rails 22241, the material clamping base plate 2226 can drive the material clamping plate 2223 to rise and fall in a direction perpendicular to the axis of the cantilever shaft. In this embodiment, as shown... Figure 1 and Figure 12 , Figure 13 As shown, the material clamping sliding assembly 2224 provides precise guidance for the lifting and lowering movement of the material clamping base plate 2226, ensuring the straightness of the material clamping base plate 2226 and the material clamping plate 2223 when moving in a direction perpendicular to the cantilever axis, thus avoiding deviation or jamming. Simultaneously, the sliding cooperation between the material clamping slide rail 22241 and the material clamping slider 22242 reduces movement resistance, making the lifting and lowering action of the material clamping plate 2223 smoother and more responsive, further improving the accuracy and efficiency of the material clamping plate 2223 in clamping / disengaging from the limiting flange, and ensuring the timeliness and reliability of axial constraint.

[0058] Furthermore, such as Figure 1 and Figure 12 , Figure 13As shown, the material clamping drive mechanism 2225 includes a material clamping drive component 22251, a material clamping drive gear 22252, and a material clamping drive rack 22253. The main body of the material clamping drive component 22251 is fixedly mounted on the pusher base plate 2221. The output shaft of the material clamping drive component 22251 is fixedly connected to the material clamping drive gear 22252. The material clamping drive rack 22253 is fixedly mounted on the material clamping base plate 2226 near the pusher base along a direction perpendicular to the axis of the cantilever shaft 210. On one side of plate 2221, the clamping drive gear 22252 meshes with the clamping drive rack 22253; the output shaft of the clamping drive component 22251 drives the clamping drive gear 22252 to rotate, thereby driving the clamping drive rack 22253 to drive the clamping base plate 2226 and the clamping plate 2223 to reciprocate in a direction perpendicular to the axis of the cantilever shaft 210; when the clamping plate 2223 descends in a direction perpendicular to the axis of the cantilever shaft, it can clamp the second side of the limiting flange 410.

[0059] In this embodiment, the material clamping drive mechanism adopts a gear and rack transmission method. The meshing transmission of gears and racks has the characteristics of stable transmission ratio and efficient power transmission, which can accurately control the lifting stroke of the clamping plate 2223, ensuring that the clamping plate 2223 accurately clamps the limiting flange 410 or smoothly disengages. In addition, this transmission structure has a strong load capacity, can adapt to the constraint requirements of material rolls of different weights, and has a simple structure and is easy to maintain. It can maintain stable transmission performance during long-term use, improving the durability and operational stability of the pick-and-place device.

[0060] Specifically, such as Figure 1 and Figure 12 , Figure 13 As shown, the material clamping drive component 22251 can be a motor. The output shaft of the motor is fixedly connected to the material clamping drive gear 22252 through the first reducer 22254. The main body of the first reducer 22254 is located on the side of the pusher base plate 2221 near the second end of the cantilever shaft 210. The output shaft of the first reducer 22254 passes through the pusher base plate 2221 and is fixedly connected to the material clamping drive gear 22252. The material clamping drive gear 22252 is located between the pusher base plate 2221 and the clamping base plate 2226 of the clamping plate 2223 mounting plate.

[0061] In this embodiment, as in this embodiment, Figure 1 , Figure 2 , Figure 7 , Figure 8 and Figure 9As shown, the pushing mechanism 220 further includes: a pushing base 221, on which a primary sliding component 225 and a secondary sliding component 226 are provided; the primary sliding component 225 is disposed between the lower inner part of the pushing base 221 and the cantilever shaft 210, for sliding connection between the pushing base 221 and the cantilever shaft 210, so that the pushing base 221 can slide along the axial direction of the cantilever shaft 210; the secondary sliding component 226 is disposed inside the pushing base 221, above the primary sliding component 225; the secondary sliding component 226... The material pusher base 221 and the material pusher bottom plate 2221 are respectively connected, so that the material pusher bottom plate 2221 can slide in the same direction relative to the material pusher base 221; the material pusher drive mechanism 224 is installed on the material pusher base 221 and is drivenly connected to the material pusher base 221 and the material pusher bottom plate 2221, and is used to drive the material pusher base 221 to reciprocate along the axial direction of the cantilever shaft 210, and to drive the material pusher bottom plate 2221 to drive the material pusher plate 2222, the material clamping bottom plate 2226 and the material clamping plate 2223 to move in the same direction relative to the material pusher base 221 and the material pusher base 221.

[0062] In this embodiment, with the above settings, only one pusher drive mechanism 224 is needed to realize the secondary push of the pusher mechanism 220, which doubles the push distance in a limited structural space. Compared with the push stroke of the primary pusher, the secondary push of the pusher mechanism 220 in the pick-up and place device of the cantilevered automatic guided transport vehicle provided in this application embodiment can achieve at least 1.59 times the push stroke.

[0063] In this embodiment, as Figure 1 , Figure 2 and Figure 7 , Figure 8 , Figure 9 As shown, the pushing drive mechanism 224 has a pushing drive component 2243 and a first drive output component 2241 and a second drive output component 2242 arranged in a direction perpendicular to the axis of the cantilever shaft 210. The first drive output component 2241 and the second drive output component 2242 are disposed in the pushing base 221. The pushing drive component 2243 is drivenly connected to the first drive output component 2241 and the second drive output component 2242. The first drive output component 2241 is used to drive the pushing base 221 to reciprocate along the axis of the cantilever shaft 210 based on the first-stage sliding component 225. The second drive output component 2242 is located above the first drive output component 2241 and is used to drive the pushing base plate 2221 to move relative to the pushing base 221 and in the same direction as the pushing base 221 based on the second-stage sliding component 226.

[0064] In this embodiment, as Figure 1 , Figure 2 and Figure 7 , Figure 8 , Figure 9 As shown, a pusher drive shaft 2244 is installed inside the pusher base 221 along an axis perpendicular to the cantilever shaft. The main body of the pusher drive component 2243 is fixedly connected to the pusher base 221, and the output shaft is fixedly connected to the pusher drive shaft 2244 to drive the pusher drive shaft 2244 to rotate. The first drive output component 2241 is a first drive gear, and the second drive output component 2242 is a second drive gear. The diameter and number of teeth of the second drive gear are smaller than those of the first drive gear. The first drive gear and the second drive gear are spaced apart from low to high on the pusher drive shaft 2243 along an axis perpendicular to the cantilever shaft. On 44, it can rotate synchronously under the drive of the pusher drive shaft 2244; a first drive rack 2245 is fixedly installed on the outer side of the cantilever shaft 210 along its axial direction, for cooperating with the first drive gear to drive the pusher base 221 to reciprocate along the axial direction of the cantilever shaft 210; inside the pusher base 221, a second drive rack 2246 is connected along the axial direction of the cantilever shaft 210 and connected to the secondary sliding component 226 and the pusher base plate 2221, for cooperating with the second drive gear to drive the pusher base plate 2221 to move relative to the pusher base 221 and in the same direction as the pusher base 221.

