A cantilevered automated guided vehicle

Abstract

This utility model provides a cantilever automated guided vehicle, including: a mobile chassis, a gantry assembly, and a cantilever shaft assembly; the gantry assembly moves under the drive of the mobile chassis and includes a four-post gantry or a three-post gantry; the cantilever shaft assembly includes a gantry connector, a cantilever shaft, a pushing mechanism, and a blocking mechanism; the gantry connector of the cantilever shaft assembly is slidably connected to two first gantry pillars in the vertical direction Z; the cantilever shaft is used to dock with a material picking point or a material unloading point; the pushing mechanism is used to push the material roll on the cantilever shaft; the blocking mechanism includes a lifting drive device and a blocking component; the blocking component, under the action of the lifting drive device, has: a raised position: extending perpendicular to the axial direction to the outside of the second end of the cantilever shaft to form a blocking section; a lowered position: retracting into the cantilever shaft to make way for the material roll passage. The cantilever automated guided vehicle provided in this application embodiment can improve the automation of material roll picking and unloading, thereby improving the work efficiency of picking, unloading, and transporting material rolls.

Description

Technical Field

[0001] This application relates to the field of automated guided vehicles (AGVs), and in particular to a cantilevered AGV. Background Technology

[0002] Currently, in the lithium battery cell production process, shaft-type mechanisms are needed for transporting material rolls and loading / unloading onto machines. This is typically done using semi-automatic transport trolleys operated manually, with auxiliary tools such as buffer racks for transferring and storing the rolls. Manual handling of the rolls and loading / unloading operations results in low automation efficiency and consequently, low overall work efficiency. Utility Model Content

[0003] The purpose of this utility model embodiment is to provide a cantilever automated guided vehicle (AGV) to improve its working efficiency. The specific technical solution is as follows:

[0004] This utility model embodiment provides a cantilevered automated guided vehicle for transporting empty or full coils; it includes: a mobile chassis, a gantry assembly, and a cantilever shaft assembly;

[0005] The gantry assembly is vertically mounted on the mobile chassis and can move under the drive of the mobile chassis;

[0006] The gantry assembly includes: a four-post gantry formed by two first posts and two second posts; or a three-post gantry formed by two first posts and one third post; the two first posts are arranged side-by-side at a distance along a first direction X; the two second posts or the third post are located on opposite sides of the two first posts along a second direction Y; wherein, the first direction X is the extension direction of the cantilever shaft, and the second direction is a direction perpendicular to the first direction X on a horizontal plane;

[0007] The cantilever shaft assembly includes: a gantry connector, a cantilever shaft, a pushing mechanism, and a blocking mechanism; the gantry connector is slidably connected to the two first gantry posts in the vertical direction Z; the first end of the cantilever shaft is fixedly connected to the gantry connector, and the second end extends out of the gantry assembly for docking with the material pick-up point or the material release point;

[0008] The pushing mechanism is located on the cantilever shaft and can move along the axial direction of the cantilever shaft. It is used to push the material roll on the cantilever shaft to the picking point or the discharging point after the cantilever shaft is connected with the picking point or the discharging point.

[0009] The material blocking mechanism is located at the second end of the cantilever shaft and includes a lifting drive device and a material blocking component connected to the lifting drive device.

[0010] The material stop component has the following properties under the action of the lifting drive device:

[0011] Lifting position: Extends outward from the second end of the cantilever shaft in a direction perpendicular to the axial direction of the cantilever shaft, with its extended length covering all or part of the projected area of ​​the end face of the material coil at the end face of the second end of the cantilever shaft, so as to form a blocking section;

[0012] Descending position: retract into the cantilever shaft to allow the material roll passage.

[0013] The beneficial effects of this application are:

[0014] The cantilever automated guided vehicle provided in this application embodiment has a mobile chassis capable of driving the gantry assembly and cantilever shaft assembly to move omnidirectionally, enabling the gantry assembly and cantilever shaft to reciprocate between the picking point and the unloading point to transport material rolls. The gantry assembly may include a four-post gantry or a three-post gantry; both of these gantry structures are relatively stable and can reduce the swaying of the cantilever shaft during vehicle movement. The gantry connector of the cantilever shaft assembly is slidably connected to the two first gantry columns in the vertical Z direction, allowing the cantilever shaft to move up and down. The cantilever shaft assembly is designed to align with material pick-up and unload points at different heights, improving flexibility. The material stop mechanism, when in the raised position, forms a blocking section to prevent the material roll from slipping off the second end of the cantilever shaft. When in the lowered position, the material roll can pass smoothly. The pushing mechanism pushes the material roll on the cantilever shaft after it aligns with the pick-up or unload point, achieving automatic loading and unloading. These features enhance the automation of material roll handling, thereby improving the efficiency of picking up, unloading, and transporting material rolls.

[0015] Of course, any product implementing this utility model does not necessarily need to achieve all of the advantages described above at the same time. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in the embodiments of this utility model 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 utility model. For those skilled in the art, other drawings can be obtained based on these drawings.

[0017] Figure 1 A schematic diagram of one angle of the first embodiment of the cantilevered automated guided vehicle provided in this application;

[0018] Figure 2 for Figure 1 A schematic diagram of the cantilevered automated guided vehicle from another angle;

[0019] Figure 3 for Figure 1 The axle side view of the cantilevered automated guided vehicle shown (gantry housing not shown);

[0020] Figure 4 for Figure 3 The side view of the cantilevered automated guided vehicle shown.

[0021] Figure 5 for Figure 3 The image shows a front view of the cantilevered automated guided vehicle.

