AGV cantilever vehicle

Abstract

An embodiment of the present invention provides an AGV cantilever vehicle, which relates to the AGV technical field and changes the angle between the cantilever shaft and a plane on which the AGV chassis vehicle is located. The AGV cantilever vehicle includes an AGV chassis vehicle, an adjustment plate, a cantilever shaft, and a first drive assembly. The adjustment plate is located above the AGV chassis vehicle and is mounted on the AGV chassis vehicle, and the adjustment plate is rotatable about a first axis. The cantilever shaft is located above the AGV chassis vehicle, and the adjustment plate is located on the cantilever shaft side along the axial direction of the cantilever shaft, and the side of the cantilever shaft closest to the adjustment plate is fixedly connected to the adjustment plate. The first drive assembly is located above the AGV chassis vehicle and on the side of the adjustment plate away from the cantilever shaft, and is mounted on the AGV chassis vehicle, and is configured to drive the drive adjustment plate to rotate about the first axis, thereby adjusting the angle between the cantilever shaft and a horizontal plane. The AGV cantilever vehicle is used to transport roll materials.

Description

[Technical Field]

[0001] (CROSS-REFERENCE TO RELATED APPLICATIONS) This invention claims priority from a Chinese patent application filed with the China Patent Office on July 21, 2023, entitled "AGV Cantilever Vehicle" and bearing application number 202310905134.7, the entire contents of which are incorporated herein by reference.

[0002] The present invention relates to the field of AGV technology, and in particular to AGV cantilever vehicles. [Background technology]

[0003] Automated guided vehicles (AGVs) are equipped with automatic navigation devices such as electromagnetic or optical navigation, allowing them to travel along predetermined navigation paths and providing safety protection and various transport functions. In most cases, the path of an AGV can be controlled by an electromagnetic path-following system.

[0004] In the related art, an automated guided vehicle includes an AGV cantilever vehicle, which includes an AGV chassis vehicle and a cantilever shaft installed on the AGV chassis vehicle. The cantilever shaft is used to transfer rolled material from a buffering platform to a roll platform. However, during the process of transferring the rolled material, the axis of the cantilever shaft and the axis of the rotation axis of the roll platform may become non-parallel due to the rolled material, resulting in the cantilever shaft and roll platform being unable to be aligned, and the rolled material may not be able to move to the roll platform. Summary of the Invention

[0005] An object of an embodiment of the present invention is to provide an AGV cantilever vehicle for changing the included angle between the axis of the cantilever shaft and a horizontal plane.

[0006] To achieve the above objectives, the embodiments of the present invention provide the following technical solutions.

[0007] An embodiment of the present invention provides an AGV cantilever vehicle. The AGV cantilever vehicle includes an AGV chassis vehicle, an adjustment plate, a cantilever shaft, and a first drive assembly. The adjustment plate is located above the AGV chassis vehicle and is mounted on the AGV chassis vehicle, and the adjustment plate is rotatable about a first axis. The cantilever shaft is located above the AGV chassis vehicle, and the adjustment plate is located on a side of the cantilever shaft along the axial direction of the cantilever shaft, and a side of the cantilever shaft closer to the cantilever shaft is fixedly connected to the adjustment plate. The first drive assembly is located above the AGV chassis vehicle and on a side of the adjustment plate away from the cantilever shaft, and is mounted on the AGV chassis vehicle, and is configured to drive the adjustment plate to rotate about the first axis, thereby adjusting the angle between the cantilever shaft and a horizontal plane.

[0008] The AGV cantilever vehicle provided in an embodiment of the present invention includes a cantilever shaft, an adjusting plate, a first fixed plate, and a first drive assembly. The first drive assembly drives the adjusting plate to rotate about a first axis, and the adjusting plate moves the cantilever shaft to rotate about the first axis, thereby changing the angle between the axis of the cantilever shaft and a horizontal plane. This makes the axis of the cantilever shaft parallel to the axis of the rotation axis of the roll table; in other words, the cantilever shaft and the rotation axis of the roll table can be aligned, and the roll material on the cantilever shaft can be moved to the roll table.

[0009] In some embodiments, the AGV cantilever vehicle further includes a first connecting rod, the first connecting rod being located between the adjusting plate and the first drive assembly, one end of the first connecting rod being hingedly connected to the adjusting plate and the other end of the first drive assembly, the first drive assembly being fixedly connected to the AGV chassis vehicle.

[0010] In some embodiments, the AGV cantilever vehicle further includes a horizontal sensor fixedly mounted on the cantilever shaft and electrically connected to the first drive assembly, configured to measure an angle between the axis of the cantilever shaft and a horizontal plane, and the first drive assembly drives the adjustment plate to rotate about the first axis based on the angle measured by the horizontal sensor.

[0011] In some embodiments, the AGV cantilever vehicle further includes two support columns and a first fixed plate. The two support columns are located above the AGV chassis vehicle and on the side of the adjusting plate away from the cantilever shaft, extending vertically and fixedly connected to the AGV chassis vehicle, respectively, on opposite sides of the AGV chassis vehicle along the extension direction of the first axis. The first fixed plate is located between the two support columns and the adjusting plate, attached to the support columns, and hingedly connected to the adjusting plate so as to rotate the adjusting plate about the first axis. The first drive assembly is mounted on the first fixed plate.

[0012] In some embodiments, the cantilever shaft is provided with a first through hole and a second through hole, the first through hole penetrating the cantilever shaft along the axial direction of the cantilever shaft, and the second through hole penetrating the cantilever shaft along a first direction, the first direction intersecting the axis of the cantilever shaft. The AGV cantilever vehicle further includes a first extension fastening block, a second extension fastening block, and a second drive assembly. The first extension fastening block is partially located within the first through hole and partially located within the second through hole and is slidable along the first direction. The second extension fastening block is located within the first through hole and is slidable along the axial direction of the cantilever shaft. The second expansion fastening block includes a sidewall, the sidewall forms an included angle with the axis of the cantilever shaft, and the sidewall abuts against the first expansion fastening block, driving the second expansion fastening block to slide along the first direction and causing a portion of the first expansion fastening block to protrude from the outer circumferential surface of the cantilever shaft. A portion of the second drive assembly is located within the first through-hole and fixedly installed on the cantilever shaft, and is configured to drive the second expansion fastening block to slide along the axial direction of the cantilever shaft.

[0013] In some embodiments of the present invention, the AGV cantilever vehicle further includes two extension fastening sliders, an extension fastening guide rail, and a fixed bar; The two expansion fastening sliders are spaced apart along the axial direction of the cantilever shaft and fixedly connected to the inner wall of the cantilever shaft; The expansion fastening guide rail is located in the first through hole and extends along the axial direction of the cantilever shaft, and the expansion fastening guide rail is slidably connected to the expansion fastening slider.

[0014] In some embodiments, the first expansion fastening block includes a first sub-part and a second sub-part. At least a portion of the first sub-part is located within the first through-hole. The second sub-part is located within the first through-hole and connected to one end of the first sub-part along the first direction, and at least a portion of the second sub-part has a dimension larger than a dimension of the first sub-part along the first direction. The AGV cantilever vehicle further includes an elastic member located within the first through-hole, one end connected to the second sub-part and the other end connected to the cantilever shaft, and capable of generating a force that moves the first expansion fastening block closer to the axis of the cantilever shaft.

[0015] In some embodiments of the present invention, the first expansion fastening block further includes a third sub-part, the third sub-part being located on a side of the first sub-part away from the second sub-part and connected to the first sub-part; the AGV cantilever wheel further includes a linear bearing, the linear bearing being mounted within the second through hole; The elastic member has one end that abuts against an end of the second sub-portion that is closer to the first sub-portion, and the other end that abuts against the linear bearing.

[0016] In some embodiments, the AGV cantilever vehicle further includes a moving member, two clamp claws, and a first drive mechanism. The moving member partially surrounds the cantilever shaft and is slidably connected to the cantilever shaft. The two clamp claws are located on a side of the moving member away from the adjustment plate, and the two clamp claws are respectively installed on both sides of the cantilever shaft and connected to the moving member, allowing the clamp claws to rotate in a direction away from the cantilever shaft or a direction approaching the cantilever shaft. The first drive mechanism is installed on a surface of the moving member away from the adjustment plate and is configured to drive the clamp claws to rotate in a direction away from the cantilever shaft or a direction approaching the cantilever shaft.

[0017] In some embodiments of the present invention, the moving member comprises: The moving rack includes two moving gears, a moving motor, a moving guide rail, and a moving slider; the movable rack extends along the axial direction of the cantilever shaft and is attached to the outer circumferential surface of the cantilever shaft; One of the moving gears is meshed with the moving rack, and the moving motor is attached to the moving member and fixedly connected to the other moving gear; the movable guide rail extends along the axial direction of the cantilever shaft and is fixed to the outer circumferential surface of the cantilever shaft, and a portion of the movable guide rail is located between the movable member and the cantilever shaft; A moving slider is slidably mounted on the moving guide rail and fixedly connected to the moving member.

[0018] In some embodiments, the first drive mechanism includes a fixed block, a slider, two second connecting rods, and a third drive assembly. The fixed block includes a guide rail portion and a fixed portion, the guide rail portion being installed on a surface of the movable member away from the adjusting plate, the guide rail portion extending along the radial direction of the cantilever shaft, the fixed portion being installed on a surface of the guide rail portion closer to the cantilever shaft and positioned between the two clamp claws, and the fixed portion being hingedly connected to the clamp claws so that the clamp claws can rotate in a direction away from or toward the cantilever shaft. The slider is slidably connected to the guide rail portion, and two second connecting rods are installed on both sides of the fixed block along a direction extending perpendicular to the guide rail portion, one end of the second connecting rod is hingedly connected to the slider, and the other end is hingedly connected to the clamp claws located on the same side of the fixed block. The third drive assembly is mounted on the moving member and configured to drive the slider to slide along the radial direction of the cantilever shaft.

