Cantilever AGV

Abstract

A cantilever AGV, relating to the technical field of AGVs and used for changing an included angle between a cantilever shaft (30) and a plane where an AGV chassis (10) is located. The cantilever AGV comprises an AGV chassis (10), an adjusting plate (20), a cantilever shaft (30), and a first driving assembly (40). The adjusting plate (20) is located above the AGV chassis (10) and is arranged on the AGV chassis (10); and the adjusting plate (20) can rotate around a first axis. The cantilever shaft (30) is located above the AGV chassis (10); the adjusting plate (20) is located on one side of the cantilever shaft (30) in the axial direction of the cantilever shaft (30); and the side of the cantilever shaft (30) close to the adjusting plate (20) is fixedly connected to the adjusting plate (20). The first driving assembly (40) is located above the AGV chassis (10) and located on the side of the adjusting plate (20) distant from the cantilever shaft (30); and the first driving assembly (40) is arranged on the AGV chassis (10) and is configured to drive the adjusting plate (20) to rotate around the first axis so as to adjust the included angle between the cantilever shaft (30) and the horizontal plane. The cantilever AGV is used for transporting roll materials.

Description

An AGV cantilever vehicle

[0001] This application claims priority to the Chinese patent application filed with the China Patent Office on July 21, 2023, with application number 202310905134.7 and invention name “A AGV Cantilever Vehicle”, the entire contents of which are incorporated by reference into this application. Technical Field

[0002] The present application relates to the field of AGV technology, and in particular to an AGV cantilever vehicle. Background Art

[0003] Automated Guided Vehicles (AGVs) are equipped with electromagnetic or optical navigation systems, enabling them to follow a prescribed path and provide safety features and various load-carrying functions. Typically, an electromagnetic path-following system (EMF) controls the path of the AGV.

[0004] In related technologies, automated guided vehicles (AGVs) include boom vehicles, which consist of an AGV chassis and a boom shaft mounted on the chassis. The boom shaft is used to transfer coils from a buffer to a coiling table. However, during the transfer process, the coil may become misaligned between the boom shaft's axis and the coiling table's rotating shaft, preventing the boom shaft from aligning with the coiling table and preventing the coil from being transferred to the table.

[0005] Summary of the Invention

[0006] The purpose of the embodiments of the present application is to provide an AGV cantilever vehicle for changing the angle between the axis of the cantilever shaft and the horizontal plane.

[0007] To achieve the above objectives, the embodiments of the present application provide the following technical solutions:

[0008] An embodiment of the present application 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 arranged on the AGV chassis vehicle, and the adjustment plate is capable of rotating around a first axis. The cantilever shaft is located above the AGV chassis vehicle, and the adjustment plate is located on one side of the cantilever shaft along the axial direction of the cantilever shaft, and the side of the cantilever shaft close to the cantilever shaft 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. The first drive assembly is arranged on the AGV chassis vehicle and is configured to drive the adjustment plate to rotate around the first axis to adjust the angle between the cantilever shaft and the horizontal plane.

[0009] The AGV cantilever vehicle provided in an embodiment of the present application includes a cantilever shaft, an adjustment plate, a first fixed plate, and a first drive assembly. The first drive assembly drives the adjustment plate to rotate about a first axis, which in turn drives the cantilever shaft to rotate about the first axis, thereby changing the angle between the cantilever shaft axis and the horizontal plane. This allows the cantilever shaft axis to be parallel to the axis of the rotating shaft on the coiling table. In other words, the cantilever shaft and the rotating shaft on the coiling table can be aligned, allowing the coil on the cantilever shaft to be moved to the coiling table.

[0010] In some embodiments, the AGV cantilever vehicle further includes a first connecting rod, the first connecting rod being located between the adjustment plate and the first drive assembly, one end of the first connecting rod being hinged to the adjustment plate, and the other end being hinged to the first drive assembly. The first drive assembly is fixedly connected to the AGV chassis vehicle.

[0011] In some embodiments, the AGV cantilever vehicle further includes a level sensor, which is fixed to the cantilever shaft and electrically connected to the first drive assembly and configured to measure the angle between the 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 angle measured by the level sensor.