[0022] Figure 6 for Figure 1 The cantilever axle assembly is mounted on the gantry assembly in the cantilever automated guided vehicle shown in the figure;

[0023] Figure 7 for Figure 3 The diagram shows the structure of the material-blocking mechanism in the cantilevered automated guided vehicle.

[0024] Figure 8a for Figure 7 The diagram shows the structure of the material stop mechanism after it is connected to the end cap of the cantilever shaft.

[0025] Figure 8b for Figure 8a The first-angle exploded view of the structural diagram shown;

[0026] Figure 8c for Figure 8a The second-angle exploded view of the structural diagram shown;

[0027] Figure 9a for Figure 3 Axonometric view of the cantilever shaft assembly in the cantilever automated guided vehicle shown.

[0028] Figure 9b for Figure 9a The first exploded view of the cantilever shaft assembly shown;

[0029] Figure 9c for Figure 9a The second exploded view of the cantilever shaft assembly shown;

[0030] Figure 10 for Figure 3 Axonometric view of the gantry assembly of the cantilevered automated guided vehicle shown.

[0031] Figure 11 Axonometric view of a second embodiment of the cantilevered automated guided vehicle provided in this application (the gantry housing is not shown in the figure);

[0032] Figure 12 for Figure 11 The cantilever axle assembly is mounted on the gantry assembly in the cantilever automated guided vehicle shown in the figure;

[0033] Figure 13 for Figure 11 Axonometric view of the gantry assembly of the cantilevered automated guided vehicle shown.

[0034] Figure label:

[0035] Mobile chassis 100; gantry assembly 200; first gatepost 210; second gatepost 220; third gatepost 230; gatepost connecting top plate 240; gatepost connecting bottom plate 250; gantry shell 260;

[0036] Cantilever shaft assembly 300; gantry connector 310; support reinforcement plate 311;

[0037] Cantilever shaft 320; First end of cantilever shaft 3201; Second end of cantilever shaft 3202; Shaft body 321; End cap 322; Code reader camera mounting hole 3221; Range sensor mounting hole 3222; Guide wheel 323; Support base plate 324;

[0038] Pushing mechanism 330; pushing component 331; pushing frame 3310; pushing plate 3311; side connecting plate 3312; first pushing drive assembly 332; pushing drive motor 3321; pushing drive gear 3322; pushing drive rack 3323; synchronous belt drive mechanism 3324; pushing drive protective cover 3325; pushing sliding connection structure 333; pushing slide rail 3331; pushing slider 3332; second pushing drive assembly 334;

[0039] Material blocking mechanism 340; material blocking component 341; material blocking sliding structure 342; connecting through hole 3420; guide sleeve 3421; lifting drive device 343; lifting drive mounting base 3431; lifting motor assembly 3432; output shaft 34321; lifting drive gear 3433; lifting drive rack 3434; material blocking component mounting base 344;

[0040] Lifting mechanism 400; lifting sliding guide rail 411; lifting sliding slider 412; lifting drive motor 421; lifting drive screw 422; lifting drive nut 423; screw mounting base 424;

[0041] First direction X; second direction Y; vertical direction Z. Detailed Implementation

[0042] 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, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art based on this application are within the protection scope of the present utility model.

[0043] This application provides a cantilever automated guided vehicle (AGV) to improve its working efficiency.

[0044] The following two embodiments illustrate in detail the cantilevered automated guided vehicle provided in this application.

[0045] Example 1

[0046] This embodiment is an example of a gantry assembly including a four-post gantry.

[0047] See Figures 1 to 6 ,in Figure 1 A schematic diagram of one angle of the first embodiment of the cantilevered automated guided vehicle provided in this application; Figure 2 for Figure 1 A schematic diagram of the cantilevered automated guided vehicle from another angle; Figure 3 for Figure 1 The axle side view of the cantilevered automated guided vehicle shown (gantry housing not shown); Figure 4 for Figure 3 The side view of the cantilevered automated guided vehicle shown. Figure 5 for Figure 3 The image shows a front view of the cantilevered automated guided vehicle. Figure 6 for Figure 1 The diagram shows the cantilever axle assembly mounted on the gantry assembly in the cantilever automated guided vehicle shown.

[0048] like Figures 1 to 6 As shown in the embodiment of this application, the cantilever automated guided vehicle is used to transport empty or full coils; it includes: a mobile chassis 100, a gantry assembly 200, and a cantilever shaft assembly 300; the gantry assembly 200 is vertically mounted on the mobile chassis 100 and can move under the drive of the mobile chassis 100.

[0049] like Figures 3 to 6 As shown, the gantry assembly 200 in this embodiment includes two first gantry posts 210 and two second gantry posts 220, forming a four-gantry structure. The two first gantry posts 210 are arranged side-by-side at intervals along a first direction X; the two second gantry posts 220 are located on opposite sides of the two first gantry posts 210 along a second direction Y; wherein the first direction X is the extension direction of the cantilever shaft 320, and the second direction Y is a direction perpendicular to the first direction X on a horizontal plane.

[0050] It should be noted that in the second embodiment below, the gantry assembly 200 includes two first gantry posts 210 and one third gantry post 230. The third gantry post 230 is disposed on the opposite side of the two first gantry posts 210 along the second direction Y; its specific structure will be described in detail later.

[0051] In this embodiment, the cantilever shaft assembly 300 includes: a gantry connector 310, a cantilever shaft 320, a pushing mechanism 330, and a stopping mechanism 340; wherein...

[0052] The gantry connector 310 is slidably connected to the two first gantry posts 210 in the vertical direction Z;

[0053] The first end 3201 of the cantilever shaft is connected to the gantry connector 310, so as to move up and down along the vertical direction Z of the gantry assembly 200 under the drive of the gantry connector 310; the second end 3202 of the cantilever shaft extends out of the gantry assembly 200 and is used to dock with the material pick-up point or the material unloading point.