[0019] In some embodiments of the present invention, the third drive assembly includes a clamp rack, a clamp gear, a clamp motor, and an electric cylinder; the clamp rack extends in the same direction as the guide rail portion and is fixedly connected to the slider; the clamp gear is attached to and meshes with the clamp rack, the clamp motor is attached to the moving member and fixedly connected to the clamp gear; The electric cylinder is attached to the moving member and fixedly connected to the slider.

[0020] In some embodiments, the AGV cantilever vehicle further includes a push block, the push block is fixedly mounted on the clamping jaw, and one end of the push block away from the clamping jaw is farthest from the moving member, and the material of the push block includes an elastic material.

[0021] In some embodiments, the AGV cantilever vehicle further includes a stopper plate located on a side of the cantilever shaft away from the adjustment plate and rotating about a second axis to protrude from or retract into the outer circumferential surface of the cantilever shaft, wherein the second axis is parallel to and spaced from the axis of the cantilever shaft.

[0022] In some embodiments of the present invention, the AGV cantilever vehicle further includes a dam motor and an optical sensor; the damming motor is located in the first through hole and fixed to the cantilever shaft, and the damming motor is configured to drive the damming plate to rotate along the second axis; The optical sensors are connected to the damming motors and are used to detect the positions of the damming plates, and there are two optical sensors.

[0023] In some embodiments of the present invention, the AGV cantilever vehicle further comprises a plurality of roller bearings; the plurality of roller bearings are attached to an outer wall of the cantilever shaft and partially protrude from the outer wall of the cantilever shaft, and the axes of the roller bearings are perpendicular to the axis of the cantilever shaft; The roller bearings are spaced apart and distributed axially along the cantilever shaft and uniformly distributed circumferentially around the cantilever shaft. [Brief explanation of the drawings]

[0024] The drawings described herein are provided for a better understanding of the present invention and constitute a part of the present invention. The schematic embodiments of the present invention and the description thereof are merely used for the interpretation of the present invention and do not constitute an unduly limiting embodiment of the present invention.

[0025] In order to more clearly explain the technical solutions of the present invention, the drawings required in some embodiments of the present invention will be briefly described below. However, it is clear that the drawings in the following description are only drawings of some embodiments of the present invention, and those skilled in the art can obtain other drawings from these drawings. In addition, in the following description, the drawings may be regarded as schematic diagrams, and are not limited to the actual dimensions of products, the actual flow of methods, the actual timing of signals, etc., related to the embodiments of the present invention.

[0026] [Figure 1] FIG. 1 is a block diagram of one view of an AGV cantilever vehicle according to some embodiments. [Figure 2] FIG. 2 is a schematic diagram of another view of an AGV cantilever vehicle according to some embodiments. [Figure 3] FIG. 3 is a diagram illustrating the configuration of a cantilever shaft, an adjusting plate, and a first fixed plate according to some embodiments. [Figure 4]FIG. 4 is a diagram of an adjustable plate and support posts according to some embodiments. [Figure 5] FIG. 5 is a diagram of a cantilever shaft according to some embodiments. [Figure 6] FIG. 6 is a cross-sectional view of a cantilever shaft according to some embodiments. [Figure 7] FIG. 7 is an enlarged view of a portion A in FIG. [Figure 8] FIG. 8 is a diagram illustrating a fastener bar and a second expansion fastening block according to some embodiments. [Figure 9] FIG. 9 is a diagram of a moving member and cantilever shaft according to some embodiments. [Figure 10] FIG. 10 is a diagram of a clamping jaw according to some embodiments. [Figure 11] FIG. 11 is a diagram of a dam plate according to some embodiments. [Figure 12] FIG. 12 is a front view of a roll of material according to some embodiments. [Figure 13] FIG. 13 is a left side view of a roll of material according to some embodiments. DETAILED DESCRIPTION OF THE INVENTION

[0027] In order to make the objectives, technical solutions and advantages of the present invention clearer, the present invention will be further described in detail below by means of examples with reference to the drawings. Obviously, the described examples are only some of the embodiments of the present invention, and are not all of the embodiments. Based on the embodiments in the present invention, all other embodiments that a person skilled in the art can obtain fall within the scope of protection of the present invention.

[0028] Unless the context requires otherwise, throughout the specification and claims, the term "comprising" is intended to be open and inclusive, i.e., "including, but not limited to." In the description of the specification, terms such as "one embodiment," "some embodiments," "exemplary embodiments," "examples," or "some examples" are intended to indicate that a particular feature, structure, material, or characteristic associated with the embodiment or examples is included in the embodiment or examples of the invention. Exemplary references to the above terms do not necessarily refer to the same embodiment or examples. Furthermore, the particular feature, structure, material, or characteristic may be included in any suitable manner in any one or more embodiments or examples.

[0029] Hereinafter, the terms "first" and "second" are used for descriptive purposes only and cannot be understood to indicate or imply relative importance or the number of the indicated technical features. Thus, a feature qualified by "first" or "second" may explicitly or implicitly include one or more of that feature. In describing embodiments of the present invention, unless otherwise specified, "plurality" means two or more than two.

[0030] In describing some embodiments, the term "connected" and its derivatives may be used. The term "connected" should be understood in a broad sense, for example, a "connection" may be a fixed connection, a detachable connection, or an integral connection, and may be a direct connection or an indirect connection via an intermediate medium.

[0031] As used herein, "parallel" and "perpendicular" include the described situation and situations that approximate the described situation, and the range of the approximate situation is within an acceptable range, where the acceptable range is determined, for example, taking into account the measurement considered by a person skilled in the art and the error associated with measuring a particular quantity (i.e., the limitations of the measurement system). For example, "parallel" includes absolute parallel and approximately parallel, where the acceptable range for approximately parallel may be, for example, a deviation within 5°. "Perpendicular" includes absolute perpendicular and approximately perpendicular, where the acceptable range for approximately perpendicular may be, for example, a deviation within 5°.

[0032] For example, as used herein, the term "and" is, based on context, optionally interpreted to mean "when" or "in the event of" or "in response to determining" or "in response to detecting." Similarly, based on context, the phrase "upon determining" or "upon detecting" is optionally interpreted to mean "when determining" or "in response to determining" or "upon detecting" or "in response to detecting."

[0033] In the specification, the use of "applied to" or "configured to" is intended to be open and inclusive and does not exclude devices that are adapted or configured to perform additional tasks or steps.

[0034] It should be noted that the use of "based on" is intended to be open and inclusive. A process, step, calculation, or other action "based on" one or more of the conditions or values ​​may, in fact, exceed the values, based on additional conditions.

[0035] Directional terms such as "up," "down," "left," and "right" described in some embodiments of the present invention are described in terms of the angles shown in the drawings and should not be understood as limiting some embodiments of the present invention.

[0036] In the related art, an AGV cantilever vehicle includes an AGV chassis vehicle and a cantilever shaft. The cantilever shaft is located above the AGV chassis vehicle, with its axis parallel to the plane on which the AGV chassis vehicle is located, and one end of the cantilever shaft is fixedly installed on the AGV chassis vehicle. The AGV cantilever vehicle is used to transport rolled material between a buffering platform and a roll platform. During the transport of rolled material, the rolled material is usually located at the floating end of the cantilever shaft. Due to the gravity of the rolled material, the cantilever shaft undergoes rigid deformation, causing the floating end of the cantilever shaft to sag relative to the other end. As a result, the included angle between the axis of the cantilever shaft and the horizontal plane does not meet the requirements, i.e., the axis of the cantilever shaft is not parallel to the axis of the rotation axis of the roll platform. This means that the cantilever shaft and the roll platform are not aligned, and the rolled material on the cantilever shaft can move toward the roll platform.

[0037] In order to solve the above technical problems, as shown in Figures 1, 2 and 3, Figure 1 is a configuration diagram of an AGV cantilever vehicle of some embodiments from one perspective, Figure 2 is a configuration diagram of an AGV cantilever vehicle of some embodiments from another perspective, and Figure 3 is a configuration diagram of a cantilever shaft, an adjusting plate and a first fixed plate of some embodiments. An embodiment of the present invention provides an AGV cantilever vehicle 100, which includes an AGV chassis vehicle 10, an adjusting plate 20, a cantilever shaft 30 and a first drive assembly 40.

[0038] The adjusting plate 20 is located above the AGV chassis car 10 and is installed on the AGV chassis car 10. The adjusting plate 20 is rotatable around a first axis. The cantilever shaft 30 is located above the AGV chassis car 10. The adjusting plate 20 is located on a side of the cantilever shaft 30 along the axial direction of the cantilever shaft 30, and one end of the cantilever shaft 30 closer to the adjusting plate 20 is fixedly connected to the adjusting plate 20. The first drive assembly 40 is located above the AGV chassis car 10 and on a side of the adjusting plate 20 away from the cantilever shaft. The first drive assembly 40 is installed on the AGV chassis car 10 and is configured to drive the adjusting plate 20 to rotate it around the first axis, thereby adjusting the angle between the cantilever shaft 30 and a horizontal plane.

[0039] In the application of the AGV cantilever vehicle 100 provided in the embodiment of the present invention, the first drive assembly 40 drives the adjusting plate 20 to rotate about the first axis, and the adjusting plate 20 moves the cantilever shaft 30 to rotate about the first axis, thereby changing the angle between the axis of the cantilever shaft 30 and the horizontal plane. This allows the axis of the cantilever shaft 30 to be parallel to the axis of the rotation axis of the roll table, in other words, the cantilever shaft 30 can be aligned with the rotation axis of the roll table, and the roll material on the cantilever shaft 30 can be moved to the roll table.