[0012] In some embodiments, the AGV cantilever vehicle further comprises two support columns and a first fixed plate. The two support columns are located above the AGV chassis and on the side of the adjustment plate away from the cantilever axis. The support columns extend in a vertical direction and are fixedly connected to the AGV chassis. The two support columns are respectively arranged on opposite sides of the AGV chassis along the direction in which the first axis extends. The first fixed plate is located between the two support columns and the adjustment plate, is mounted on the support columns, and is hinged to the adjustment plate so that the adjustment plate rotates about the first axis. The first drive assembly is disposed on the first fixed plate.

[0013] In some embodiments, the cantilever shaft is provided with a first through-hole and a second through-hole. The first through-hole extends axially through the cantilever shaft, and the second through-hole extends axially through the cantilever shaft in a first direction intersecting the axis of the cantilever shaft. The AGV cantilever vehicle further includes a first tensioning block, a second tensioning block, and a second drive assembly. The first tensioning block is partially located within the first through-hole and partially located within the second through-hole, and is capable of sliding in the first direction. The second tensioning block is located within the first through-hole and is capable of sliding axially along the cantilever shaft. The second tensioning block includes a sidewall that forms an angle with the axis of the cantilever shaft and abuts against the first tensioning block to drive the second tensioning block to slide in the first direction, causing the first tensioning block to partially extend beyond the outer circumference of the cantilever shaft. The second drive assembly is partially located within the first through-hole and fixed to the cantilever shaft, configured to drive the second tensioning block to slide axially along the cantilever shaft.

[0014] In some embodiments of the present application, the AGV cantilever vehicle further includes two tensioning sliders, a tensioning guide rail, and a fixing bar;

[0015] The two tensioning sliders are spaced apart along the axial direction of the cantilever shaft and are fixedly connected to the inner wall of the cantilever shaft;

[0016] The tensioning guide rail is located in the first through hole and extends along the axial direction of the cantilever shaft. The tensioning guide rail is slidably connected to the tensioning slider.

[0017] In some embodiments, the first tensioning block includes a first sub-section and a second sub-section. The first sub-section is at least partially located within the first through-hole. The second sub-section is located within the first through-hole and connected to one end of the first sub-section along the first direction. Along the first direction, at least a portion of the second sub-section is larger than the first sub-section. The AGV cantilever vehicle also includes an elastic member located within the first through-hole. The elastic member is located within the first through-hole, one end of the elastic member is connected to the second sub-section, and the other end is connected to the cantilever shaft, and is capable of generating a force that causes the first tensioning block to approach the axis of the cantilever shaft.

[0018] In some embodiments of the present application, the first tensioning block further includes: a third sub-section, the third sub-section being located on a side of the first sub-section away from the second sub-section and connected to the first sub-section;

[0019] The AGV cantilever vehicle further includes a linear bearing, which is installed in the second through hole;

[0020] One end of the elastic member abuts against one end of the second sub-part close to the first sub-part, and the other end abuts against the linear bearing.

[0021] In some embodiments, the AGV cantilever vehicle further includes a moving part, two clamps and a first drive mechanism. The moving part surrounds a portion of the cantilever shaft and is slidably connected to the cantilever shaft. The two clamps are located on the side of the moving part away from the adjustment plate; the two clamps are respectively arranged on both sides of the cantilever shaft and are respectively connected to the moving part so that the clamps can rotate in a direction away from or close to the cantilever shaft. The first drive mechanism is arranged on the surface of the moving part away from the adjustment plate and is configured to drive the clamps to rotate in a direction away from or close to the cantilever shaft.

[0022] In some embodiments of the present application, the moving part includes:

[0023] A moving rack, two moving gears, a moving motor, a moving guide rail and a moving slide;

[0024] The movable rack extends along the axial direction of the cantilever shaft and is installed on the outer peripheral surface of the cantilever shaft;

[0025] A moving gear is mounted in mesh with the moving rack, and a moving motor is mounted on the moving member and fixedly connected to another moving gear;

[0026] The movable guide rail extends along the axial direction of the cantilever shaft and is fixed to the outer peripheral surface of the cantilever shaft, and the movable guide rail portion is located between the movable member and the cantilever shaft;

[0027] The movable slide block is slidably installed with the movable guide rail and is fixedly connected with the movable part.