[0054] The pushing mechanism 330 is located on the cantilever shaft 320 and can move along the axial direction of the cantilever shaft 320. It is used to push the material roll on the cantilever shaft 320 to the picking point or the discharging point after the cantilever shaft 320 is connected with the picking point or the discharging point.

[0055] The material blocking mechanism 340 is located at the second end 3202 of the cantilever shaft and includes a lifting drive device 343 and a material blocking component 341 connected to the lifting drive device 343.

[0056] The stop member 341, under the action of the lifting drive device 343, has the following functions:

[0057] Lifting position: Extends outward from the second end 3202 of the cantilever shaft in a direction perpendicular to the axial direction of the cantilever shaft 320, and its extended length covers all or part of the area of ​​the projection range of the end face of the material coil at the end face of the second end 3202 of the cantilever shaft, so as to form a blocking section;

[0058] Descending position: retract into the cantilever shaft 320 to allow the material roll passage.

[0059] The cantilever automated guided vehicle provided in this application embodiment has a mobile chassis capable of driving the gantry assembly and cantilever shaft assembly to move omnidirectionally, enabling the gantry assembly and cantilever shaft to reciprocate between the picking point and the unloading point to transport material rolls. The gantry assembly may include a four-post gantry or a three-post gantry; both of these gantry structures are relatively stable and can reduce the swaying of the cantilever shaft during vehicle movement. The gantry connector of the cantilever shaft assembly is slidably connected to the two first gantry columns in the vertical Z direction, allowing the cantilever shaft to move up and down. The cantilever shaft assembly is designed to align with material pick-up and unload points at different heights, improving flexibility. The material stop mechanism, when in the raised position, forms a blocking section to prevent the material roll from slipping off the second end of the cantilever shaft. When in the lowered position, the material roll can pass smoothly. The pushing mechanism pushes the material roll on the cantilever shaft after it aligns with the pick-up or unload point, achieving automatic loading and unloading. These features enhance the automation of material roll handling, thereby improving the efficiency of picking up, unloading, and transporting material rolls.

[0060] It should be noted that when the cantilever shaft 320 is receiving or picking up a material roll, or when the cantilever shaft 320 is in an unloaded state without a material roll, the stop 341 is in a descending state. Typically, the picking point corresponds to the buffer rack, and the unloading point corresponds to the machine platform. The cantilever automated guided vehicle can move between the buffer rack (not shown) and the machine platform (not shown), between buffer racks, or between machine platforms.

[0061] Specifically, the gantry connector 310 and the cantilever shaft 320 can be integrally formed, that is, machined as a single piece. Alternatively, the gantry connector 310 and the cantilever shaft 320 can be machined separately and then fixed together by welding or fasteners such as screws. Figures 3 to 6 As shown, in this embodiment, the gantry connector 310 and the cantilever shaft 320 are separate structures, and the first end 2301 of the cantilever shaft 320 is connected to the gantry connector 310.

[0062] In this embodiment, as Figures 3 to 6 As shown, the pushing mechanism 330 not only pushes the material roll from the cantilever shaft to the machine platform, but also moves the material roll toward the stop member 341 after the cantilever shaft 320 aligns with the pick-up point and picks up the material roll, so that the pushing mechanism 330 and the stop member 341 clamp the material roll. This prevents the material roll from axially shifting on the cantilever shaft 320, thereby improving the stability of the material roll during transportation.

[0063] In this embodiment of the present invention, the material blocking component 341 of the material blocking mechanism 340 may be: a lifting column that can extend the second end 3202 along one or both sides perpendicular to the axial direction of the cantilever shaft 320; or a swing arm that can extend or retract from the second end 3202 of the cantilever shaft; or a lifting plate that can extend or retract from the second end 3202 of the cantilever shaft.

[0064] The following explanation uses the stopper 341 as an example of a lifting column:

[0065] like Figures 1 to 4 and Figure 6 As shown, the material blocking mechanism 340 is disposed at the second end 3202 of the cantilever shaft. The cantilever shaft 320 includes a shaft body 321 and an end cap 322; the first end of the shaft body 321 is fixedly connected to the gantry connector 310; the material blocking mechanism 340 is disposed between the second end of the shaft body 321 and the end cap 322.

[0066] For details, see Figures 7 to 8c ,in, Figure 7 for Figure 3 The diagram shows the structure of the material-blocking mechanism in the cantilevered automated guided vehicle. Figure 8a for Figure 7 The diagram shows the structure of the material stop mechanism after it is connected to the end cap of the cantilever shaft. Figure 8b for Figure 8a The first-angle exploded view of the structural diagram shown; Figure 8c for Figure 8a The second-angle exploded view of the structure diagram shown.

[0067] like Figures 7 to 8c As shown, the material blocking mechanism 340 of this embodiment, in addition to the lifting drive device 343 and the material blocking component 341, may also include: a material blocking component mounting base 344; the material blocking component mounting base 344 is disposed between the second end of the shaft body 321 and the end cover 322; the material blocking component 341 is a lifting column, which is mounted on the material blocking component mounting base 344 and can extend or retract into the material blocking component mounting base 344 under the drive of the lifting drive device 343.