[0065] In this embodiment, as Figure 1 , Figure 2 and Figure 7 , Figure 8 , Figure 9 As shown, the pusher drive component 2243 can be a pusher drive motor. When the output shaft of the pusher drive motor rotates, it drives the pusher drive shaft 2244 to rotate. The pusher drive shaft 2244 is arranged in a vertical direction and is used to install the first drive gear and the second drive gear. The rotation of the pusher drive shaft 2244 can drive the first drive gear and the second drive gear to rotate, so that while the first drive gear meshes with the first drive rack 2245, the second drive gear meshes with the second drive rack 2246.

[0066] Since the first drive rack 2245 is fixedly mounted on the cantilever shaft 210 and the main body of the pusher drive motor is mounted on the pusher base 221, when the first drive gear meshes with the first drive gear, the first drive gear can drive the pusher base 221 to move along the axial direction of the cantilever shaft 210.

[0067] Since the second drive rack 2246 is fixedly connected to the pusher base plate, when the second drive gear meshes with the second drive rack 2246, the second drive rack 2246 can drive the pusher base plate to move relative to the pusher base 221 along the axis of the cantilever shaft 210 and in the same direction as the pusher base 221.

[0068] In this embodiment, as Figure 1 , Figure 2 and Figure 7 , Figure 8 , Figure 9 As shown, the primary sliding assembly 225 includes: a primary slide rail 2251 and a primary slider 2252; the primary slide rail 2251 is fixedly connected to the cantilever shaft 210 along the axial direction of the cantilever shaft 210, and the primary slider 2252 is fixedly connected to the pusher base 221, and the primary slide rail 2251 and the primary slider 2252 are slidably connected; the secondary sliding assembly 226 includes: at least two secondary slide rails 2261 and at least two sets of secondary sliders 2262; the secondary slide rails 2261 are connected to the pusher base 2221 along the axial direction of the cantilever shaft 210, and the secondary sliders 2262 are fixedly connected to the pusher base 221. On the material base 221, the secondary slide rail 2261 and the secondary slider 2262 are slidably connected; the second drive rack 2246 is fixedly connected to the secondary slide rail 2261; the output shaft of the pusher drive 2243 drives the pusher drive shaft 2244 to rotate, thereby driving the first drive gear and the second drive gear to mesh with the first drive rack 2245 and the second drive rack 2246 respectively, so that the pusher base 221 drives the primary slider 2252 to move along the primary slide rail 2251, and the pusher base plate 2221 drives the secondary slide rail 2261 to move along the secondary slider 2262.

[0069] In this embodiment, the primary slide rail 2251 and the primary slider 2252 guide the movement of the pusher base 221, making the movement stroke of the pusher base 221 more precise. The secondary slide rail and the secondary slider 2262 guide the movement of the pusher base plate, making the movement stroke of the pusher base plate more precise.

[0070] In this embodiment, as Figure 1 , Figure 2 and Figure 7 , Figure 8 , Figure 9As shown, the pushing mechanism 220 also has a connecting member 227; the connecting member 227 includes a first connecting plate 2271 and a second connecting plate 2272 that are perpendicular to each other; the second connecting plate 2272 includes a slide rail connecting part 22721 and a clamping plate connecting part 22722; one of at least two sets of secondary sliders 2262 is fixedly connected to the inner sidewall 2211 of the pushing base 221, and the other set is fixedly connected to the inner top wall 2212 of the pushing base 221; one of at least two secondary slide rails 2261 is fixedly connected to the first side of the first connecting plate 2271, and the other is fixedly connected to the slide rail connecting part 22721 of the second connecting plate 2272; the second side of the first connecting plate 2271 is fixedly connected to the second drive rack 2246; the side of the clamping plate connecting part 22722 of the second connecting plate 2272 facing the extension direction of the cantilever shaft 210 is fixedly connected to the pushing base plate.

[0071] In this embodiment, as Figure 1 , Figure 2 and Figure 7 , Figure 8 , Figure 9 As shown, the first connecting plate 2271 can be a long strip plate extending along the axis of the cantilever shaft 210, so as to fix and connect the secondary slide rail and the second drive rack 2246.

[0072] The slide rail connecting portion 22721 and the clamping plate connecting portion 22722 of the second connecting plate 2272 are perpendicular to each other, and the slide rail connecting portion 22721 can be a rectangular plate, arranged horizontally, and a portion of at least one of the two secondary slide rails is fixedly connected to the top of the slide rail connecting portion 22721. The connector 227 serves to connect the pusher base plate 2221 and the pusher base 221, and also serves to connect the second drive rack 2246 and the secondary slide rail.

[0073] Among them, such as Figure 1 , Figure 2 and Figure 6a , Figure 9 , Figure 13 As shown, the pushing mechanism 220 has a primary cable chain 2201 and a secondary cable chain 2202; the fixed end of the primary cable chain 2201 is connected to the first end of the cantilever shaft 210, and the movable end is connected to the pushing base 221; specifically, the fixed end of the primary cable chain 2201 is connected to the first end of the cantilever shaft 210 through a first mounting member 2203, and the movable end is connected to the pushing base 221 through a second mounting member 2204; the fixed end of the secondary cable chain 2202 is connected to the pushing base 221, and the movable end is connected to the pushing bottom plate; specifically, the fixed end of the secondary cable chain 2202 is connected to the top wall of the pushing base 221 through a third mounting member 2205, and the movable end is connected to the pushing bottom plate through a fourth mounting member 2206.

[0074] Specifically, the first mounting component 2203, the second mounting component 2204, the third mounting component 2205, and the fourth mounting component 2206 can be sheet metal parts.

[0075] More specifically, such as Figure 9 and Figure 13 As shown, the outer side of the pushing mechanism is provided with a pushing shell 228 and a clamping shell 229. The pushing shell 228 and the clamping shell 229 are fixedly connected to the pushing base plate and the clamping base plate, respectively, and can be respectively covered above the pushing drive component 2243 and outside the pushing base plate.