[0028] In some embodiments, the first driving mechanism includes a fixed block, a slider, two second connecting rods and a third driving assembly. The fixed block includes a guide rail portion and a fixed portion; the guide rail portion is provided on the surface of the movable member away from the adjustment plate, and the guide rail portion extends radially along the cantilever axis; the fixed portion is provided on the surface of the guide rail portion close to the cantilever axis and is located between the two clamps, and the fixed portion is hinged to the clamps so that the clamps can rotate in a direction away from or close to the cantilever axis. The slider is slidably connected to the guide rail portion; the two second connecting rods are respectively provided on both sides of the fixed block along a direction perpendicular to the extension of the guide rail portion; one end of the second connecting rod is hinged to the slider, and the other end is hinged to the clamp located on the same side of the fixed block. The third driving assembly is provided on the movable member and is configured to drive the slider to slide radially along the cantilever axis.

[0029] In some embodiments of the present application, the third drive assembly includes: a clamping rack, a clamping gear, a clamping motor and an electric cylinder;

[0030] The extending direction of the clamping rack is the same as that of the guide rail portion, and is fixedly connected to the slider;

[0031] The clamping gear is meshed and installed with the clamping rack;

[0032] The clamping motor is mounted on the moving part and is fixedly connected to the clamping gear;

[0033] The electric cylinder is mounted on the moving part and is fixedly connected to the sliding block.

[0034] In some embodiments, the AGV cantilever vehicle further comprises a pusher block, which is fixed to the clamping jaw and has an end away from the clamping jaw that is furthest from the moving member. The pusher block is made of an elastic material.

[0035] In some embodiments, the AGV cantilever vehicle further includes a material baffle, which is located on a side of the cantilever shaft away from the adjustment plate and rotates about a second axis to extend or retract into an outer circumference of the cantilever shaft. The second axis is parallel to the axis of the cantilever shaft and spaced apart.

[0036] In some embodiments of the present application, the AGV cantilever vehicle further includes: a material blocking motor and an optical sensor;

[0037] The material blocking motor is located in the first through hole and is fixed on the cantilever shaft. The material blocking motor is used to drive the material blocking plate to rotate along the second axis.

[0038] The optical sensor is connected to the material blocking motor and is used to detect the position of the material blocking plate. There are two optical sensors.

[0039] In some embodiments of the present application, the AGV cantilever vehicle further includes: a plurality of roller bearings;

[0040] The plurality of roller bearings are mounted on the 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;

[0041] The plurality of roller bearings are distributed at intervals along the axial direction of the cantilever shaft and are evenly distributed along the circumference of the cantilever shaft. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] The drawings described herein are used to provide further understanding of the present application and constitute a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation on the present application.

[0043] To more clearly illustrate the technical solutions of this application, the following briefly introduces the drawings required for use in some embodiments of this application. Obviously, the drawings described below are only drawings of some embodiments of this application, and those skilled in the art can also derive other drawings based on these drawings. Furthermore, the drawings described below are schematic diagrams and are not intended to limit the actual dimensions of the products, actual processes of the methods, actual timing of signals, and the like involved in the embodiments of this application.

[0044] FIG1 is a structural diagram of an AGV cantilever vehicle from one perspective according to some embodiments;

[0045] FIG2 is a structural diagram of an AGV cantilever vehicle from another perspective according to some embodiments;

[0046] FIG3 is a structural diagram of a cantilever shaft, an adjustment plate, and a first fixing plate according to some embodiments;

[0047] FIG4 is a structural diagram of an adjustment plate and a support column according to some embodiments;

[0048] FIG5 is a structural diagram of a cantilever shaft according to some embodiments;

[0049] FIG6 is a cross-sectional structural diagram of a cantilever shaft according to some embodiments;

[0050] FIG7 is a partial enlarged view of A in FIG6;

[0051] FIG8 is a structural diagram of a fixing bar and a second tensioning block according to some embodiments;

[0052] FIG9 is a structural diagram of a moving member and a cantilever shaft according to some embodiments;

[0053] FIG10 is a structural diagram of a clamping jaw according to some embodiments;

[0054] FIG11 is a structural diagram of a material blocking plate according to some embodiments;

[0055] FIG12 is a front view of a coil according to some embodiments;

[0056] 13 is a left side view of a coil according to some embodiments.