[0068] like Figure 6 , Figure 8b and Figure 8cAs shown, the lifting drive device 343 in this embodiment includes: a lifting drive mounting base 3431, a lifting motor assembly 3432, a lifting drive gear 3433, and a lifting drive rack 3434; the shaft body 321 of the cantilever shaft 320 has a hollow shaft cavity, and the lifting drive mounting base 3431 is fixed to the second end of the shaft body 321; the body of the lifting motor assembly 3432 is fixedly installed on the inner side of the lifting drive mounting base 3431, and is partially located in the shaft cavity of the cantilever shaft 320; the output shaft 34321 of the lifting motor assembly 3432 passes through the lifting drive mounting base 3431 and is fixedly connected to the lifting drive gear 3433; the lifting drive rack 3434 is fixedly connected to the stop member 341; the output shaft 34321 of the lifting motor assembly 3432 drives the lifting drive gear 3433 to rotate, so that the lifting drive rack 3434 drives the stop member 341 to reciprocate along the axial direction perpendicular to the cantilever shaft 320.

[0069] In this embodiment, as Figure 8b and Figure 8c As shown, the lifting motor assembly 3432 may include a lifting motor and a lifting reducer. The output shaft 34321 of the lifting motor assembly 3432 may be the output shaft of the lifting reducer.

[0070] The installation method of the lifting drive device in this embodiment can fully utilize the space of the shaft cavity of the cantilever shaft 320 body 321, making the structure of the cantilever shaft assembly 300 more compact and occupying less space. The advantages of using gear and rack meshing transmission include: high transmission efficiency, high transmission accuracy, smooth operation, and easy speed adjustment. Therefore, the output shaft of the lifting motor assembly drives the lifting drive gear to rotate, so that the lifting drive rack drives the stop member 341 to reciprocate along the axis perpendicular to the cantilever shaft 320, making the movement of the stop member 341 more stable.

[0071] like Figure 8b and Figure 8c As shown, in this embodiment, the material blocking mechanism 340 further includes a material blocking sliding structure 342. The material blocking component 341 is slidably connected to the material blocking component mounting base 344 along the axial direction of the material blocking component 341 body via the material blocking sliding structure 342. Specifically, the material blocking component 341, the material blocking sliding structure 342, the lifting drive gear 3433, and the lifting drive rack 3434 are all installed inside the material blocking component mounting base 344. Under the drive of the lifting drive gear 3433 and the lifting drive rack 3434, the material blocking component 341 can slide out of the material blocking component mounting base 344 or retract into the material blocking component mounting base 344 based on the material blocking sliding structure 342.

[0072] Specifically, in this embodiment, as Figure 8b and Figure 8cAs shown, the material-stopping sliding structure 342 includes: a connecting through hole 3420 disposed on one side of the top of the material-stopping component mounting base 344, and a guide sleeve 3421 disposed within the connecting through hole 3420. The material-stopping component 341 is located within the shaft hole of the guide sleeve 3421 and can reciprocate along the inner wall of the guide sleeve 3421. In this embodiment, by providing the material-stopping sliding structure 342 on the material-stopping component mounting base 344, the smooth extension or retraction of the material-stopping component 341 can be ensured.

[0073] In this embodiment, the material blocking mechanism 340 is disposed between the second end of the shaft 321 and the end cover 322. When the lifting drive device 343 drives the material blocking member 341 to extend out of the material blocking member mounting seat 344 and above the end cover 322, it can prevent the material roll on the cantilever shaft 320 from falling from the second end 3202 of the cantilever shaft. When the lifting drive device 343 drives the material blocking member 341 to descend into the material blocking member mounting seat 344 and below the end cover 322, it can avoid the material roll on the cantilever shaft 320 so that the material roll can be smoothly moved out from the second end 3202 of the cantilever shaft.

[0074] In addition, such as Figure 7 , Figure 8a and Figure 8b As shown, in this embodiment, the lifting drive mounting base 3431 can be a plate-shaped support base, which is installed on the inner side of the stop mounting base 344 away from the end cover 322. The stop mounting base 344 is located between the end cover 322 and the shaft body 321 of the cantilever shaft 320, and has a receiving cavity. The lifting drive mounting base 3431 is disposed at the end of the stop mounting base 344 away from the end cover 322, located inside the end cover 322. The lifting drive gear 3433, the lifting drive rack 3434, and the stop 341 are all disposed in the receiving cavity of the stop mounting base 344, resulting in a compact structure and minimal space occupation.

[0075] At the top center of the retaining element mounting base 344, along the axis of the cantilever shaft 320, a guide wheel 323 can be installed to support the inner wall of the material roll, forming a "wheel"-like rolling wheel. This reduces the friction between the material roll and the cantilever shaft 320 and guides the movement direction of the material roll. The number of guide wheels 323 can be determined according to the length of the retaining element mounting base 344 along the axial direction. For example, it can be: Figure 7 , Figures 8a to 8c One or more of the following. No restrictions are imposed here.

[0076] In some embodiments, such as Figures 8a to 8cAs shown, the end cap 322 at the second end of the cantilever shaft 320 can also be provided with a barcode reader mounting hole 3221 and a distance sensor mounting hole 3222. The barcode reader mounting hole 3221 can accommodate a barcode reader, and the distance sensor mounting hole 3222 can accommodate a distance sensor. When the material pick-up point and the material unload point are a buffer rack and a machine platform, the machine platform / 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 320 and the machine platform / buffer rack shaft by reading the position of the barcode on the machine platform, and eliminates this deviation by means of the movement of the moving chassis 100 and the sliding of the cantilever shaft assembly 300 in the vertical Z direction of the gantry assembly 200. The distance sensor is used to detect the distance information between the second end 3202 of the cantilever shaft and the buffer rack or machine platform. In this embodiment, by setting up a barcode reader and a distance sensor, auxiliary positioning can be performed in the horizontal and vertical Z directions, realizing omnidirectional fine adjustment of the cantilever shaft 320 with multiple degrees of freedom, and significantly improving the docking accuracy.