[0076] More specifically, such as Figure 13 As shown, a first outer shell connector 2207 is fixedly installed on the pusher base plate, and is fixedly connected to the pusher outer shell 228 through the first outer shell connector 2207; the clamping outer shell 229 is fixedly connected to the clamping base plate 2226 through fasteners.

[0077] In this embodiment, as Figure 9 , Figure 10 , Figure 11a and Figure 14a , Figure 14b As shown, Figure 14a for Figure 1 Axonometric view of the material-blocking mechanism in the loading and unloading device of the cantilever automated guided vehicle shown. Figure 14b for Figure 14a The diagram shows the mating of the material blocking mechanism and the end cap housing. The cantilever shaft 210 has a material blocking assembly 211 at its extending end. The material blocking assembly 211 includes: a material blocking base 2111, a stop rod 2112, a stop rod sliding structure, and a stop rod driving device 2114. The material blocking base 2111 is fixedly installed on the cantilever shaft 210. The stop rod 2112 is slidably connected to the material blocking base 2111 via the stop rod sliding structure 2113. The stop rod driving device 2114 is drively connected to the stop rod 2112, and is used to drive the stop rod 2112 to extend out of the material blocking base 2111 to a first preset position to block the material roll, or to retract to a second preset position so that the stop rod 2112 does not block the material roll.

[0078] In this embodiment, the stop lever driving device 2114 can drive the stop lever 2112 to extend out of the stopper base 2111 to a first preset position to block the material roll, prevent the material roll 400 from falling off the second end of the cantilever shaft 210, and improve the safety and stability of the material roll 400 during handling and picking up / dropping.

[0079] It should be noted that the stop lever 2112 can be in an extended blocking state under normal conditions (such as after the material roll is placed on the cantilever shaft or after the material roll is removed from the cantilever shaft). During the process of the material roll being pushed, pushed out or pushed into the cantilever shaft, the stop lever 2112 is in a retracted state so that it does not block the material roll.

[0080] like Figure 9 , Figure 14a and Figure 14b As shown, the material blocking sliding structure 2113 includes: a connecting through hole (not shown) provided on the material blocking base 2111, and a guide sleeve 21131 provided in the connecting through hole. The stop rod 2112 is located in the shaft hole of the guide sleeve 21131 and can reciprocate along the inner wall of the guide sleeve 21131.

[0081] In this embodiment, as Figure 9 , Figure 14a and Figure 14b As shown, the stop lever driving device 2114 includes: a stop lever driving motor 21141, a stop lever driving gear 21142, and a stop lever driving rack 21143; the shaft of the cantilever shaft 210 has a hollow shaft cavity, the main body of the stop lever driving motor 21141 is fixedly installed on the inner side of the stopper base 2111, and part of it is located in the shaft cavity of the cantilever shaft 210; the output shaft of the stop lever driving motor 21141 is fixedly connected to the stop lever driving gear 21142; the stop lever driving rack 21143 is fixedly connected to the stop lever 2112; the output shaft of the stop lever driving motor 21141 drives the stop lever driving gear 21142 to rotate, so that the stop lever driving rack 21143 drives the stop lever 2112 to reciprocate and extend along the height direction.

[0082] In this embodiment, as Figure 9 , Figure 14a and Figure 14b As shown, the cantilever shaft 210 has a hollow shaft cavity, and the main body of the stop lever drive motor 21141 is located in the shaft cavity of the cantilever shaft 210. This allows for full utilization of the space in the shaft cavity of the cantilever shaft 210, making the structure of the cantilever shaft more compact and occupying less space. The advantages of gear and rack meshing transmission include: high transmission efficiency, high transmission accuracy, smooth operation, and easy speed adjustment. Therefore, the output shaft of the stop lever drive motor 21141 drives the stop lever drive gear 21142 to rotate, causing the stop lever drive rack 21143 to drive the stop lever 2112 to reciprocate, making the movement of the stop lever 2112 more stable.

[0083] Specifically, such as Figure 9 , Figure 14a and Figure 14bAs shown, the end cap housing 217 is fixedly connected to the outside of the feeder base 2111. The end cap housing 217 is provided with a barcode reader mounting hole 2171 and a distance sensor mounting hole 2172. The barcode reader mounting hole 2171 houses the barcode reader, and the distance sensor mounting hole 2172 houses the distance sensor. The workbench / buffer rack is provided with a barcode that can be recognized by the barcode reader. The barcode reader determines the deviation between the cantilever shaft 210 and the shaft of the workbench / buffer rack by reading the position of the barcode on the workbench. The deviation is eliminated by adjusting the lifting mechanism, translation mechanism, and lateral movement mechanism of the gantry assembly. The distance sensor is used to detect the distance information between the second end of the cantilever shaft 210 and the buffer rack or workbench. By setting the barcode reader and the distance sensor, auxiliary positioning can be performed in the horizontal and vertical directions. With the help of the lifting mechanism, translation mechanism, and lateral movement mechanism, omnidirectional fine adjustment of the cantilever shaft 210 is realized, and the docking accuracy is significantly improved.

[0084] In this embodiment, as Figure 9 , Figure 15 and Figure 16 As shown, Figure 15 for Figure 1 Axonometric view of the tensioning mechanism in the loading and unloading device of the cantilever automated guided vehicle shown. Figure 16 for Figure 15 An exploded view of the tensioning mechanism is shown; the cantilever shaft 210 also has a tensioning mechanism 212, which includes: a tensioning mounting base 2121, a tensioning drive assembly 2122, and a tensioning moving member 2123; the cantilever shaft 210 has a hollow inner cavity, the tensioning mounting base 2121 is fixedly installed in the inner cavity, the tensioning mounting base 2121 has a tensioning member through hole 21211, and the tensioning moving member 2123 passes through the tensioning member through hole 21211 in a direction perpendicular to the axis of the cantilever shaft 210; the tensioning drive assembly 2122 is used to drive the tensioning moving member 2123 to extend out of the cantilever shaft 210 in a direction perpendicular to the axis of the cantilever shaft 210, so as to abut against the inner wall of the shaft hole 401 of the material roll 400, so as to restrict the position of the material roll 400 along the axial direction.