[0040] Specifically, the AGV chassis vehicle 10 is equipped with an automatic navigation device such as electromagnetic or optical navigation, and can travel along a predetermined navigation route. The AGV cantilever vehicle 100 travels between the buffering platform and the roll platform, and can move the roll material located on the buffering platform to the roll platform.

[0041] The adjustment plate 20 is located above the AGV chassis vehicle 10 and is installed on the AGV chassis vehicle 10. The adjustment plate 20 is rotatable around a first axis.

[0042] In this specification, the term "installed" should be understood in a broad sense, and may refer to direct installation, i.e., two parts (or regions, layers, or portions) with no other parts (or regions, layers, or portions) between them, or may refer to installation via an intermediate medium, i.e., two parts (or regions, layers, or portions) with another part (or region, layer, or portion) between them. For example, in the following description, the adjusting plate 20 is installed on the AGV chassis car via two support columns 60.

[0043] The cantilever shaft 30 is located above the AGV chassis vehicle 10, and the adjusting plate 20 is located on the side of the cantilever shaft 30 along the axial direction of the cantilever shaft 30, and the adjusting plate 20 may be located on the left or right side of the cantilever shaft 30. For example, as shown in FIG. 3 , the adjusting plate 20 is located on the left side of the cantilever shaft 30. One end of the cantilever shaft 30 close to the adjusting plate 20 is fixedly connected to the adjusting plate 20.

[0044] In this case, the adjustment plate 20 rotates the cantilever shaft 30 around the first axis to adjust the angle between the axis of the cantilever shaft 30 and the horizontal plane, thereby ensuring that the angle between the axis of the cantilever shaft 30 and the horizontal plane meets the requirements, i.e., the axis of the cantilever shaft 30 is aligned with the axis of the rotation shaft of the roll base.

[0045] For example, the angle between the axis of the cantilever shaft 30 and the horizontal plane can be adjusted to 0°, i.e., the axis of the cantilever shaft 30 can be parallel to the horizontal plane, and the axis of the cantilever shaft 30 can be aligned with the axis of the rotation shaft of the roll base.

[0046] Illustratively, the first axis is perpendicular to the axis of the cantilever shaft 30 .

[0047] Illustratively, the horizontal plane is the plane on which the AGV chassis vehicle 10 is located.

[0048] The cantilever shaft 30 may include a solid shaft or a hollow shaft, and embodiments of the present invention are not specifically limited thereto. For example, the cantilever shaft 30 may include a hollow shaft, which can reduce the weight of the cantilever shaft 30.

[0049] In the embodiment, the first drive assembly 40 is located above the AGV chassis vehicle 10 and on the side of the adjusting plate 20 away from the cantilever shaft 30. The first drive assembly 40 is installed on the AGV chassis vehicle 10. The first drive assembly 40 is configured to drive the adjusting plate 20 to rotate about a first axis, and the adjusting plate 20 moves the cantilever shaft 30 to rotate about the first axis, thereby making the axis of the cantilever shaft 30 parallel to the plane on which the AGV chassis vehicle 10 is located. The first drive assembly 40 may include an electric cylinder, an air cylinder, or a hydraulic cylinder, which are not listed in the embodiments of the present invention. For example, the first drive assembly 40 includes an electric cylinder.

[0050] As a result, the first drive assembly 40 drives the adjusting plate 20 to rotate about the first axis, and the adjusting plate 20 moves the cantilever shaft 30 to rotate about the first axis, thereby changing the angle between the axis of the cantilever shaft 30 and the horizontal plane. The axis of the cantilever shaft 30 can be made parallel to the axis of the rotation axis of the roll base; in other words, the cantilever shaft 30 can be aligned with the rotation axis of the roll base, and the roll material on the cantilever shaft 30 can be moved to the roll base without affecting subsequent processes.

[0051] 3, the AGV cantilever vehicle 100 further includes a first connecting rod 50, which is located between the adjusting plate 20 and the first drive assembly 40, with one end of the first connecting rod 50 hinged to the adjusting plate 20 and the other end hinged to the first drive assembly 40. Thus, the first drive assembly 40 is connected to the adjusting plate 20 via the first connecting rod 50. The first drive assembly 40 is connected to the AGV chassis vehicle 10.

[0052] In this embodiment, an adjusting plate hinge base 21 is installed on the adjusting plate 20, and a first connecting rod hinge point 51 is installed at one end of the first connecting rod 50 that connects to the adjusting plate 20. The hinge axis is inserted through the adjusting plate hinge base 21 and the hinge point 51 to realize a hinge connection between the adjusting plate 20 and the first connecting rod 50.

[0053] As a result, the first drive assembly 40 drives the movement of the first connecting rod 50, the first connecting rod 50 drives the adjustment plate 20 to rotate around the first axis, and the adjustment plate 20 moves the cantilever shaft 30 to rotate around the first axis, thereby making the axis of the cantilever shaft 30 parallel to the axis of the rotation axis of the roll table, i.e., the cantilever shaft can be aligned with the rotation axis of the roll table, and the roll material on the cantilever shaft 30 can be moved to the roll table.

[0054] In another embodiment, one end of the first drive assembly 40 is hinged to the adjusting plate 20, and the other end is hinged to the first fixed plate 70. This reduces the number of parts, i.e., simplifies the structure of the AGV cantilever vehicle 100.

[0055] As a result, the first drive assembly 40 directly drives the adjustment plate 20 to rotate around the first axis, and the adjustment plate 20 moves the cantilever shaft 30 to rotate around the first axis, thereby making the axis of the cantilever shaft 30 parallel to the axis of the rotation axis of the roll table, i.e., the cantilever shaft 30 and the roll table can be aligned, and the roll material on the cantilever shaft 30 can be moved to the roll table.

[0056] In yet another embodiment, the upper end of the adjusting plate 20 is hingedly connected to the AGV chassis car 10. One end of the first drive assembly 40 is fixedly connected to the AGV chassis car 10, and the other end abuts the adjusting plate 20.

[0057] As a result, the first drive assembly 40 moves the adjustment plate 20 to rotate around the first axis, and the adjustment plate 20 moves the cantilever shaft 30 to rotate around the first axis, thereby making the axis of the cantilever shaft 30 parallel to the axis of the rotation axis of the roll table, i.e., the cantilever shaft 30 can be aligned with the rotation axis of the roll table, and the roll material on the cantilever shaft 30 can be moved to the roll table.

[0058] In some embodiments, the AGV cantilever vehicle 100 further includes a horizontal sensor (not shown). The horizontal sensor is for measuring the included angle between the axis of the cantilever shaft 30 and a horizontal plane. The horizontal sensor is fixedly installed on the cantilever shaft 30 and electrically connected to the first drive assembly 40. This allows the first drive assembly 40 to receive the included angle signal measured by the horizontal sensor and drive the adjustment plate 20 to rotate about the first axis based on the included angle.

[0059] The horizontal sensor measures the angle between the axis of the cantilever shaft 30 and the plane on which the AGV chassis vehicle 10 is located and transmits the measured angle to the first drive assembly 40. When the first drive assembly 40 receives the angle measured by the horizontal sensor and determines that the angle does not meet requirements, the first drive assembly 40 continues to drive the adjusting plate 20 to rotate about the first axis, and the adjusting plate 20 moves the cantilever shaft 30 to rotate about the first axis until the angle between the axis of the cantilever shaft 30 and the horizontal plane meets requirements. When the first drive assembly 40 receives the angle signal measured by the horizontal sensor and determines that the angle meets requirements, the first drive assembly 40 stops driving the adjusting plate 20 to rotate about the first axis.

[0060] In one operating mode of the horizontal sensor, the horizontal sensor is constantly operating while the AGV cantilever vehicle 100 is transporting the roll material. That is, the horizontal sensor constantly transmits the measured included angle to the first drive assembly 40. The first drive assembly 40 drives the adjustment plate 20 to rotate about the first axis, and the adjustment plate 20 drives the cantilever shaft 30 to rotate about the first axis, thereby changing the included angle between the axis of the cantilever shaft 30 and the horizontal plane. This ensures that the included angle between the axis of the cantilever shaft 30 and the horizontal plane always meets the requirements. When the roll material needs to be transferred from the cantilever shaft 30 to the roll bed, the cantilever shaft 30 can be quickly aligned with the rotation axis of the roll bed, allowing the roll material to be transferred from the cantilever shaft 30 to the roll bed. This reduces the time required to align the cantilever shaft 30 with the rotation axis of the roll bed, and increases the frequency of transportation.

[0061] In another operating mode of the horizontal sensor, the horizontal sensor is activated when the roll material needs to be transferred from the cantilever shaft 30 to the roll bed. When the roll material is transferred from the cantilever shaft 30 to the roll bed, the cantilever shaft 30 stops moving, and the horizontal sensor measures the included angle between the axis of the cantilever shaft 30 and the horizontal plane and transmits the measured included angle to the first drive assembly 40. The first drive assembly 40 drives the adjustment plate 20 to rotate about the first axis based on the included angle. The adjustment plate 20 drives the cantilever shaft 30 to rotate about the first axis until the included angle between the axis of the cantilever shaft 30 and the horizontal plane meets the requirement, and the cantilever shaft 30 begins to move, aligning with the rotation axis of the roll bed so that the roll material can be transferred from the cantilever shaft 30 to the roll bed. Because the horizontal sensor is not constantly operating, if the service life of the horizontal sensor is constant, the service life of the AGV cantilever vehicle 100 can be improved.