[0077] The structure of the cantilever shaft assembly 300 in this embodiment is shown in [reference]. Figure 3 , Figure 4 and Figures 9a to 9c ,in, Figure 9a for Figure 3 Axonometric view of the cantilever shaft assembly in the cantilever automated guided vehicle shown. Figure 9b for Figure 9a The first exploded view of the cantilever shaft assembly shown; Figure 9c for Figure 9a The second exploded view of the cantilever shaft assembly shown.

[0078] like Figure 3 , Figure 4 and Figures 9a to 9c As shown, the cantilever shaft assembly 300 in this embodiment includes: a gantry connector 310, a cantilever shaft 320, a pushing mechanism 330, and a blocking mechanism 340. The first end 3201 of the cantilever shaft 320 is fixedly connected to the gantry connector 310.

[0079] like Figures 9a to 9c As shown, in this embodiment, the gantry connector 310 may include a plate-shaped connector and a support reinforcing plate 311. The plate-shaped connector is slidably connected to the gantry assembly 200. There are multiple support reinforcing plates 311, which are used to reinforce the connection between the plate-shaped connector and the cantilever shaft 320.

[0080] In this embodiment, multiple guide wheels 323 and a support base plate 324 for mounting the guide wheels 323 can be provided on the cantilever shaft 320. The support base plate 324 covers a portion of the top surface of the cantilever shaft 320 along its axial direction. The multiple guide wheels 323 can be arranged in one, two, or three rows at intervals along the axial direction of the cantilever shaft 320 on the support base plate 324 to support and guide the inner wall of the material roll. Specifically, the guide wheels can support the inner wall of the material roll, forming a "wheel"-like rolling mechanism, which reduces the friction between the material roll and the cantilever shaft 320 and guides the movement direction of the material roll.

[0081] like Figure 9b and Figure 9c As shown, the support base plate 324 is disposed on the side of the cantilever shaft 320 near the end cap 322. In this embodiment, the guide wheels 323 are arranged in three rows, all spaced apart along the axial direction of the cantilever shaft 320 on the support base plate 324. Among them, the middle row of guide wheels 323 is the most densely arranged, while the two rows on both sides are relatively sparse. The size of each row of guide wheels 323 can be set according to its contact with the inside of the material roll, and there is no limitation here.

[0082] In other embodiments, the guide wheels 323 on the cantilever shaft 320 can be set to one or two rows according to the actual situation, and there is no limitation here.

[0083] like Figures 9a to 9c As shown, in this embodiment, the pushing mechanism 330 includes: a pushing component 331, a first pushing drive assembly 332, and a pushing sliding connection structure 333. The pushing component 331 is disposed above the cantilever shaft 320, and the first pushing drive assembly 332 is disposed below the cantilever shaft 320. The pushing component 331 is slidably connected to the cantilever shaft 320 along the axial direction of the cantilever shaft 320 via the pushing sliding connection structure 333. The first pushing drive assembly 332 is used to drive the pushing component 331 to reciprocate along the axial direction of the cantilever shaft 320, so that the pushing component 331 pushes the material roll on the cantilever shaft 320.

[0084] like Figures 9a to 9c As shown, in this embodiment, the pusher 331 includes: a pusher plate 3311 covering the top of the cantilever shaft 320; two lateral connecting plates 3312 are connected downward along the two sides of the cantilever shaft 320 on both sides of the pusher plate 3311; the tops of the two lateral connecting plates 3312 are fixedly connected to the pusher plate 3311, and the middle is connected to the pusher sliding connection structure 333; the bottom of one of the lateral connecting plates 3312 is used to install the first pusher drive assembly 332.

[0085] The first pusher drive assembly 332 includes: a pusher drive motor 3321, a pusher drive gear 3322, and a pusher drive rack 3323; the pusher sliding connection structure 333 includes two pusher slide rails 3331 and two sets of pusher sliders 3332; the two pusher slide rails 3331 are respectively fixedly installed on both sides of the cantilever shaft 320; the two sets of pusher sliders 3332 are slidably connected to the two pusher slide rails 3331 respectively, and are fixedly connected to the middle of the lateral connecting plate 3312 of the pusher component 331; the pusher drive rack 3323 is along the axis of the cantilever shaft 320. The direction is fixedly installed at the bottom of the cantilever shaft 320; the body of the pusher drive motor 3321 is fixedly connected to the side connecting plate 3312, and the output shaft passes through the side connecting plate 3312 and is connected to the pusher drive gear 3322; the pusher drive gear 3322 meshes with the pusher drive rack 3323; the output shaft of the pusher drive motor 3321 rotates to drive the pusher drive gear 3322 and the pusher drive rack 3323 to mesh, so that the pusher drive motor 3321 drives the pusher 331 to reciprocate along the pusher drive rack 3323.

[0086] like Figures 9a to 9c As shown, in this embodiment, the two lateral connecting plates 3312 of the pushing mechanism 330 are connected by a horizontal top plate to form a pushing frame 3310. A first pushing plate 3111 is installed on the upper part of the pushing frame 3310, located above the cantilever shaft 320, for contacting and pushing the material roll; a first pushing drive assembly 332 is installed on the lower part of the pushing frame 3310, located below the cantilever shaft 320; a pushing sliding connection structure 333 is installed in the middle of the pushing frame 3310. A drive motor 3221 and a pushing drive gear 3322 are disposed within the pushing frame 3310.

[0087] The drive motor 3221 can pass through the side connecting plate 3312 and be connected to the rotating shaft on which the pusher drive gear 3322 is mounted via the synchronous belt transmission mechanism 3324. The rotating shaft of the pusher drive gear 3322 is located at the lower part of the pusher frame 3310 and can drive the pusher drive gear 3322 to rotate so as to mesh with the pusher drive rack 3323 located at the bottom of the cantilever shaft 320.