[0085] In this embodiment, the tension drive assembly 2122 includes: a tension drive component 21221, a tension drive gear 21222, and a tension drive rack 21223; the main body of the tension drive component 21221 is mounted on the tension mounting base 2121, and its output shaft is fixedly connected to the tension drive gear 21222; the tension drive rack 21223 is fixedly mounted on the tension moving component 2123 in a direction perpendicular to the axis of the cantilever shaft 210; the tension drive rack 21223 meshes with the tension drive gear 21222; the output shaft of the tension drive component 21221 drives the tension drive gear 21222 to rotate, so that the tension drive rack 21223 drives the tension moving component 2123 to move in a direction perpendicular to the axis of the cantilever shaft 210.

[0086] In this embodiment, as Figure 3a , Figure 3b , Figure 9 , Figure 15 and Figure 16 As shown, the tensioning mechanism 212 radially tensions the outer coil, i.e., the second coil 400, through the tensioning moving part 2123, thereby using friction to constrain the axial movement of the outer coil and prevent the coil 400 from moving back and forth on the cantilever shaft 210 during the movement of the automated guided vehicle, thereby improving the safety and stability of the cantilever automated guided vehicle's pick-and-place device.

[0087] Of course, when the cantilever shaft 210 only carries one coil 400, the tensioning mechanism 212 can tension the first coil 400.

[0088] More specifically, the tensioning moving part 2123 is slidably connected to the tensioning through hole 21211 via the tensioning bearing 2124.

[0089] In this embodiment, the tension drive assembly 2122 includes: a tension drive component 21221, a tension drive gear 21222, and a tension drive rack 21223; the main body of the tension drive component 21221 is mounted on the tension mounting base 2121, and its output shaft is fixedly connected to the tension drive gear 21222; the tension drive rack 21223 is fixedly mounted on the tension moving component 2123 in a direction perpendicular to the axis of the cantilever shaft 210; the tension drive rack 21223 meshes with the tension drive gear 21222; the output shaft of the tension drive component 21221 drives the tension drive gear 21222 to rotate, so that the tension drive rack 21223 drives the tension moving component 2123 to move in a direction perpendicular to the axis of the cantilever shaft 210.

[0090] Specifically, the tension drive component 21221 can be a tension drive motor. The output shaft of the tension drive motor is connected to the tension drive gear 21222 via the tension reducer 21224. The main body of the tension reducer 21224 is fixedly mounted on the tension mounting base 2121 via the reducer mounting component 21225. The output shaft of the tension reducer 21224 is connected to the tension drive gear 21222.

[0091] More specifically, the tension mounting base 2121 is provided with two tension sensors 2132, which are spaced apart along a direction perpendicular to the cantilever shaft axis. The tension moving member 2123 is provided with a tension baffle 2131. During the movement of the tension moving member 2123 and the tension baffle 2131, the tension baffle 2131 can trigger the tension sensors 2132 respectively to detect the extension position of the tension moving member 2123.

[0092] It should be noted that the above-mentioned feed stop assembly 211 and tensioning mechanism 212 can be provided simultaneously, or only the feed stop assembly 211 or only the tensioning mechanism 212 can be provided.

[0093] Based on all the above embodiments, the cantilever shaft 210 is further provided with at least two photoelectric sensors 214, which are used to detect the position of the material roll 400. In this embodiment, as... Figure 2 , Figure 10 and Figure 11a As shown, two photoelectric sensors 214 are spaced apart on the cantilever shaft 210 along the axial direction of the cantilever shaft 210, and can detect the positions of the first roll 400 and the second roll 400 respectively, thereby detecting whether the two rolls 400 have been in place or have been unloaded.

[0094] Based on all the above embodiments, such as Figure 1 and Figure 2 As shown, the loading and unloading device of the cantilever automated guided vehicle further includes: a mounting plate 100; the gantry assembly 300 includes a gantry 310 and a lifting mechanism 320; a first surface of the mounting plate 100 is fixedly connected to the lifting mechanism 320 and slidably connected to the gantry 310, and a second surface of the mounting plate 100 is fixedly connected to the cantilever shaft 210 of the cantilever shaft assembly 200; the lifting mechanism 320 can drive the mounting plate 100 to move up and down along the height direction of the gantry 310, so that the mounting plate 100 drives the cantilever shaft assembly 200 to move up and down along the height direction of the gantry 310.

[0095] In this embodiment, the mounting plate 100 connects the cantilever shaft assembly 200 to the lifting mechanism 320 of the gantry 310, allowing the lifting mechanism 320 to drive the cantilever shaft assembly 200 to rise and fall along the height direction of the gantry 310, thus achieving flexible adjustment of the height of the cantilever shaft 210. This allows it to adapt to material roll storage positions of different heights, expanding the operating range of the pick-and-place device. Simultaneously, the lifting action is guided by the gantry 310, ensuring smooth and precise movement, and guaranteeing that the height of the cantilever shaft 210 is aligned with the docking component (such as the receiving shaft), thereby improving the adaptability and reliability of the pick-and-place operation.

[0096] Specifically, the end of the cantilever shaft closest to the gantry assembly is defined as the first end, and the extended end (i.e., the end furthest from the gantry assembly) is defined as the second end. The first end 2101 of the cantilever shaft is fixedly connected to the mounting plate 100, and the second end 2102 of the cantilever shaft extends out of the mounting plate 100. Specifically, as... Figure 1 and Figure 2 As shown, the mounting plate 100 is also provided with a plurality of reinforcing support plates 110. The plurality of reinforcing support plates 110 are spaced apart along the axial direction of the cantilever shaft 210. The reinforcing support plates 110 can support the first end 2101 of the cantilever shaft and increase the connection strength between the cantilever shaft 210 and the mounting plate 100.

[0097] More specifically, such as Figure 1 As shown, the top of the cantilever shaft 210 is provided with a plurality of guide wheels 201 arranged along the axial direction of the cantilever shaft 210, and the second end 2102 of the cantilever shaft is also provided with a roller bearing 202. When loading and unloading the material roll 400, the guide wheels 201 and the roller bearing 202 can guide the material roll 400 and reduce the friction between the material roll 400 and the cantilever shaft 210.

[0098] Among them, such as Figure 1 , Figure 5 and Figure 6a As shown, an end cover housing 217 is provided at the end face of the second end of the cantilever shaft 210. The end cover housing 217 houses a barcode reader camera 215 and a distance sensor 216. A barcode that can be recognized by the barcode reader camera is provided on the workbench 803 / buffer rack 802. The barcode reader camera determines the deviation between the cantilever shaft 210 and the axis of the workbench 803 / buffer rack 802 by reading the position of the barcode on the workbench 803. The deviation is eliminated by adjusting the lifting mechanism, translation mechanism 600 and lateral movement mechanism 700 of the gantry assembly. The distance sensor is used to detect the distance information between the second end of the cantilever shaft 210 and the buffer rack 802 or the workbench 803. By setting up the barcode reader camera and the distance sensor, auxiliary positioning can be performed in the horizontal and vertical directions. With the help of the lifting mechanism, translation mechanism 600 and lateral movement mechanism 700, omnidirectional fine adjustment of the cantilever shaft 210 is realized, and the docking accuracy is significantly improved.