[0057] Reference numerals: AGV cantilever vehicle 100, roller bearing 101, AGV chassis vehicle 10, linear bearing 12; adjustment plate 20, adjustment plate hinge seat 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 tensioning block 80, first sub-section 81, second sub-section 82, third sub-section 83; second tensioning block 90, second tensioning block side wall 91; second drive assembly 110, fixing bar 120, tensioning slide 121, tensioning guide rail 122; moving member 130, moving rack 131, moving gear 132, moving motor 133, moving guide rail 134, moving slide 135; clamping jaw 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 fixed plate 155; pushing block 160, material blocking plate 170, material blocking motor 180, first optical sensor 190, second optical sensor 191. DETAILED DESCRIPTION

[0058] To make the objectives, technical solutions, and advantages of the present invention more clearly understood, the present invention is further described below with reference to the accompanying drawings and examples. It should be understood that the described examples are only some examples of the present invention, not all examples. All other examples derived by persons of ordinary skill in the art based on the examples of the present invention fall within the scope of protection of the present invention.

[0059] Unless the context requires otherwise, throughout the specification and claims, the term "including" is to be interpreted as having an open, inclusive meaning, that is, "including, but not limited to." In the description of the specification, the terms "one embodiment," "some embodiments," "exemplary embodiments," "examples," or "some examples" are intended to indicate that specific features, structures, materials, or characteristics associated with the embodiment or example are included in the embodiments or examples of the present application. The schematic representations of the above terms do not necessarily refer to the same embodiment or example. In addition, the specific features, structures, materials, or characteristics may be included in any one or more embodiments or examples in any appropriate manner.

[0060] In the following, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of the embodiments of this application, unless otherwise specified, "plurality" means two or more.

[0061] When describing some embodiments, the word "connected" and its derivatives may be used. The term "connected" should be understood in a broad sense. For example, "connected" can mean fixed connection, detachable connection, or integration; it can be directly connected or indirectly connected through an intermediate medium.

[0062] As used herein, "parallel" and "perpendicular" include the conditions described and conditions similar to the conditions described, and the range of the similar conditions is within an acceptable deviation range, wherein the acceptable deviation range is determined by a person of ordinary skill in the art taking into account the measurement in question and the errors associated with the measurement of the specific quantity (i.e., the limitations of the measurement system). For example, "parallel" includes absolute parallelism and approximate parallelism, wherein the acceptable deviation range for approximate parallelism can be, for example, a deviation within 5°; "perpendicular" includes absolute perpendicularity and approximate perpendicularity, wherein the acceptable deviation range for approximate perpendicularity can also be, for example, a deviation within 5°.

[0063] As used herein, the term "if" is optionally interpreted to mean "when" or "upon" or "in response to determining" or "in response to detecting," depending on the context. Similarly, the phrases "if it is determined that" or "if [stated condition or event] is detected" are optionally interpreted to mean "upon determining" or "in response to determining" or "upon detecting [stated condition or event]" or "in response to detecting [stated condition or event]," depending on the context.

[0064] The use of "adapted to" or "configured to" herein is intended to be open and inclusive language that does not exclude devices adapted or configured to perform additional tasks or steps.

[0065] Additionally, the use of “based on” is meant to be open and inclusive, as a process, step, calculation, or other action “based on” one or more stated conditions or values ​​may, in practice, be based on additional conditions or values ​​beyond those stated.

[0066] The directional words such as “up”, “down”, “left” and “right” described in some embodiments of the present application are described based on the angles shown in the accompanying drawings and should not be understood as limitations on some embodiments of the present application.