[0088] like Figures 3 to 6 As shown, a pusher drive protective cover 3325 can also be provided on the outside of the pusher frame 3310 to protect the first pusher drive assembly 332.

[0089] like Figures 3 to 6 and Figure 10 As shown, where, Figure 10 for Figure 3The diagram shows an axle-side view of the gantry assembly of the cantilever automated guided vehicle (AGV). In this embodiment, the gantry assembly 200 includes two first gantry posts 210 and two second gantry posts 220, for a total of four gantry posts. The two first gantry posts 210 are spaced apart and arranged side-by-side along a first direction X, forming a mounting plane. The axial direction of the cantilever shaft 320 is parallel to the mounting plane. The two second gantry posts 220 are also spaced apart and arranged side-by-side along the first direction X, located on opposite sides of the two first gantry posts 210 along a second direction Y. The cantilever shaft assembly 300 extends out of the gantry assembly 200 between the two second gantry posts 220 and the two first gantry posts 210. A gantry connector 310 is slidably connected to the two first gantry posts 210 along a vertical direction Z, ensuring that the axial direction of the cantilever shaft 320 is parallel to the mounting plane. This embodiment's gantry assembly 200 uses a four-gantry configuration, resulting in a more stable frame structure and reducing potential swaying of the cantilever shaft during the movement of the mobile chassis 100.

[0090] like Figures 3 to 6 and Figure 10 As shown, the gantry assembly 200 of this embodiment is provided with a lifting mechanism 400, which includes a lifting sliding assembly and a lifting drive assembly. The gantry connector 310 of the cantilever shaft assembly 300 is slidably connected to the gantry assembly 200 through the lifting sliding assembly. The lifting drive assembly is used to drive the gantry connector 310 to move in the vertical direction Z, so that the entire cantilever shaft assembly 300 moves in the vertical direction Z.

[0091] In this embodiment, as Figure 10 As shown, the lifting sliding assembly includes two lifting sliding guide rails 411 and two sets of lifting sliding sliders 412. The two lifting sliding guide rails 411 are respectively set on the two first gantry columns 210 of the gantry assembly 200. The lifting sliding guide rails 411 are arranged in a front-to-back layout along the length of the cantilever automated guided vehicle, that is, along the front-to-back direction of the cantilever shaft 320. This structure allows the lifting sliding guide rails 411 and the two first gantry columns 210 to have a larger span in the direction of force, and the overall rigidity of the gantry assembly 200 is better and the deformation is smaller.

[0092] In this embodiment, the gantry connector 310 is fixedly connected to two sets of lifting sliding sliders 412, and the two sets of lifting sliding sliders 412 are slidably connected to two lifting sliding guide rails 411 respectively, so that the gantry connector 310 can be slidably connected to the gantry assembly 200 through the lifting sliding assembly; the lifting drive assembly is used to drive the gantry connector 310 to drive the cantilever shaft 320 and the pushing mechanism 330 and the blocking mechanism 340 on the cantilever shaft 320 to move in the vertical direction Z.

[0093] like Figure 10As shown, in this embodiment, the lifting drive assembly includes a lifting drive motor 421, a lifting drive screw 422, and a lifting drive nut 423. The lifting drive screw 422 is rotatably mounted between two first gantry posts 210 via two upper and lower screw mounting seats 424, and the main body of the lifting drive motor 421 is fixedly mounted between the two first gantry posts 210. Specifically, the output shaft of the lifting drive motor 421 is connected to one end of the lifting drive screw 422. The lifting drive nut 423 is sleeved on the lifting drive screw 422 and connected to the gantry connector 310 of the cantilever shaft assembly 300. The output shaft of the lifting drive motor 421 drives the lifting drive screw 422 to rotate, so that the lifting drive nut 423 drives the gantry connector 310 of the cantilever shaft assembly 300 to reciprocate in the vertical direction Z, thereby adjusting the height position of the cantilever shaft 320 in the cantilever shaft assembly 300, which can connect material rolls of different heights, making the cantilever automated guided vehicle in this embodiment more flexible and universal.

[0094] like Figures 3 to 5 As shown, the gantry assembly 200 in this embodiment further includes: a gantry connecting top plate 240 for connecting the tops of the two first gantry posts 210 and the two second gantry posts 220, and a gantry connecting bottom plate 250 for connecting the movable chassis 100. This makes the gantry assembly 200 form a more stable frame structure, reducing the possible swaying of the cantilever shaft during the movement of the movable chassis 100. Additionally, as... Figure 1 and Figure 2 As shown, the gantry assembly 200 in this embodiment further includes a gantry housing 260 covering the gantry assembly 200 to protect the gantry assembly 200.

[0095] Example 2

[0096] This embodiment is an example of a gantry assembly including a three-post gantry.

[0097] See Figures 11-13 ,in, Figure 11 Axonometric view of a second embodiment of the cantilevered automated guided vehicle provided in this application (the gantry housing is not shown in the figure); Figure 12 for Figure 11 The cantilever axle assembly is mounted on the gantry assembly in the cantilever automated guided vehicle shown in the figure; Figure 13 for Figure 11 Axonometric view of the gantry assembly of the cantilevered automated guided vehicle shown.

[0098] Compared with Embodiment 1, the mobile chassis 100 can be the same in this embodiment, with differences only in the detailed structure of the gantry assembly 200 and the detailed structure of the pushing mechanism 330.