[0099] An embodiment of the second aspect of this application provides a cantilevered automated guided vehicle, such as... Figure 17 , Figure 18 , Figure 19 and Figure 20 As shown, Figure 17 An axle view of an automated guided vehicle provided in an embodiment of this application; Figure 18 for Figure 17 The image shows an axonometric view of the gantry assembly in the automated guided vehicle. Figure 19 for Figure 17 Axonometric view of the translation and traverse mechanisms in the gantry assembly shown; Figure 20 for Figure 19 The exploded view shows the translation mechanism and the lateral movement mechanism; the cantilever automated guided vehicle includes a mobile chassis 500 and the aforementioned cantilever automated guided vehicle pick-and-place device; a gantry assembly 300 is mounted on the mobile chassis 500, and the cantilever automated guided vehicle pick-and-place device is mounted on the gantry assembly 300; the mobile chassis 500 is capable of moving the gantry assembly 300 and the cantilever automated guided vehicle pick-and-place device.

[0100] In this embodiment, the cantilever automated guided vehicle (AGV) has a pick-and-place device. By setting the length of the cantilever shaft 210 to be greater than the axial length of the two rolls, the cantilever shaft 210 can carry two rolls. Compared with the prior art, which can only handle one roll at a time, it can handle multiple rolls at once, effectively improving the handling efficiency of the AGV. With the cooperation of the pushing mechanism 220 and the clamping mechanism 222, when the pushing mechanism 220 retracts, the clamping part of the clamping mechanism 222 engages with the limiting structure of the inner roll and pulls the inner roll, which can realize the separation of the inner roll from the outer roll without additional separation equipment or manual operation. This ensures the orderly separation of multiple rolls during the pick-and-place and handling process, meets the automated handling requirements of rolls between the buffer rack and the machine, and improves the overall automation level of the AGV operation.

[0101] In this embodiment, as Figure 17 , Figure 18 , Figure 19 and Figure 20As shown, the gantry assembly 300 is a column frame structure, comprising: two gantry frames 310 arranged at intervals relative to each other, and a lifting mechanism 320; each gantry frame 310 includes: two gantry columns 311 arranged at intervals along the front-rear direction extending from the cantilever shaft 210; the lifting mechanism 320 is disposed on the first gantry frame 310a of the two gantry frames; the cantilever automated guided vehicle (AGV) pick-up and place device is fixedly connected to the lifting mechanism 320 and slidably connected to the first gantry frame 310a; the lifting mechanism 320 can drive the cantilever AGV pick-up and place device to move up and down along the height direction of the gantry frame 310; the cantilever AGV pick-up and place device is located between the two gantry frames 310, and the cantilever shaft 210 of the cantilever AGV pick-up and place device extends outward from between the two gantry frames 310.

[0102] The top of the two gantry 310 is also provided with two connecting beams 330, the two ends of which are respectively connected to the top of the two gantry 310. Through the above arrangement, the stability of the gantry assembly 300 can be improved.

[0103] More specifically, such as Figure 17 , Figure 18 , Figure 19 and Figure 20 As shown, the bottom of the first gantry 310a is provided with a first gantry connecting base plate 3101a, and the bottom of the second gantry 310b is provided with a second gantry connecting base plate 3101b; a lifting drive device mounting base plate (not shown) is connected between the two columns in the first gantry 310a.

[0104] In this embodiment, lifting sliding guide rails 301 are respectively provided on the two gantry columns 311 of the first gantry, and lifting sliding sliders 302 for cooperating with the two lifting sliding guide rails 301 are provided on the first surface of the mounting plate 100 of the cantilever automatic guided transport vehicle's pick-up and place device.

[0105] Specifically, the gantry is also provided with a gantry housing 330 on the outside, and a bellows cover 331 is provided on the gantry housing 330. The bellows cover can be extended or retracted as the cantilever shaft assembly is raised or lowered.

[0106] like Figure 17 , Figure 18 , Figure 19 and Figure 20As shown, the lifting mechanism 320 includes a lifting drive motor 321, a lifting drive screw 322, and a lifting drive nut 323. The lifting drive screw 322 is rotatably mounted between the two gantry posts 311, and the main body of the lifting drive motor 321 is fixedly mounted on the first gantry. Specifically, the output shaft of the lifting drive motor 321 is connected to one end of the lifting drive screw 322. The lifting drive nut 323 is sleeved on the lifting drive screw 322 and connected to the mounting plate 100 of the cantilever automated guided vehicle's pick-and-place device. The output shaft of the lifting drive motor 321 drives the lifting drive screw 322 to rotate, so that the lifting drive nut 323 drives the mounting plate 100 of the cantilever automated guided vehicle's pick-and-place device to reciprocate along the height direction, thereby adjusting the height position of the cantilever shaft 210 in the cantilever automated guided vehicle's pick-and-place device. This allows for the connection of material rolls 400 of different heights, making the cantilever automated guided vehicle in this embodiment more flexible and universal.

[0107] In this embodiment, as Figure 17 , Figure 18 , Figure 19 and Figure 20 As shown, the cantilever automated guided vehicle further includes a translation mechanism 600 and a lateral movement mechanism 700; the translation mechanism 600 is mounted on the top of the mobile chassis 500; the lateral movement mechanism 700 is located between the translation mechanism 600 and the gantry assembly 300; the translation mechanism 600 is used to drive the lateral movement mechanism 700 and the gantry assembly 300 to reciprocate along the axis of the cantilever shaft 210; the lateral movement mechanism 700 is used to drive the gantry assembly 300 to reciprocate in a horizontal direction perpendicular to the axis of the cantilever shaft 210.