[0062] In some embodiments, as shown in Figures 1 and 4, Figure 4 is a configuration diagram of the adjustment plate and support pillar in some embodiments. The AGV cantilever vehicle 100 further includes two support pillars 60 and a first fixed plate 70.

[0063] Two support columns 60 are located on the top surface of the AGV chassis vehicle 10, and the two support columns 60 are located on the side of the adjustment plate 20 that is away from the cantilever shaft 30. The support columns 60 extend vertically and are fixedly connected to the AGV chassis vehicle 10. The two support columns 60 are installed on opposite sides of the AGV chassis vehicle 10 along the extension direction of the first axis, and as shown in FIG. 1, one of the support columns 60 is installed on the left side of the AGV chassis vehicle 10 and the other is installed on the right side of the AGV chassis vehicle 10. The two support columns 60 are connected at their ends that are away from the AGV chassis vehicle 10, thereby improving the stability of the support columns 60.

[0064] The first fixed plate 70 is located between the two support columns 60 and the adjusting plate 20, and is attached to the support columns 60 and hinged to the adjusting plate 20 so as to rotate the adjusting plate 20 about a first axis. The first drive assembly 40 is mounted on the first fixed plate 70. The first axis coincides with the axis of the hinge connection between the first fixed plate 70 and the adjusting plate 20.

[0065] 2, the adjusting plate 20 is parallel to the extension direction of the first axis, and the first fixing plate 70 is parallel to the extension direction of the first axis. The upper end of the first fixing plate 70 is hinged to the upper end of the adjusting plate 20, and the axis X along which the first fixing plate 70 and the adjusting plate 20 are hingedly connected overlaps the first axis. Alternatively, the adjusting plate 20 is parallel to the extension direction of the first axis, and the first fixing plate 70 is parallel to the extension direction of the first axis. The upper end of the first fixing plate 70 is hinged to the upper end of the adjusting plate 20, and the axis along which the first fixing plate 70 and the adjusting plate 20 are hingedly connected overlaps the first axis.

[0066] A fixing flange 33 is installed at one end of the cantilever shaft 30 that is fixedly connected to the adjustment plate 20, and the fixed connection between the cantilever shaft 30 and the adjustment plate 20 is achieved by fitting the fixing flange 33 into a fixing hole in the adjustment plate 20.

[0067] In some embodiments, as shown in Figures 1, 2 and 4, the AGV cantilever vehicle 100 further includes two lift guide rails 1, four lift sliders 2, a lift screw 3, a lift nut 4, and a lift motor 5.

[0068] The lift guide rails 1 extend in the vertical direction, and one lift guide rail 1 is attached to one support column 60. Two lift sliders 2 are distributed at intervals along the vertical direction and attached to one lift guide rail 1, and a first fixed plate 70 is fixedly connected to the four lift sliders 2. The first fixed plate 70 is slidably connected to the two support columns 60 via the lift sliders 2, allowing the first fixed plate 70 to slide in the vertical direction. Furthermore, the adjusting plate 20 hingedly connected to the first fixed plate 70 and the cantilever shaft 30 fixedly connected to the adjusting plate 20 are slidable in the vertical direction.

[0069] The lifting screw 3 extends vertically and is connected to a support column 60. The lifting screw 3 and the lifting nut 4 are threadedly attached, and the lifting nut 4 is fixedly connected to a first fixed plate 70. The lifting motor 5 is fixedly installed on the support column 60 and drives the rotation of the lifting screw 3 by belt transmission (chain transmission, gear rotation, or coupling rotation). The lifting screw 3 drives the lifting nut 4 to move vertically, and the lifting nut 4 moves the first fixed plate 70 to move vertically, which moves the cantilever shaft 30 to move vertically. This allows the cantilever shaft 30 to pick up rolled material from buffer tables at different heights or send rolled material to roll tables at different heights, thereby expanding the application range of the AGV cantilever vehicle 100.

[0070] In some embodiments, as shown in Figures 5, 6, 7, and 8, Figure 5 is a diagram of a cantilever shaft in some embodiments, Figure 6 is a cross-sectional diagram of a cantilever shaft in some embodiments, Figure 7 is an enlarged view of a portion A in Figure 6, and Figure 8 is a diagram of a fixing bar and a second expansion fastening block in some embodiments. The cantilever shaft 30 has a first through hole 31 and a second through hole 32. The first through hole 31 penetrates the cantilever shaft 30 along the axial direction of the cantilever shaft 30, and the second through hole 32 penetrates the cantilever shaft 30 along a first direction M1. The first direction M1 intersects with the axis of the cantilever shaft 30, for example, the first direction M1 is perpendicular to the axis of the cantilever shaft 30.

[0071] As shown in FIGS. 6 and 8, the AGV cantilever vehicle 100 further includes a first extension fastening block 80, a second extension fastening block 90, and a second drive assembly 110.

[0072] 6, a portion of the first expansion fastening block 80 is located within the first through-hole 31, and a portion of the first expansion fastening block 80 is located within the second through-hole 32. The first expansion fastening block 80 is slidable along the first direction M1, so that a portion of the first expansion fastening block 80 protrudes from the outer circumferential surface of the cantilever shaft 30 and abuts against the roll material to tension the roll material, thereby reducing the risk of the roll material shaking and detaching from the cantilever shaft 30 during transportation.

[0073] For example, the plurality of first expansion fastening blocks 80 may be uniformly distributed along the circumferential direction of the cantilever shaft 30 to uniformly apply force to the roll material and reduce the risk of damage to the roll material due to uneven force. For example, two, four, or six first expansion fastening blocks 80 may be uniformly distributed along the circumferential direction of the cantilever shaft 30, and the number of such blocks is not specifically listed in the embodiments of the present invention.

[0074] 8, the second expansion fastening block 90 is located in the first through-hole 31 and can slide along the axial direction of the cantilever shaft 30. The second expansion fastening block 90 includes a side wall 91, which forms an included angle with the axis of the cantilever shaft 30 and abuts against the first expansion fastening block 80. Thus, the second expansion fastening block 90 can slide along the axial direction of the cantilever shaft 30, driving the first expansion fastening block 80 to slide along the first direction M1, and a portion of the first expansion fastening block 80 protrudes from the outer circumferential surface of the cantilever shaft 30 to abut against and tension the roll material.

[0075] For example, the angle between the side wall 91 and the axis of the cantilever shaft 30 is fixed, thereby fixing the sliding speed of the first expansion fastening block 80 in the first direction M1. This means that the first expansion fastening block 80 is more stable during the process of tensioning the roll material, and the structure of the second expansion fastening block 90 is simple and easy to process. Alternatively, for example, the angle between the side wall 91 and the axis of the cantilever shaft 30 is gradually changed, so that the sliding speed in the first direction M1 changes from high to low, allowing the first expansion fastening block 80 to approach quickly and slow down near the roll material. This reduces the time required for the first expansion fastening block 80 to tension the roll material and ensures that the roll material is not damaged by the expansion fastening block.

[0076] A portion of the second drive assembly 110 is located within the first through-hole 31 and fixedly installed on the cantilever shaft 30. The second drive assembly 110 drives the second expansion fastening block 90 to slide along the axial direction of the cantilever shaft 30. The second drive assembly 110 may include an electric cylinder, an air cylinder, or a hydraulic cylinder, which are not specifically listed in the embodiments of the present invention. For example, the second drive assembly 110 may include an electric cylinder.

[0077] As a result, when it is necessary to tension the roll material, the second drive assembly 110 drives the second extension fastening block 90 to slide along the axial direction of the cantilever shaft 30, and the second extension fastening block 90 drives the first extension fastening block 80 to slide, so that a portion of the first extension fastening block 80 protrudes from the outer surface of the cantilever shaft 30 and abuts against the roll material, thereby tensioning the roll material and reducing the risk of the roll material detaching from the cantilever shaft 30.

[0078] 8 , the AGV cantilever vehicle 100 further includes two extension fastening sliders 121, an extension fastening guide rail 122, and a fixed bar 120. The two extension fastening sliders 121 are spaced apart along the axial direction of the cantilever shaft 30 and fixedly connected to the inner wall of the cantilever shaft 30. The extension fastening guide rail 122 is located in the first through hole 31 and extends along the axial direction of the cantilever shaft 30, and the extension fastening guide rail 122 is slidingly connected to the extension fastening slider 121. The fixed bar 120 is located in the first through hole 31 and extends along the axial direction of the cantilever shaft 30. The fixed bar 120 is fixedly connected to the extension fastening guide rail 122, and one end of the fixed bar 120 close to the adjusting plate 20 is connected to the second drive assembly 110, so that the second drive assembly 110 can drive the fixed bar 120 to slide along the axial direction of the cantilever shaft 30.

[0079] A plurality of second expansion fastening blocks 90 are installed symmetrically with respect to the fixed bar 120 and are fixedly connected to the fixed bar 120, and the second expansion fastening blocks 90 located on the side of the fixed bar 120 are installed at intervals along the axial direction of the cantilever shaft 30.

[0080] As a result, when the roll material needs to be tensioned, the second drive assembly 110 drives the fixed bar 120 to slide along the axial direction of the cantilever shaft 30, the fixed bar moves the second extension fastening block 90 to slide, and the second extension fastening block 90 drives the first extension fastening block 80 to slide, so that a portion of the first extension fastening block 80 protrudes from the outer surface of the cantilever shaft 30 and abuts against the roll material, thereby tensioning the roll material and reducing the risk of the roll material detaching from the cantilever shaft 30.