[0099] Specifically, such as Figures 11 to 13As shown, the gantry assembly 200 in this embodiment includes two first gantry posts 210 and one third gantry post 230. Similar to Embodiment 1, the two first gantry posts 210 in this embodiment are arranged side-by-side at intervals along the first direction X, forming a mounting plane; the axial direction of the cantilever shaft 320 is parallel to the mounting plane. In this embodiment, the third gantry post 230 is located on the opposite side of the two first gantry posts 210 along the second direction Y. The cantilever shaft assembly 300 extends out of the gantry assembly 200 between the third gantry post 230 and the two first gantry posts 210; the gantry connector 310 is slidably connected to the two first gantry posts 210 along the vertical direction Z, making the axial direction of the cantilever shaft 320 parallel to the mounting plane. The gantry assembly 200 in this embodiment uses a three-gantry configuration, resulting in a more stable frame structure and reducing potential swaying of the cantilever shaft during the movement of the mobile chassis 100.

[0100] The structure of the pushing mechanism 330 in this embodiment is similar to that of the pushing mechanism 330 in Embodiment 1. The difference is that the pushing component 331 in this embodiment is driven by the second pushing drive assembly 334. Unlike the first pushing drive assembly 332 in the first embodiment, which is located below the cantilever shaft 320, the second pushing drive assembly 334 in this embodiment is located on one side of the cantilever shaft 320. The pushing drive assembly can be flexibly located either below or on the side of the cantilever shaft 320, and no limitation is imposed here.

[0101] Additionally, in some embodiments, the cantilevered automated guided vehicle may further include: a lateral shift mechanism and a transverse shift mechanism; the lateral shift mechanism is mounted on top of the mobile chassis 100; the transverse shift mechanism is located between the lateral shift mechanism and the gantry assembly 200; the lateral shift mechanism is used to drive the transverse shift mechanism, the gantry assembly 200 and the cantilever shaft assembly 300 to reciprocate along a first direction X; the transverse shift mechanism is used to drive the gantry assembly 200 and the cantilever shaft assembly 300 to reciprocate along a second direction Y.

[0102] In this embodiment, the cantilever shaft assembly can be finely adjusted in the first direction X and the second direction Y by the side shift mechanism and the transverse shift mechanism, thereby improving the accuracy of the alignment between the cantilever shaft 320 and the material pick-up point or material release point.

[0103] The cantilevered automated guided vehicle provided by this utility model is an upgraded and iterative product based on existing equipment in the lithium electrode roll handling industry. It has a compact and simple structure, which can greatly reduce the frequency of manual intervention, improve automation efficiency, increase product fault tolerance, save a lot of cargo handling time, improve turnover efficiency, and realize flexible automated production.

[0104] The above description is merely a preferred embodiment of this utility model and is not intended to limit the scope of protection of this utility model. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this utility model are included within the scope of protection of this utility model.

Claims

1. A cantilevered automated guided vehicle, characterized in that, Used for handling empty or full coils; includes: a mobile chassis (100), a gantry assembly (200), and a cantilever shaft assembly (300); The gantry assembly (200) is vertically mounted on the movable chassis (100) and can move under the drive of the movable chassis (100); The gantry assembly (200) includes: a four-post gantry formed by two first posts (210) and two second posts (220); or a three-post gantry formed by two first posts (210) and one third post (230); the two first posts (210) are arranged side by side at intervals along a first direction (X); the two second posts (220) or the third post (230) are located on opposite sides of the two first posts (210) along a second direction (Y); wherein, the first direction (X) is the extension direction of the cantilever shaft (320), and the second direction (Y) is a direction perpendicular to the first direction (X) on a horizontal plane; The cantilever shaft assembly (300) includes: a gantry connector (310), a cantilever shaft (320), a pushing mechanism (330), and a blocking mechanism (340); The gantry connector (310) is slidably connected to the two first gantry posts (210) in the vertical direction (Z); The first end (3201) of the cantilever shaft is connected to the gantry connector (310) to move up and down along the vertical direction (Z) of the gantry assembly (200) under the drive of the gantry connector (310); the second end (3202) of the cantilever shaft extends out of the gantry assembly (200) for docking with the material pick-up point or material discharge point. The pushing mechanism (330) is disposed on the cantilever shaft (320) and can move along the axial direction of the cantilever shaft (320). It is used to push the material roll on the cantilever shaft (320) to the picking point or the discharging point after the cantilever shaft (320) is connected to the picking point or the discharging point. The material blocking mechanism (340) is located at the second end (3202) of the cantilever shaft and includes a lifting drive device (343) and a material blocking component (341) connected to the lifting drive device (343); The stop (341) has the following functions under the action of the lifting drive device (343): Lifting position: Extends outward from the second end (3202) of the cantilever shaft in a direction perpendicular to the axial direction of the cantilever shaft (320), and its extension length covers all or part of the area of ​​the projection range of the end face of the material roll at the end face of the second end (3202) of the cantilever shaft to form a blocking section; Lowering position: retract into the cantilever shaft (320) to allow the material roll passage.

2. The cantilevered automated guided vehicle according to claim 1, characterized in that, The material blocking component (341) of the material blocking mechanism (340) is: a lifting column that can extend or retract from the second end (3202) on one or both sides perpendicular to the axial direction of the cantilever shaft (320); or a swing arm that can extend or retract from the second end (3202) of the cantilever shaft; or a lifting plate that can extend or retract from the second end (3202) of the cantilever shaft.

3. The cantilevered automated guided vehicle according to claim 1, characterized in that, The cantilever shaft (320) includes a shaft body (321) and an end cap (322); the first end of the shaft body (321) is fixedly connected to the gantry connector (310); The material blocking mechanism (340) is disposed between the second end of the shaft (321) and the end cap (322).