[0108] In this embodiment, as Figure 17 , Figure 18 , Figure 19 and Figure 20As shown, the translation mechanism 600 includes a lateral shift base plate 610, a lateral shift drive device 620, a lateral shift sliding connection structure 630, and a lateral shift mounting plate 640; the lateral shift base plate 610 is fixedly installed on the top of the mobile chassis 500; the lateral shift mounting plate 640 is fixedly connected to the gantry assembly; the lateral shift drive device 620 and the lateral shift sliding connection structure 630 are located between the lateral shift base plate 610 and the lateral shift mounting plate 640; the lateral shift sliding connection structure 630 includes... It includes two lateral sliding rails 631 and two sets of lateral sliding sliders 632. The two lateral sliding rails 631 are fixedly installed on the upper surface of the lateral sliding base plate 610. The two sets of lateral sliding sliders 632 are slidably connected to the two lateral sliding rails 631 respectively and fixedly connected to the lateral sliding mounting plate 640. The lateral sliding drive device 620 is driven by the lateral sliding mounting plate 640 to drive the lateral sliding plate 640 to drive the lateral sliding sliders 632 to slide along the lateral sliding rails 631.

[0109] like Figure 17 , Figure 18 , Figure 19 and Figure 20 As shown, the lateral movement drive device 620 includes: a lateral movement drive motor 621, a lateral movement drive screw 622, and a lateral movement drive nut 623; the main body of the lateral movement drive motor 621 is fixedly installed on the lateral movement base plate 610, and the lateral movement drive screw 622 is rotatably connected to the lateral movement base plate 610; the lateral movement drive nut 623 is sleeved on the lateral movement drive screw 622 and fixedly connected to the lateral movement mounting plate 640; the output shaft of the lateral movement motor is driven to one end of the lateral movement drive screw 622, and the rotation of the output shaft of the lateral movement motor drives the lateral movement drive screw 622 to rotate, thereby driving the lateral movement drive nut 623 and the lateral movement mounting plate 640 to reciprocate along the lateral movement drive screw 622.

[0110] like Figure 17 , Figure 18 , Figure 19 and Figure 20 As shown, the lateral movement mechanism 700 includes: a lateral movement drive device 710, a lateral movement sliding connection structure 720, and a lateral movement mounting plate 730; the lateral movement mounting plate 730 is fixedly connected to the gantry assembly 300.

[0111] The lateral movement drive device 710 and the lateral movement sliding connection structure 720 are located between the lateral movement mounting plate 640 and the lateral movement mounting plate 730. The lateral movement sliding connection structure 720 includes two lateral movement slide rails 721 and two sets of lateral movement sliders 722. The two lateral movement slide rails 721 are fixedly installed on the upper surface of the lateral movement base plate. The two sets of lateral movement sliders 722 are slidably connected to the two lateral movement slide rails 721 respectively and fixedly connected to the lateral movement mounting plate 730. The lateral movement drive device 710 is driven by the lateral movement mounting plate 730 and is used to drive the lateral movement mounting plate 730 to drive the lateral movement sliders 722 to slide along the lateral movement slide rails 721.

[0112] The lateral movement drive device 710 includes: a lateral movement drive motor 711, a lateral movement drive screw 712, and a lateral movement drive nut 713; the main body of the lateral movement drive motor 711 is fixedly installed on the lateral movement mounting plate 640, and the lateral movement drive screw 712 is rotatably connected to the lateral movement mounting plate 640; the lateral movement drive nut 713 is sleeved on the lateral movement drive screw 712 and fixedly connected to the lateral movement mounting plate 730; the output shaft of the lateral movement motor is connected to one end of the lateral movement drive screw 712, and the rotation of the output shaft of the lateral movement motor drives the lateral movement drive screw 712 to rotate, thereby driving the lateral movement drive nut 713 and the lateral movement mounting plate 730 to reciprocate along the lateral movement drive screw 712.

[0113] In practical applications, such as Figure 1 , Figure 2 , Figure 5 and Figure 6a As shown, the automated guided vehicle (AGV) carries the material roll 400 via the cantilever shaft assembly 200 and aligns the cantilever shaft in the cantilever shaft assembly with the material roll 400 on the buffer rack 802 station 801. Through the movable chassis 500, translation mechanism 600, and lateral movement mechanism 700, the cantilever shaft is inserted into the shaft hole 401 of the material roll 400, moving the material roll 400 from the buffer rack 802 onto the cantilever shaft. The AGV then moves two material rolls to the machine platform and aligns the cantilever shaft with the carrying shaft of the machine platform 803 via the movable chassis 500, translation mechanism 600, and lateral movement mechanism 700. When it is necessary to place the two material rolls... When both rolls are on the same bearing shaft 804, the pushing mechanism simultaneously pushes the first and second rolls, transferring them from the cantilever shaft to the bearing shaft 804 of the machine. When it is necessary to place the two rolls on different bearing shafts of the same machine, the pushing mechanism first pushes the first and second rolls simultaneously so that the second roll is placed on the lower bearing shaft. Then, the lifting mechanism drives the cantilever shaft to rise so that the cantilever shaft is aligned with the upper bearing shaft. The pushing mechanism then pushes the first roll onto the upper bearing shaft, thereby transferring the two rolls from the cantilever shaft to different bearing shafts 804 of the machine.

[0114] Specifically, workstation 801 is supported at a certain height above the ground by a buffer rack 802 to facilitate the loading and unloading by the cantilevered automated guided vehicle.

[0115] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0116] The above description is merely a preferred embodiment of this application and is not intended to limit the scope of protection of this application. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application are included within the scope of protection of this application.

Claims

1. A pick-and-place device for a cantilevered automated guided vehicle, characterized in that, include: Gantry assembly (300) and cantilever shaft assembly (200); The cantilever shaft assembly (200) is slidably connected to the gantry assembly (300); The cantilever shaft assembly (200) includes: a cantilever shaft (210), a pushing mechanism (220), and a clamping mechanism (222); The length of the cantilever shaft (210) is greater than the axial length of the two rolls (400), and it is used to support one or two rolls (400); The pushing mechanism (220) can move axially along the cantilever shaft (210) to push the material roll (400); The clamping mechanism (222) is installed on the pushing mechanism (220) and has a liftable clamping part, which is used to clamp with the limiting structure at the end of the material roll (400) when it descends, so as to achieve axial constraint on the material roll (400). The clamping mechanism (222) moves axially synchronously with the pushing mechanism (220). When the pushing mechanism (220) retracts, the clamping part engages with the limiting mechanism of the inner material roll (400) to pull the clamped inner material roll (400) axially, thereby separating the inner material roll (400) from the outer material roll (400).