[0081] 6 and 7 , the first expansion fastening block 80 includes a first sub-part 81 and a second sub-part 82, with a portion of the first sub-part 81 located within the second through-hole 32. The second sub-part 82 is located within the first through-hole 31 and is connected to one end of the first sub-part 81 facing inward of the first through-hole 31 along the first direction M1. The second expansion fastening block 90 has a triangular or isosceles trapezoidal shape, with a sloped sidewall 91 that abuts the first sub-part 81.

[0082] The AGV cantilever vehicle 100 further includes an elastic member (not shown), which is located in the first through hole 31, one end of which is connected to the second sub-part 82, and the other end of which is connected to the cantilever shaft 30, and which can generate a force that moves the first expansion fastening block 80 closer to the axis of the cantilever shaft 30.

[0083] As a result, when it is necessary to tension the roll material, the second drive assembly 110 drives the sliding of the second extension fastening block 90, which in turn drives the sliding of the first extension fastening block 80, so that the first sub-section 81 protrudes from the outer surface of the cantilever shaft, and one end of the first sub-section 81 that is away from the second sub-section 82 abuts against the roll material, thereby tensioning the roll material and reducing the risk of the roll material detaching from the cantilever shaft 30.

[0084] When it is necessary to move the roll material from the cantilever shaft 30 to the roll bed, the second drive assembly 110 drives the second expansion fastening block 90 to slide in the opposite direction, and under the action of the elastic force of the elastic member, the first expansion fastening block 80 moves in a direction approaching the axis of the cantilever shaft 30, so that the end of the first sub-section 81 that is away from the second sub-section 82 retracts into the outer circumferential surface of the cantilever shaft 30, and the first expansion fastening block 80 detaches from the roll material. At this time, the roll material can slide freely on the cantilever shaft 30, and the roll material can be moved from the cantilever shaft 30 to the roll bed.

[0085] For example, the dimensions of at least a portion of the second sub-section 82 are larger than the dimensions of the first sub-section 81 along the axial direction of the cantilever shaft 30, thereby forming a step between the first sub-section 81 and the second sub-section 82, and the step serves to connect the elastic member. One end of the elastic member abuts against an end of the second sub-section 82 closer to the first sub-section 81, and the other end abuts against the inner wall of the cantilever shaft 30. For example, the elastic member may be a compression spring.

[0086] 6 and 7 , in some embodiments, the first expansion fastening block 80 further includes a third sub-portion 83, which is located on the side of the first sub-portion 81 away from the second sub-portion 82 and is fixedly connected to the first sub-portion 81. The third sub-portion 83 may be made of a material with high hardness, thereby improving the service life of the first expansion fastening block 80. Illustratively, the first sub-portion 81 and the third sub-portion 83 are fixedly connected by bolts, which allows for easy replacement of the third sub-portion 83.

[0087] In some embodiments, as shown in Figure 7, the AGV cantilever wheel further includes a linear bearing 12, which is mounted in the second through hole 32. The linear bearing 12 has a low friction coefficient, which can reduce the friction coefficient between the first expansion fastening block 80 and the second through hole 32, thereby improving the service life of the first expansion fastening block 80.

[0088] If the AGV cantilever vehicle includes an elastic member, one end of the elastic member may abut against an end of the second sub-section 82 that is closer to the first sub-section 81, and the other end may abut against the linear bearing.

[0089] In some embodiments, as shown in Figures 2, 9, and 10, Figure 9 is a schematic diagram of a moving member and a cantilever shaft in some embodiments, and Figure 10 is a schematic diagram of a clamping claw in some embodiments. The AGV cantilever vehicle further includes a moving member 130, two clamping claws 140, and a first drive mechanism 150.

[0090] The moving member 130 surrounds a portion of the cantilever shaft 30 and is slidably connected to the cantilever shaft 30. This allows the moving member 130 to slide along the axial direction of the cantilever shaft 30, and the moving member 130 can move the roll material from one end of the cantilever shaft 30 to the other end.

[0091] The two clamp claws 140 are located on the side of the moving member 130 that is away from the adjustment plate 20. The two clamp claws 140 are installed on both sides of the cantilever shaft 30, respectively, and are connected to the moving member 130, so that the clamp claws 140 can rotate in a direction away from the cantilever shaft 30 or in a direction approaching the cantilever shaft 30. When the clamp claws 140 rotate in a direction approaching the cantilever shaft 30, the clamp claws 140 can clamp the rolled material, and when the clamp claws 140 rotate in a direction away from the cantilever shaft 30, the clamp claws 140 release the rolled material.

[0092] For example, the shape of the portion of the clamp claw 140 that comes into contact with the roll material is arcuate, which increases the contact area between the roll material and the clamp claw 140 and increases the force between the clamp claw 140 and the roll material.

[0093] The first drive mechanism 150 is mounted on a surface of the movable member 130 away from the adjustment plate 20, and is configured to drive the clamp claw 140 to rotate in a direction away from the cantilever shaft 30 or in a direction toward the cantilever shaft 30, thereby causing the clamp claw 140 to clamp or release the roll material.

[0094] As a result, when it is necessary to move the roll material from one end of the cantilever shaft 30 to the other, the first drive mechanism 150 drives the clamp claw 140 to rotate in a direction approaching the cantilever shaft 30, thereby clamping the roll material. Then, the moving member 130 moves along the axial direction of the cantilever shaft 30, allowing the roll material to be moved from one end of the cantilever shaft 30 to the other end.

[0095] One end of the cantilever shaft 30 that is closer to the adjusting plate 20 is fixedly connected to the adjusting plate 20. As a result, the one end of the cantilever shaft 30 that is closer to the adjusting plate 20 is supported by the adjusting plate 20. Since the roll material is located at the end of the cantilever shaft 30 that is closer to the adjusting plate 20 and is supported by the cantilever shaft 30, the one end of the cantilever shaft 30 that is closer to the adjusting plate 20 is supported by the adjusting plate 20, and further, since the roll material is supported by the adjusting plate 20, the risk of rigid deformation occurring in the cantilever shaft 30 can be reduced.

[0096] In some embodiments, as shown in FIGS. 2 and 10, the first drive mechanism 150 includes a fixed block 151, a slider 152, two second connecting rods 153, and a third drive assembly 154.

[0097] The fixed block 151 includes a guide rail portion 1511 and a fixed portion 1512. The guide rail portion 1511 is installed on a surface of the moving member 130 that faces away from the adjustment plate 20, and extends along the radial direction of the cantilever shaft 30. The fixed portion 1512 is installed on a surface of the guide rail portion 1511 that faces the cantilever shaft 30, and is located between the two clamp claws 140. The fixed portion 1512 is hingedly connected to the clamp claws 140, so that the clamp claws 140 can rotate in a direction away from the cantilever shaft 30 or in a direction approaching the cantilever shaft 30.

[0098] The slider 152 is slidably connected to a guide rail portion 1511 .

[0099] The two second connecting rods 153 are installed on both sides of the fixed block 151 along a direction extending perpendicular to the guide rail portion 1511. One end of the second connecting rod 153 is hingedly connected to the slider 152, and the other end is hingedly connected to the clamp claw 140 located on the same side of the fixed block 151.

[0100] The third drive assembly 154 is mounted on the moving member 130 and is configured to drive the slider 152 to slide along the radial direction of the cantilever shaft 30 .

[0101] As a result, the third drive assembly 154 drives the slider 152 to slide radially along the cantilever shaft 30, and the slider 152 drives the movement of the second connecting rod 153, which drives the clamp claw 140 to rotate in a direction toward the cantilever shaft 30, thereby clamping the roll material, or rotate in a direction away from the cantilever shaft 30, thereby releasing the roll material.

[0102] In some embodiments, as shown in FIGS. 3 and 9 , the AGV cantilever vehicle 100 further includes a movable rack 131, a movable gear 132, a movable motor 133, a movable guide rail 134, and a movable slider 135. The movable rack 131 extends along the axial direction of the cantilever shaft 30 and is attached to the outer circumferential surface of the cantilever shaft 30. The movable gear 132 is meshed with the movable rack 131. The movable motor 133 is attached to the movable member 130 and fixedly connected to the movable gear 132. The movable guide rail 134 extends along the axial direction of the cantilever shaft 30 and is fixedly installed on the outer circumferential surface of the cantilever shaft 30, with a portion of the movable guide rail 134 located between the movable member 130 and the cantilever shaft 30. The movable slider 135 is slidably attached to the movable guide rail 134 and fixedly connected to the movable member 130.

[0103] As a result, the moving motor 133 drives the rotation of the moving gear 132, and under the action of the moving rack 131, the moving gear 132 slides along the axial direction of the cantilever shaft 30, the moving gear 132 drives the moving member 130 to slide along the axial direction of the cantilever shaft 30, and the moving member 130 moves the clamp claw 140 to slide along the axial direction of the cantilever shaft 30, moving the roll material from one end to the other end of the cantilever shaft 30.

[0104] 10 , the third drive assembly 154 includes a clamp rack 1541, a clamp gear 1542, and a clamp motor 1543. The clamp rack 1541 extends in the same direction as the guide rail portion 1511 and is fixedly connected to the slider 152. The clamp gear 1542 is meshed with and attached to the clamp rack 1541. The clamp motor 1543 is attached to the moving member 130 and is fixedly connected to the clamp gear 1542.

[0105] As a result, the clamp motor 1543 drives the clamp gear 1542 to rotate, the clamp gear 1542 drives the clamp rack 1541 to move along the radial direction of the cantilever shaft 30, the clamp rack 1541 moves the slider 152, the slider 152 drives the second connecting rod 153 to move, and the second connecting rod 153 drives the clamp claw 140 to rotate in a direction approaching the cantilever shaft 30, thereby clamping the roll material, or to rotate in a direction away from the cantilever shaft 30, thereby releasing the roll material.