4. The cantilevered automated guided vehicle according to claim 3, characterized in that, The lifting drive device (343) includes: a lifting drive mounting base (3431), a lifting motor assembly (3432), a lifting drive gear (3433), and a lifting drive rack (3434); The shaft body (321) of the cantilever shaft (320) has a hollow shaft cavity, and the lifting drive mounting base (3431) is fixed to the second end of the shaft body (321); The body of the lifting motor assembly (3432) is fixedly installed on the inner side of the lifting drive mounting base (3431), and part of it is located in the shaft cavity of the cantilever shaft (320); the output shaft (34321) of the lifting motor assembly (3432) passes through the lifting drive mounting base (3431) and is fixedly connected to the lifting drive gear (3433); The lifting drive rack (3434) is fixedly connected to the stop (341); The output shaft (34321) of the lifting motor assembly (3432) drives the lifting drive gear (3433) to rotate, so that the lifting drive rack (3434) drives the stop (341) to reciprocate along the axial direction perpendicular to the cantilever shaft.

5. The cantilevered automated guided vehicle according to claim 4, characterized in that, The material blocking mechanism (340) further includes: a material blocking component mounting seat (344); the material blocking component mounting seat (344) is disposed between the second end of the shaft (321) and the end cover (322); the material blocking component (341) is mounted on the material blocking component mounting seat (344); The stopper (341), the lifting drive gear (3433), and the lifting drive rack (3434) are installed inside the stopper mounting base (344); the stopper (341) can extend out of the stopper mounting base (344) or retract into the stopper mounting base (344) under the drive of the lifting drive gear (3433) and the lifting drive rack (3434).

6. The cantilevered automated guided vehicle according to claim 3, characterized in that, The material blocking mechanism (340) further includes: a material blocking component mounting seat (344); the material blocking component mounting seat (344) is disposed between the second end of the shaft (321) and the end cover (322); the material blocking component (341) is mounted on the material blocking component mounting seat (344); The material blocking mechanism (340) further includes: a material blocking sliding structure (342); The baffle (341) is slidably connected to the baffle mounting base (344) along the axial direction of the baffle (341) body via the baffle sliding structure (342); so that the baffle (341) can slide out of the baffle mounting base (344) or retract into the baffle mounting base (344) under the drive of the lifting drive device (343).

7. The cantilevered automated guided vehicle according to claim 1, characterized in that, The cantilever shaft (320) is provided with a plurality of guide wheels (323) and a support base plate (324) for mounting the guide wheels (323); The supporting base plate (324) covers part of the top surface of the cantilever shaft (320) along the axial direction of the cantilever shaft (320); multiple guide wheels (323) are arranged in one, two or three rows on the supporting base plate (324) along the axial direction of the cantilever shaft (320) to support and guide the inner wall of the material roll.

8. The cantilevered automated guided vehicle according to claim 1, characterized in that, The gantry assembly (200) is equipped with a lifting mechanism (400). The lifting mechanism (400) includes: a lifting sliding component and a lifting drive component; The gantry connector (310) of the cantilever shaft assembly (300) is slidably connected to the gantry assembly (200) through the lifting sliding assembly. The lifting drive assembly is used to drive the gantry connector (310) to move in the vertical direction (Z) so that the entire cantilever shaft assembly (300) moves in the vertical direction (Z).

9. The cantilevered automated guided vehicle according to claim 1, characterized in that, The pushing mechanism (330) is further configured to, after the cantilever shaft (320) docks with the picking point and picks up the material roll, move the material roll toward the direction close to the stop member (341) so that the pushing mechanism (330) can clamp the material roll with the stop member (341).

10. The cantilevered automated guided vehicle according to any one of claims 1-9, characterized in that, The pushing mechanism (330) includes: a pushing component (331), a first pushing drive assembly (332), and a pushing sliding connection structure (333); the pushing component (331) is disposed above the cantilever shaft (320), and the first pushing drive assembly (332) is disposed below the cantilever shaft (320); The pusher (331) is slidably connected to the cantilever shaft (320) along the axial direction of the cantilever shaft (320) via a pusher sliding connection structure (333); the first pusher drive assembly (332) is used to drive the pusher (331) to slide back and forth along the axial direction of the cantilever shaft (320) so that the pusher (331) pushes the material roll on the cantilever shaft (320).

11. The cantilevered automated guided vehicle according to claim 10, characterized in that, The pusher component (331) includes: a pusher plate (3311) covering the top of the cantilever shaft (320); two lateral connecting plates (3312) are connected downward along the two sides of the cantilever shaft (320); the tops of the two lateral connecting plates (3312) are fixedly connected to the pusher plate (3311), and the middle parts are connected to the pusher sliding connection structure (333); the bottom of one of the lateral connecting plates (3312) is used to install the first pusher drive assembly (332).

12. The cantilevered automated guided vehicle according to claim 11, characterized in that, The first pusher drive assembly (332) includes: a pusher drive motor (3321), a pusher drive gear (3322), and a pusher drive rack (3323); The material pushing sliding connection structure (333) includes two material pushing slide rails (3331) and two sets of material pushing sliders (3332); the two material pushing slide rails (3331) are respectively fixedly installed on both sides of the cantilever shaft (320); the two sets of material pushing sliders (3332) are respectively slidably connected to the two material pushing slide rails (3331) and fixedly connected to the middle of the side connecting plate (3312) of the material pushing component (331); The pusher drive rack (3323) is fixedly installed at the bottom of the cantilever shaft (320) along the axial direction of the cantilever shaft (320); The main body of the pusher drive motor (3321) is fixedly connected to the side connecting plate (3312), and the output shaft passes through the side connecting plate (3312) and is connected to the pusher drive gear (3322); The pusher drive gear (3322) meshes with the pusher drive rack (3323); the output shaft of the pusher drive motor (3321) rotates to drive the pusher drive gear (3322) and the pusher drive rack (3323) to mesh, so that the pusher drive motor (3321) drives the pusher (331) to reciprocate along the pusher drive rack (3323).

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