2. The pick-and-place device for a cantilevered automated guided vehicle according to claim 1, characterized in that, The limiting structure at the end of the material roll is: limiting flanges (410) located at both ends of the axial direction of each material roll (400); The material clamping mechanism (222) includes: a material clamping plate (2223) and a material clamping drive mechanism (2225); The clamping plate (2223) serves as a clamping part and is located on the outside of the pushing mechanism (220) in the direction of extension of the cantilever shaft in the horizontal direction; The material clamping drive mechanism (2225) is drivenly connected to the material clamping plate (2223); The clamping plate (2223) can be raised and lowered relative to the pushing mechanism (220) in an axial direction perpendicular to the cantilever shaft under the drive of the clamping driving mechanism (2225), so as to engage with the limiting flange (410) when it descends, so as to achieve axial constraint on the material roll.

3. The pick-and-place device for a cantilevered automated guided vehicle according to claim 2, characterized in that, The pushing mechanism (220) includes: a pushing plate (2222) and a pushing drive mechanism (224); The pusher plate (2222) is disposed above the cantilever shaft (210) and can move along the axial direction of the cantilever shaft; The pusher drive mechanism (224) is drivenly connected to the pusher plate (2222); The pusher plate (2222) can, under the drive of the pusher drive mechanism (224), abut against the axial end face of the first side of the limiting flange (410) of the material roll (400) to push the material roll (400); the pusher plate (2222) and the clamping plate (2223) are offset along the axial direction of the cantilever shaft so that when the pusher plate (2222) abuts against the axial end face of the first side of the limiting flange (410) of the material roll, the clamping plate (2223) can clamp the second side of the limiting flange (410).

4. The pick-and-place device for a cantilevered automated guided vehicle according to claim 3, characterized in that, The pushing mechanism (220) further includes a pushing base plate (2221), and the pushing plate (2222) is located on the side of the pushing base plate (2221) facing the extension direction of the cantilever shaft; the pushing drive mechanism (224) is based on the driving connection between the pushing base plate (2221) and the pushing plate (2222), and the pushing base plate (2221) can move along the axial direction of the cantilever shaft under the drive of the pushing drive mechanism (224), so that the pushing plate (2222) abuts against the axial end face of the first side of the limiting flange of the material roll (400) and pushes the material roll (400); The clamping mechanism (222) further includes a clamping base plate (2226); the clamping base plate (2226) is located on the side of the pusher base plate (2221) facing the cantilever shaft extension direction; the clamping plate (2223) is located on the side of the clamping base plate (2226) facing the cantilever shaft extension direction; the clamping drive mechanism (2225) is based on the clamping base plate (2226) and the clamping plate (2223) being driven together. The clamping base plate (2226) can move up and down relative to the pusher base plate (2221) in an axial direction perpendicular to the cantilever shaft under the drive of the clamping drive mechanism (2225), so as to drive the clamping plate (2223) to move up and down in an axial direction perpendicular to the cantilever shaft, so that the clamping plate (2223) clamps the second side of the limiting flange (410) when it descends, so as to achieve axial constraint on the material roll.

5. The pick-and-place device for a cantilevered automated guided vehicle according to claim 4, characterized in that, The material clamping base plate (2226) is slidably connected to the material pushing base plate through the material clamping sliding assembly (2224). The material clamping sliding assembly (2224) includes: at least two material clamping slide rails (22241) and at least two sets of material clamping sliders (22242). The material clamping slide rail (22241) is fixedly installed on the material pusher base plate (2221) in a direction perpendicular to the axis of the cantilever shaft (210), and the material clamping slider (22242) is fixedly connected to the side of the material clamping base plate (2226) near the material pusher base plate (2221). The material-clamping slider (22242) is slidably connected to the material-clamping slide rail (22241); the material-clamping driving mechanism (2225) can drive the material-clamping base plate (2226), based on the material-clamping slider (22242) reciprocating along the material-clamping slide rail (22241), so that the material-clamping base plate (2226) can drive the material-clamping plate (2223) to rise and fall along the axis perpendicular to the cantilever shaft.

6. The pick-and-place device for a cantilevered automated guided vehicle according to claim 4, characterized in that, The material clamping drive mechanism (2225) includes a material clamping drive component (22251), a material clamping drive gear (22252), and a material clamping drive rack (22253); The main body of the material clamping drive (22251) is fixedly installed on the material pushing base plate (2221); the output shaft of the material clamping drive (22251) is fixedly connected to the material clamping drive gear (22252); The material clamping drive rack (22253) is fixedly installed on the side of the material clamping base plate (2226) near the material pushing base plate (2221) along a direction perpendicular to the axis of the cantilever shaft (210), and the material clamping drive gear (22252) meshes with the material clamping drive rack (22253); The output shaft of the material clamping drive component (22251) drives the material clamping drive gear (22252) to rotate, thereby driving the material clamping drive rack (22253) to drive the material clamping base plate (2226) and the material clamping plate (2223) to reciprocate in a direction perpendicular to the axis of the cantilever shaft (210); when the material clamping plate (2223) descends in a direction perpendicular to the axis of the cantilever shaft, it can clamp the second side of the limiting flange (410).

7. The pick-and-place device for a cantilevered automated guided vehicle according to claim 4, characterized in that, The pushing mechanism (220) further includes: a pushing base (221), on which a primary sliding component (225) and a secondary sliding component (226) are provided; the primary sliding component (225) is disposed between the lower inner part of the pushing base (221) and the cantilever shaft (210), for sliding connection between the pushing base (221) and the cantilever shaft (210), so that the pushing base (221) can slide along the axial direction of the cantilever shaft (210); the secondary sliding component (226) is disposed inside the pushing base (221) and above the primary sliding component (225); the secondary sliding component (226) is respectively connected to the pushing base (221) and the pushing bottom plate (2221), so that the pushing bottom plate (2221) can slide in the same direction relative to the pushing base (221); The pusher drive mechanism (224) is mounted on the pusher base (221) and is drivenly connected to the pusher base (221) and the pusher bottom plate (2221). It is used to drive the pusher base (221) to reciprocate along the axial direction of the cantilever shaft (210) and to drive the pusher bottom plate (2221) to drive the pusher plate (2222), the clamping bottom plate (2226) and the clamping plate (2223) to move relative to the pusher base (221) and in the same direction as the pusher base (221).