[0106] In other embodiments, the third drive assembly 154 may include an air cylinder, an electric cylinder, or a hydraulic cylinder, which are not specifically listed in the embodiments of the present invention. For example, the third drive assembly 154 may include an electric cylinder, which is attached to the moving member 130 and fixedly connected to the slider 152.

[0107] As a result, the third drive assembly 154 directly drives the slider 152 to move along the radial direction of the cantilever shaft 30, and the slider 152 drives the second connecting rod 153 to move, and the second connecting rod 153 drives the clamp claws 140 to rotate in a direction toward the cantilever shaft 30, thereby clamping the roll material, or rotate in a direction away from the cantilever shaft 30, thereby releasing the roll material.

[0108] In some embodiments, the AGV cantilever vehicle 100 further includes a second fixed plate 155, which is located between the fixed block 151 and the moving member 130, and which is fixedly attached to the moving member 130 by a screw, and which has the fixed block 151 fixed to a surface of the second fixed plate 155 that is away from the moving member 130, thereby fixing the fixed block 151 to the moving member 130 by the second fixed plate 155.

[0109] As shown in FIG. 10, the second fixed plate 155 is a Z-shaped plate that curves in the direction along the moving member 130.

[0110] 10, the AGV cantilever vehicle further includes a push block 160, which is fixedly installed on the side of the clamping jaw 140 that is away from the moving member 130, with the end away from the clamping jaw 140 being the furthest from the moving member 130. As a result, when pushing the rolled material, the end of the push block 160 that is away from the clamping jaw abuts against the rolled material, and the push block 160 is made of an elastic material, so that the push block 160 plays a buffering role when pushing the rolled material.

[0111] 9 and 11, Fig. 11 is a structural diagram of a blocking plate in some embodiments. The AGV cantilever vehicle 100 further includes a blocking plate 170, which is located on the side of the cantilever shaft 30 away from the adjustment plate 20 and rotates about a second axis to protrude from or retract into the outer circumferential surface of the cantilever shaft 30. Here, the second axis is parallel to and spaced from the axis of the cantilever shaft 30.

[0112] As a result, the blocking plate 170 rotates about the second axis and protrudes from the outer peripheral surface of the cantilever shaft 30, and the blocking plate 170 can block the movement of the rolled material, reducing the risk of the rolled material becoming detached from the cantilever shaft 30. The blocking plate 170 rotates about the second axis and retracts into the outer peripheral surface of the cantilever shaft 30, and the blocking plate 170 can no longer block the movement of the rolled material, allowing the rolled material to move from the buffering base to the cantilever shaft 30, or from the cantilever shaft 30 to the roll base.

[0113] In another embodiment, the retaining plate is located on the side of the cantilever shaft 30 away from the adjustment plate 20 and rotates around the axis of the cantilever shaft 30, protruding from or retracting into the outer surface of the cantilever shaft 30.

[0114] 11 , the AGV cantilever vehicle further includes a blocking motor 180, a first optical sensor 190, and a second optical sensor 191. The blocking motor 180 is located in the first through-hole 31 at a position away from the first drive assembly 40 and is fixedly installed on the cantilever shaft 30. The blocking motor 180 is configured to drive the blocking plate 170 to rotate along a second axis, which is located at the axis of the hinge shaft of the blocking plate 170. The first optical sensor 190 is connected to the blocking motor 180 and is for detecting whether the blocking plate 170 is in the extended state. The second optical sensor 191 is connected to the blocking motor 180 and is for detecting whether the blocking plate 170 is in the retracted state. When the blocking plate 170 protrudes from the cantilever shaft 30, the first optical sensor 190 sends a trigger signal to the blocking motor 180. At this time, the roll material cannot move from the buffering platform to the cantilever shaft 30, or from the cantilever shaft 30 to the roll platform. When the blocking plate 170 retracts into the cantilever shaft 30, the second optical sensor 191 sends a trigger signal to the blocking motor 180. At this time, the roll material can move from the buffering platform to the cantilever shaft 30, or from the cantilever shaft 30 to the roll platform.

[0115] In this embodiment, the blocking plate 170, the blocking motor 180, the first optical sensor 190, and the second optical sensor 191 are eccentrically installed on the cantilever shaft 30. As a result, the blocking plate 170 can protrude from or retract into the outer circumferential surface of the cantilever shaft 30 during the process of rotating along the second axis.

[0116] At the same time, in this embodiment, the blocking plate 170 is in a state of protruding from the outer circumferential surface of the cantilever shaft 30 by default, and after the blocking motor 180 drives the blocking plate 170, the blocking plate 170 retracts into the outer circumferential surface of the cantilever shaft 30.

[0117] In an embodiment of the present invention, the AGV cantilever vehicle 100 further includes a controller, which is electrically connected to the blocking motor 180. When the blocking plate 170 needs to protrude from the cantilever shaft 30, the controller sends a protrusion command to the blocking motor 180, and after receiving the protrusion command, the blocking motor 180 drives the blocking plate 170 to protrude from the outer circumferential surface of the cantilever shaft 30.

[0118] After the blocking plate 170 reaches the preset position, the first optical sensor 190 sends a trigger signal, which is sent back to the controller. After the controller receives the trigger signal, it controls the blocking motor 180 to stop moving, thereby keeping the blocking plate 170 in the protruding state.

[0119] When the dam plate 170 needs to be retracted onto the cantilever shaft 30, the controller sends a retraction command to the dam motor 180, and after receiving the retraction command, the dam motor 180 drives the dam plate 170 to retract onto the outer circumferential surface of the cantilever shaft 30.

[0120] After the blocking plate 170 reaches the preset position, the second optical sensor 191 sends a trigger signal, which is sent back to the controller. After receiving the trigger signal, the controller controls the blocking motor 180 to stop moving, thereby keeping the blocking plate 170 in a retracted state.

[0121] In some embodiments of the present invention, a motor with an encoder is used as the dam motor 180, and since the motor with an encoder can recognize its own position, the installation of the first optical sensor 190 and the second optical sensor 191 can be omitted, and the structure of the AGV cantilever vehicle 100 can be further optimized.

[0122] 5 , the AGV cantilever vehicle 100 further includes a plurality of roller bearings 101, which are mounted on the outer wall of the cantilever shaft 30 and partially protrude from the outer wall of the cantilever shaft 30, with the axes of the roller bearings 101 perpendicular to the axis of the cantilever shaft 30. The roller bearings 101 are spaced apart along the axial direction of the cantilever shaft 30 and uniformly distributed around the circumference of the cantilever shaft 30. The friction between the roller bearings 101 and the roll material is rolling friction, which can reduce the coefficient of friction between the cantilever shaft 30 and the roll material and improve the service life of the cantilever shaft 30.

[0123] In some embodiments, the AGV cantilever vehicle 100 further includes a vision assembly (not shown) that is attached to the cantilever shaft 30 and that recognizes a positioning code on the roll platform. The positioning code allows the AGV cantilever vehicle 100 to determine whether the cantilever shaft 30 and the roll platform are aligned.

[0124] In some embodiments, as shown in Figures 12 and 13, Figure 12 is a front view of the roll material in some embodiments, and Figure 13 is a left side view of the roll material in some embodiments. The roll material includes a roll core and a material, the material is configured to surround the roll core, the axial dimension of the roll material is smaller than the axial dimension of the roll core, and there is a gap between both ends of the roll material and both ends of the roll core.

[0125] The process of the roll material on one buffering table moving to one roll table is as follows.

[0126] Material removal: The AGV chassis vehicle 10 travels near the buffering table, and the lifting motor 5 drives the first fixed plate 70 to move vertically to a specified height, allowing the cantilever shaft 30 to be inserted into the roll core. The horizontal sensor measures the included angle between the axial direction of the cantilever shaft 30 and the horizontal plane and transmits the measured included angle to the first driving assembly 40. The first driving assembly 40 drives the adjusting plate 20 to rotate about the first axis based on the measured included angle. The adjusting plate 20 then moves the cantilever shaft 30 to rotate about the first axis, so that the included angle between the axis of the cantilever shaft 30 and the horizontal plane meets the required angle. The blocking motor 180 then drives the blocking plate 170 to retract onto the outer surface of the cantilever shaft 30, allowing the cantilever shaft 30 to be inserted into the roll core. Next, the third drive assembly 154 drives the slider 152 to slide along the radial direction of the cantilever shaft 30, and the slider 152 moves the second connecting rod 153, which drives the clamp claw 140 to rotate in a direction approaching the cantilever shaft 30, thereby clamping the roll core. The moving motor drives the moving gear to rotate, and the moving gear moves the moving member 130 to move along the axial direction of the cantilever shaft 30 through the action of the moving rack, and the moving member 130 moves the clamp claw 140, thereby moving the roll material from one end of the cantilever shaft 30 away from the adjusting plate 20 to one end close to the adjusting plate 20. The third drive assembly 154 drives the slider 152 to slide in the opposite radial direction of the cantilever shaft 30, and the slider 152 moves the second connecting rod 153, which drives the clamp claw 140 to rotate in a direction away from the cantilever shaft 30, releasing the roll core.The second drive assembly 110 drives the second expansion fastening block 90 to slide along the axial direction of the cantilever shaft 30, and the second expansion fastening block 90 drives the first expansion fastening block 80 to slide along the first direction M1, so that a portion of the first expansion fastening block 80 protrudes from the outer wall of the cantilever shaft 30 and abuts against the roll material, and the first expansion fastening block 80 braces the roll material. The damming motor 180 drives the damming plate 170 to rotate in the opposite direction about the second axis, so that the damming plate 170 protrudes from the outer circumferential surface of the cantilever shaft 30.

[0127] Specifically, the controller is electrically connected to the damming motor 180. Before the cantilever shaft 30 is inserted into the roll material, the damming plate 170 is in its initial state, so the cantilever shaft 30 cannot be inserted into the roll material. Therefore, the controller sends a retraction command to the damming motor 180, and after the damming motor 180 receives the command, it drives the damming plate 170 to retract onto the outer circumferential surface of the cantilever shaft 30.

[0128] After the blocking plate 170 reaches the preset position, the second optical sensor 191 sends a trigger signal, which is sent back to the controller. After receiving the trigger signal, the controller controls the blocking motor 180 to stop moving, thereby keeping the blocking plate 170 in a retracted state.

[0129] When the cantilever shaft 30 needs to return to its initial state after loading the roll material, the controller sends a protrusion command to the damming motor 180, and after receiving the protrusion command, the damming motor 180 drives the damming plate 170 to protrude from the outer surface of the cantilever shaft 30.

[0130] After the blocking plate 170 reaches the preset position, the first optical sensor 190 sends a trigger signal, which is sent back to the controller. After the controller receives the trigger signal, it controls the blocking motor 180 to stop moving, thereby keeping the blocking plate 170 in the protruding state.

[0131] Material feeding: The AGV chassis vehicle 10 moves away from the buffering platform and approaches the roll platform. The lifting motor 5 drives the first fixed plate 70 to move vertically to a specified height, thereby aligning the cantilever shaft 30 with the rotation axis of the roll platform. The horizontal sensor measures the angle between the axial direction of the cantilever shaft 30 and the horizontal plane to ensure that the angle meets the requirements. The vision assembly recognizes the positioning code on the rotation axis of the roll platform and performs positioning, i.e., the cantilever shaft 30 is aligned with the rotation axis of the roll platform. The blocking motor 180 drives the blocking plate 170 to retract onto the outer periphery of the cantilever shaft 30. The second drive assembly 110 drives the second expansion fastening block 90 to slide in the opposite direction along the axial direction of the cantilever shaft 30, and due to the action of the elastic member, the first expansion fastening block 80 slides in the opposite direction to the first direction M1 and retracts into the outer circumferential surface of the cantilever shaft 30, causing the first expansion fastening block 80 to detach from the roll material. The moving member 130 moves in the opposite direction along the axial direction of the cantilever shaft 30, pushing the roll material from the cantilever shaft 30 onto the roll table.

[0132] Specifically, the controller is electrically connected to the damming motor 180. Before the rolled material is detached from the cantilever shaft 30, the damming plate 170 is in its initial state, so the rolled material cannot be detached from the cantilever shaft 30. Therefore, the controller sends a retraction command to the damming motor 180, and after receiving the command, the damming motor 180 drives the damming plate 170 to retract onto the outer circumferential surface of the cantilever shaft 30.

[0133] After the damming plate 170 reaches the preset position, the second optical sensor 191 sends a trigger signal, which is sent back to the controller. After receiving the trigger signal, the controller controls the damming motor 180 to stop moving, thereby maintaining the damming plate 170 in a retracted state.

[0134] When the cantilever shaft 30 needs to return to its initial state after unloading the roll material, the controller sends a protrusion command to the damming motor 180, and after receiving the protrusion command, the damming motor 180 drives the damming plate 170 to protrude from the outer surface of the cantilever shaft 30.

[0135] After the blocking plate 170 reaches the preset position, the first optical sensor 190 sends a trigger signal, which is sent back to the controller. After receiving the trigger signal, the controller controls the blocking motor 180 to stop moving, thereby maintaining the blocking plate 170 in a protruding state.

[0136] The process of transferring multiple roll materials on one buffering table to multiple roll tables is as follows: In the embodiment of the present invention, the process of transferring two roll materials (two roll materials arranged along the axial direction of the roll materials) on one buffering table to two roll tables is taken as an example.

[0137] Material removal: The AGV chassis vehicle 10 travels near the buffering table, and the lifting motor 5 drives the first fixed plate 70 to move vertically to a specified height, so that the cantilever shaft 30 can be inserted into the roll core. The horizontal sensor measures the included angle between the axial direction of the cantilever shaft 30 and the horizontal plane, and ensures that the included angle between the axis of the cantilever shaft 30 and the horizontal plane meets the requirements. The damming motor 180 then drives the damming plate 170 to retract onto the outer circumferential surface of the cantilever shaft 30, inserting the cantilever shaft 30 onto the two roll cores. Next, the third drive assembly 154 drives the clamping claw 140 to rotate in a direction approaching the cantilever shaft 30, causing the clamping claw 140 to clamp the roll core on the side closer to the adjusting plate 20. The moving member 130 then moves the clamping claw 140 along the axial direction of the cantilever shaft 30, moving the roll material on the side closer to the adjusting plate 20 to the end of the cantilever shaft 30 closer to the adjusting plate 20. The third drive assembly 154 then drives the clamping claw 140 to rotate around the cantilever shaft 30 in a direction away from the cantilever shaft 30, releasing the roll cores. The second drive assembly 110 drives the first expansion fastening block 80 to slide in the first direction M1, thereby tensioning the roll material. The damming motor 180 drives the damming plate 170 to rotate in the reverse direction, so that the damming plate 170 protrudes from the outer circumferential surface of the cantilever shaft 30 .

[0138] First material feed: The AGV chassis vehicle 10 leaves the buffering platform and travels near the first roll platform. The lifting motor 5 drives the first fixed plate 70 to move vertically to a specified height, thereby aligning the cantilever shaft 30 with the rotation axis of the roll platform. The horizontal sensor measures the angle between the axial direction of the cantilever shaft 30 and the horizontal plane and verifies that the angle meets the requirements. The vision assembly recognizes the positioning code on the rotation axis of the first roll platform and performs positioning, i.e., aligning the cantilever shaft 30 with the rotation axis of the roll platform. The blocking motor 180 drives the blocking plate 170 to retract from the outer periphery of the cantilever shaft 30. The second drive assembly 110 drives the second expansion fastening block 90 to slide in the opposite direction along the axial direction of the cantilever shaft 30, and due to the action of the elastic member, the first expansion fastening block 80 slides in the opposite direction to the first direction M1 and retracts onto the outer circumferential surface of the cantilever shaft 30, releasing the first expansion fastening block 80 from the roll material. The third drive assembly 154 drives the clamp claw 140 to clamp the roll core, and the moving member 130 moves the clamp claw 140 to move along the axial direction of the cantilever shaft 30. The clamp claw 140 clamps the roll material on the side closer to the adjusting plate 20 and pushes the roll material on the side away from the adjusting plate 20 toward the roll table. The moving member 130 then moves to move the remaining roll material to the end of the cantilever shaft 30 closer to the adjusting plate 20. The clamping claws 140 release the roll material, the first expansion fastening block 80 braces the roll material, and the retaining plate 170 protrudes from the outer circumferential surface of the cantilever shaft 30.

[0139] Second material feeding: The AGV chassis vehicle 10 moves away from the first roll platform and moves near the second roll platform. The second material feeding process is the same as the material feeding process when moving roll material from one buffering platform to another roll platform, so the explanation is omitted here.

[0140] The process of transferring roll materials from multiple buffering tables to multiple roll tables is as follows: In the embodiment of the present invention, the process of transferring one roll material from two buffering tables to two roll tables is taken as an example.

[0141] First time material picking: This process is the same as the material picking process when multiple rolls of material are transferred from one buffering table to multiple roll tables, so the explanation is omitted here.

[0142] Second material feed: The AGV chassis vehicle 10 leaves the first buffering platform and travels near the second buffering platform. The AGV chassis vehicle 10 travels near the buffering platform and moves the cantilever shaft 30 to the specified height. The horizontal sensor measures the angle between the axial direction of the cantilever shaft 30 and the horizontal plane to confirm that the angle meets the requirements. The blocking motor 180 then drives the blocking plate 170 to retract onto the outer periphery of the cantilever shaft 30, so that the cantilever shaft 30 is inserted into the roll core on the second buffering platform. The second drive assembly 110 drives the first expansion fastening block 80 to slide along the first direction M1, tensioning the rolled material. The damming motor 180 drives the damming plate 170 to rotate in the reverse direction, so that the damming plate 170 protrudes from the outer circumferential surface of the cantilever shaft 30 .

[0143] First material feeding: This process is the same as the first material feeding process when multiple roll materials on one buffering table are transferred to multiple roll tables, so the explanation is omitted here.

[0144] Second material feeding: This process is the same as the second material feeding process when multiple roll materials on one buffering table are moved to multiple roll tables, so the explanation is omitted here.

[0145] In the description herein, the particular features, structures, materials, or characteristics may be combined in any suitable manner in any one or more embodiments or examples.

[0146] The above are only specific embodiments of the present invention, and the scope of protection of the present invention is not limited thereto. Any modifications or replacements that a person skilled in the art can conceive within the technical scope of the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be governed by the claims.

[0147] The above description is the preferred embodiment of the present invention, and does not limit the present invention, and any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention should be included in the scope of protection of the present invention. [Explanation of symbols]

[0148] AGV cantilever car: 100, roller bearing: 101, AGV chassis car: 10, linear bearing: 12, adjusting plate: 20, adjusting plate hinge base: 21, cantilever shaft: 30, first through hole: 31, second through hole: 32, fixing flange: 33, first drive assembly: 40, first connecting rod: 50, first connecting rod hinge point: 51, support column: 60, first fixing plate: 70, first extension fastening block: 80, first sub-part: 81, second sub-part: 82, third sub-part: 83, second extension fastening block: 90, second extension fastening block side wall: 91, second drive assembly: 110, fixing bar: 120, extension fastening slider: 12 1. Expansion fastening guide rail: 122, moving member: 130, moving rack: 131, moving gear: 132, moving motor: 133, moving guide rail: 134, moving slider: 135, clamping claw: 140, first driving mechanism: 150, fixed block: 151, guide rail portion: 1511, fixed portion: 1512, slider: 152, second connecting rod: 153, third driving assembly: 154, clamping rack: 1541, clamping gear: 1542, clamping motor: 1543, second fixing plate: 155, push block: 160, damming plate: 170, damming motor: 180, first optical sensor: 190, second optical sensor: 191.