8. The pick-and-place device for a cantilevered automated guided vehicle according to claim 7, characterized in that, The pusher drive mechanism (224) has a pusher drive component (2243) and a first drive output component (2241) and a second drive output component (2242) arranged in a direction perpendicular to the axis of the cantilever shaft (210); the first drive output component (2241) and the second drive output component (2242) are disposed in the pusher base (221); The pusher drive (2243) is driven to be connected to the first drive output (2241) and the second drive output (2242); The first drive output component (2241) is used to drive the pusher base (221) to reciprocate along the axis of the cantilever shaft (210) based on the first-stage sliding component (225); The second drive output component (2242) is located above the first drive output component (2241) and is used to drive the pusher base plate (2221) to move relative to the pusher base (221) and in the same direction as the pusher base (221) based on the secondary sliding component (226).

9. The pick-and-place device for a cantilevered automated guided vehicle according to claim 8, characterized in that, Inside the pusher base (221), there is a pusher drive shaft (2244) installed along the axis direction perpendicular to the cantilever shaft; The main body of the pusher drive (2243) is fixedly connected to the pusher base (221), and the output shaft is fixedly connected to the pusher drive shaft (2244) to drive the pusher drive shaft (2244) to rotate. The first drive output component (2241) is a first drive gear, and the second drive output component (2242) is a second drive gear; wherein the diameter and number of teeth of the second drive gear are both smaller than those of the first drive gear; The first drive gear and the second drive gear are spaced apart on the push drive shaft (2244) from low to high along the axial direction perpendicular to the cantilever shaft, and can rotate synchronously under the drive of the push drive shaft (2244); A first drive rack (2245) is fixedly installed on the outer side of the cantilever shaft (210) along its axial direction, for cooperating with the first drive gear to drive the pusher base (221) to reciprocate along the axial direction of the cantilever shaft (210); Inside the pusher base (221), there is a second drive rack (2246) connected along the axial direction of the cantilever shaft (210) and connected to the secondary sliding assembly (226) and the pusher base plate (2221), which is used to cooperate with the second drive gear to drive the pusher base plate (2221) to move relative to the pusher base (221) and in the same direction as the pusher base (221).

10. The pick-and-place device for a cantilevered automated guided vehicle according to claim 9, characterized in that, The primary sliding assembly (225) includes: a primary slide rail (2251) and a primary slider (2252); The primary slide rail (2251) is fixedly connected to the cantilever shaft (210) along the axial direction of the cantilever shaft (210), and the primary slider (2252) is fixedly connected to the pusher base (221). The primary slide rail (2251) and the primary slider (2252) are slidably connected. The secondary sliding assembly (226) includes: at least two secondary slide rails (2261) and at least two sets of secondary sliders (2262); The secondary slide rail (2261) is connected to the pusher base plate (2221) along the axis of the cantilever shaft (210), and the secondary slider (2262) is fixedly connected to the pusher base (221). The secondary slide rail (2261) and the secondary slider (2262) are slidably connected. The second drive rack (2246) is fixedly connected to the secondary slide rail (2261); the output shaft of the pusher drive (2243) drives the pusher drive shaft (2244) to rotate, thereby driving the first drive gear and the second drive gear to mesh with the first drive rack (2245) and the second drive rack (2246) respectively, so that the pusher base (221) drives the primary slider (2252) to move along the primary slide rail (2251), and the pusher base plate (2221) drives the secondary slide rail (2261) to move along the secondary slider (2262).

11. The pick-and-place device for a cantilevered automated guided vehicle according to claim 10, characterized in that, The pushing mechanism (220) also has a connecting member (227); The connector (227) includes a first connecting plate (2271) and a second connecting plate (2272) that are perpendicular to each other; The second connecting plate (2272) includes a slide rail connecting part (22721) and a clamping plate connecting part (22722); At least two sets of secondary sliders (2262) are fixedly connected to the inner sidewall of the pusher base (221) and the other set is fixedly connected to the inner top wall of the pusher base (221). At least two secondary slide rails (2261) are fixedly connected, one of which is fixedly connected to the first side of the first connecting plate (2271), and the other is fixedly connected to the slide rail connecting part (22721) of the second connecting plate (2272); the second side of the first connecting plate (2271) is fixedly connected to the second drive rack (2246); The clamping plate connecting part (22722) of the second connecting plate (2272) is fixedly connected to the pusher base plate on the side facing the cantilever shaft (210) extending direction.

12. The pick-and-place device for a cantilevered automated guided vehicle according to claim 1, characterized in that, The cantilever shaft (210) has a stopper assembly (211) at its extended end, and / or the cantilever shaft (210) has a tensioning mechanism (212) inside. The feeder assembly (211) includes: a feeder base (2111), a stop bar (2112), a stop bar sliding structure, and a stop bar driving device (2114); The feeder base (2111) is fixedly installed on the cantilever shaft (210); The stop bar (2112) is slidably connected to the feeder base (2111) via the stop bar sliding structure (2113); The stop lever driving device (2114) is connected to the stop lever (2112) for driving the stop lever (2112) to extend out of the stopper base (2111) to a first preset position to block the material roll, or to retract to a second preset position so that the stop lever (2112) does not block the material roll. The tensioning mechanism (212) includes: Tensioner mounting base (2121), tensioner drive assembly (2122), and tensioner moving part (2123); The cantilever shaft (210) has a hollow inner cavity, and the tensioning mounting seat (2121) is fixedly installed in the inner cavity. The tensioning mounting seat (2121) has a through hole, and the tensioning moving part (2123) passes through the through hole and is installed in the tensioning mounting seat (2121). The tension drive assembly (2122) is used to drive the tension moving member (2123) to extend out of the cantilever shaft (210) in a direction perpendicular to the axis of the cantilever shaft (210) to abut against the inner wall of the shaft hole (401) of the material roll (400) to restrict the position of the material roll (400) along the axial direction.

13. The pick-and-place device for a cantilevered automated guided vehicle according to any one of claims 1-12, characterized in that, Also includes: Install the upright plate (100); The gantry assembly (300) includes a gantry (310) and a lifting mechanism (320); The first side of the mounting plate (100) is fixedly connected to the lifting mechanism (320) and slidably connected to the gantry (310); the second side of the mounting plate (100) is fixedly connected to the cantilever shaft (210) of the cantilever shaft assembly (200). The lifting mechanism (320) can drive the mounting plate (100) to move up and down along the height direction of the gantry (310), so that the mounting plate (100) drives the cantilever shaft assembly (200) to move up and down along the height direction of the gantry (310).

14. A cantilevered automated guided vehicle, characterized in that, It includes a mobile chassis (500) and a pick-and-place device for a cantilever automated guided vehicle as described in any one of claims 1-13; the pick-and-place device for the cantilever automated guided vehicle is mounted on the mobile chassis (500).

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