Claims

1. An AGV cantilever vehicle, an AGV chassis vehicle, an adjustment plate, a cantilever shaft, and a first drive assembly; the adjusting plate is located above the AGV chassis vehicle and is mounted on the AGV chassis vehicle, and the adjusting plate can rotate around a first axis; the cantilever shaft is located above the AGV chassis vehicle, the adjustment plate is located on one side of the cantilever shaft along the axial direction of the cantilever shaft, and one end of the cantilever shaft close to the adjustment plate is fixedly connected to the adjustment plate; The first drive assembly is located above the AGV chassis vehicle and on a side of the adjustment plate away from the cantilever shaft, and the first drive assembly is installed on the AGV chassis vehicle and configured to drive the adjustment plate to rotate about a first axis, thereby adjusting the included angle between the cantilever shaft and a horizontal plane. AGV cantilever vehicle.

2. The AGV cantilever vehicle further includes a first connecting rod; the first connecting rod is located between the adjusting plate and the first drive assembly, one end of the first connecting rod being hingedly connected to the adjusting plate and the other end of the first connecting rod being hingedly connected to the first drive assembly; the first drive assembly is connected to the AGV chassis vehicle. The AGV cantilever vehicle according to claim 1.

3. The AGV cantilever vehicle further includes a horizontal sensor; the horizontal sensor is fixedly mounted on the cantilever shaft and electrically connected to the first drive assembly, and is configured to measure an included angle between an axis of the cantilever shaft and a horizontal plane; the first drive assembly drives the adjustment plate to rotate about the first axis based on the included angle measured by the horizontal sensor.

3. The AGV cantilever vehicle according to claim 2.

4. The AGV cantilever vehicle further includes two support columns and a first fixed plate; The two support columns are located above the AGV chassis vehicle and on the side of the adjustment plate away from the cantilever shaft, the support columns extend vertically, the support columns are fixedly connected to the AGV chassis vehicle, and the two support columns are installed on opposite sides of the AGV chassis vehicle, respectively; the first fixed plate is located between the two support columns and the adjusting plate, the first fixed plate is attached to the support columns, and the first driving assembly is mounted on the first fixed plate by being hinged to the adjusting plate so as to rotate the adjusting plate about the first axis. The AGV cantilever vehicle according to claim 1.

5. the cantilever shaft is provided with a first through hole and a second through hole, the first through hole penetrates the cantilever shaft along an axial direction of the cantilever shaft, the second through hole penetrates the cantilever shaft along a first direction, the first direction intersects with an axis of the cantilever shaft, the AGV cantilever vehicle further includes a first extension fastening block, a second extension fastening block, and a second drive assembly; The first expansion fastening block is partially located within the first through hole and partially located within the second through hole, and is slidable along the first direction; the second expansion fastening block is located in the first through-hole and is slidable along the axial direction of the cantilever shaft, the second expansion fastening block includes a side wall, the side wall forms an included angle with the axis of the cantilever shaft, and the side wall abuts against the first expansion fastening block, driving the second expansion fastening block to slide along the first direction, causing a part of the first expansion fastening block to protrude from the outer circumferential surface of the cantilever shaft; the second drive assembly is partially located within the first through hole and fixed to the cantilever shaft, and is configured to drive the second expansion fastening block to slide along the axial direction of the cantilever shaft. The AGV cantilever vehicle according to any one of claims 1 to 4.

6. The AGV cantilever vehicle further includes two extension fastening sliders, an extension fastening guide rail, and a fixed bar; The two expansion fastening sliders are spaced apart along the axial direction of the cantilever shaft and fixedly connected to the inner wall of the cantilever shaft; The expansion fastening guide rail is located in the first through hole and extends along the axial direction of the cantilever shaft, and the expansion fastening guide rail is slidably connected to the expansion fastening slider.

6. The AGV cantilever vehicle according to claim 5.

7. The first expansion fastening block includes a first sub-portion and a second sub-portion; At least a portion of the first sub-portion is located within the first through-hole, the second sub-portion is located within the first through-hole and is connected to one end of the first sub-portion along the first direction, and a dimension of at least a portion of the second sub-portion is larger than a dimension of the first sub-portion along the axial direction of the cantilever shaft; The AGV cantilever vehicle further includes an elastic member; the elastic member is located in the first through-hole, has one end connected to the second sub-portion and the other end connected to the cantilever shaft, and is capable of generating a force that moves the first expansion fastening block closer to the axis of the cantilever shaft.

6. The AGV cantilever vehicle according to claim 5.

8. the first expansion fastening block further includes a third sub-portion; the third sub-portion is located on a side of the first sub-portion away from the second sub-portion and is connected to the first sub-portion; the AGV cantilever vehicle further includes a linear bearing; the linear bearing is mounted within the second through hole; The elastic member has one end abutting against an end of the second sub-portion close to the first sub-portion, and the other end abutting against the linear bearing.

6. The AGV cantilever vehicle according to claim 5.

9. The AGV cantilever vehicle further includes a moving member, two clamping claws, and a first drive mechanism; the moving member surrounds a portion of the cantilever shaft and is slidably connected to the cantilever shaft; the two clamp claws are located on the side of the movable member away from the adjustment plate, the two clamp claws are respectively installed on both sides of the cantilever shaft, and are connected to the movable member, so that the clamp claws can rotate along a direction away from the cantilever shaft or a direction approaching the cantilever shaft; the first drive mechanism is installed on a surface of the moving member away from the adjustment plate, and is configured to drive the clamp claw to rotate along a direction away from the cantilever shaft or a direction approaching the cantilever shaft. The AGV cantilever vehicle according to any one of claims 1 to 4.

10. The moving member includes a moving rack, two moving gears, a moving motor, a moving guide rail, and a moving slider; the movable rack extends along the axial direction of the cantilever shaft and is attached to the outer circumferential surface of the cantilever shaft; One of the two moving gears is meshed with and attached to the moving rack, and a moving motor is attached to the moving member and fixedly connected to the other of the moving gears; the moving guide rail extends along the axial direction of the cantilever shaft and is fixed to the outer circumferential surface of the cantilever shaft, and a portion of the moving guide rail is located between the moving member and the cantilever shaft; The moving slider is slidably mounted on the moving guide rail and fixedly connected to the moving member.

10. The AGV cantilever vehicle according to claim 9.

11. the first drive mechanism includes a fixed block, a slider, two second connecting rods, and a third drive assembly; the fixed block includes a guide rail portion and a fixed portion, the guide rail portion is installed on a surface of the movable member away from the adjustment plate, the guide rail portion extends along a radial direction of the cantilever shaft, the fixed portion is installed on a surface of the guide rail portion close to the cantilever shaft and is installed between the two clamp claws, and the fixed portion is hingedly connected to the clamp claws, so that the clamp claws can rotate along a direction away from the cantilever shaft or a direction approaching the cantilever shaft, the slider is slidably connected to the guide rail portion, The two second connecting rods are respectively installed on both sides of the fixed block along a direction extending perpendicular to the guide rail portion, and one end of each second connecting rod is hingedly connected to the slider and the other end is hingedly connected to the clamp claw located on the same side of the fixed block, the third drive assembly is mounted on the moving member and configured to drive the slider to slide along the radial direction of the cantilever shaft.

10. The AGV cantilever vehicle according to claim 9.

12. the third drive assembly includes a clamp rack, a clamp gear, a clamp motor, and an electric cylinder; the clamp rack extends in the same direction as the guide rail portion and is fixedly connected to the slider; the clamp gear is attached to and meshes with the clamp rack, the clamp motor is attached to the moving member and fixedly connected to the clamp gear; the electric cylinder is attached to the moving member and fixedly connected to the slider.

12. The AGV cantilever vehicle according to claim 11.

13. the AGV cantilever vehicle further includes a push block; the push block is fixed to the clamp claw, and one end thereof away from the clamp claw is farthest from the moving member; The material of the push block includes an elastic material.

13. The AGV cantilever vehicle according to claim 12.

14. The AGV cantilever vehicle further includes a blocking plate; the blocking plate is located on a side of the cantilever shaft away from the adjustment plate, and rotates about a second axis to protrude from or retract into the outer circumferential surface of the cantilever shaft; The second axis is parallel to and spaced apart from the axis of the cantilever shaft. The AGV cantilever vehicle according to any one of claims 1 to 4.

15. The AGV cantilever vehicle further includes a dam motor and an optical sensor; the damming motor is located in the first through hole and fixed to the cantilever shaft, and the damming motor is configured to drive the damming plate to rotate along the second axis; The optical sensor is connected to the blocking motor and serves to detect the position of the blocking plate, and the number of the optical sensors is two. The AGV cantilever vehicle according to any one of claims 1 to 4.

16. the AGV cantilever vehicle further includes a plurality of roller bearings; the plurality of roller bearings are attached to an outer wall of the cantilever shaft and partially protrude from the outer wall of the cantilever shaft, and the axes of the roller bearings are perpendicular to the axis of the cantilever shaft; the plurality of roller bearings are spaced apart along the axial direction of the cantilever shaft and uniformly distributed around the circumference of the cantilever shaft. The AGV cantilever vehicle according to any one of claims 1 to 4.

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