[0067] In the related art, the AGV cantilever vehicle includes an AGV chassis vehicle and a cantilever shaft. The cantilever shaft is located above the AGV chassis vehicle, and the axis of the cantilever shaft is parallel to the plane where the AGV chassis vehicle is located. One end of the cantilever shaft is fixedly arranged on the AGV chassis vehicle. The AGV cantilever vehicle is used to transport coils between the buffer table and the coil table. During the transportation of the coils, the coils are usually located at one end of the cantilever shaft that is suspended in the air. Under the action of the gravity of the coils, the cantilever shaft undergoes rigid deformation, and the suspended end of the cantilever shaft droops relative to the other end, resulting in the angle between the axis of the cantilever shaft and the horizontal plane not meeting the requirements, that is, the axis of the cantilever shaft and the axis of the rotating shaft in the coil table are not parallel, that is, the cantilever shaft and the coil table cannot be aligned, and the coil on the cantilever shaft cannot be moved to the coil table.

[0068] To solve the above technical problems, as shown in Figures 1, 2, and 3, Figure 1 is a structural diagram of an AGV cantilever vehicle from one perspective according to some embodiments, Figure 2 is a structural diagram of an AGV cantilever vehicle from another perspective according to some embodiments, and Figure 3 is a structural diagram of a cantilever shaft, an adjustment plate, and a first fixed plate according to some embodiments. An embodiment of the present application provides an AGV cantilever vehicle 100, which includes an AGV chassis vehicle 10, an adjustment plate 20, a cantilever shaft 30, and a first drive assembly 40.

[0069] The adjustment plate 20 is located above the AGV chassis 10 and is arranged on the AGV chassis 10; the adjustment plate 20 is capable of rotating around a first axis; the cantilever shaft 30 is located above the AGV chassis 100; the adjustment plate 20 is located on one side of the cantilever shaft 30 along the axial direction of the cantilever shaft 30, and the end of the cantilever shaft 30 close to the adjustment plate 20 is fixedly connected to the adjustment plate 20; the first drive assembly 40 is located above the AGV chassis 100 and on the side of the adjustment plate 20 away from the cantilever shaft; the first drive assembly 40 is arranged on the AGV chassis 10, and is configured to drive the adjustment plate 20 to rotate around the first axis to adjust the angle between the cantilever shaft 30 and the horizontal plane.

[0070] In the AGV cantilever vehicle 100 provided in an embodiment of the present application, the first drive assembly 40 drives the adjustment plate 20 to rotate about the first axis, which in turn drives the cantilever shaft 30 to rotate about the first axis to change 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 rotating shaft on the coiling table. In other words, the cantilever shaft 30 and the rotating shaft on the coiling table can be aligned, allowing the coil on the cantilever shaft 30 to be moved to the coiling table.

[0071] Specifically, the AGV chassis vehicle 10 is equipped with an electromagnetic or optical automatic navigation device, which can travel along a specified navigation path, and can enable the AGV cantilever vehicle 100 to travel between the buffer station and the coil station to move the coil located at the buffer station to the coil station.

[0072] The adjustment plate 20 is located above the AGV chassis 10 and is disposed on the AGV chassis 10. The adjustment plate 20 is rotatable around a first axis.

[0073] It is understood that the term "disposed" herein should be understood in a broad sense and can be directly disposed, i.e., there is no other component (or region, layer, part) between two components (or regions, layers, parts), or disposed through an intermediary, i.e., there is another component (or region, layer, part) between two components (or regions, layers, parts). For example, in the following, the adjustment plate 20 is disposed on the AGV chassis via two support columns 60.

[0074] The cantilever shaft 30 is located above the AGV chassis 10, and the adjustment plate 20 is located on one side of the cantilever shaft 30 along the axial direction of the cantilever shaft 30. The adjustment plate 20 can be located on the left or right side of the cantilever shaft 30. For example, as shown in Figure 3, the adjustment plate 20 is located on the left side of the cantilever shaft 30. The end of the cantilever shaft 30 closest to the adjustment plate 20 is fixedly connected to the adjustment plate 20.

[0075] In this case, the adjustment plate 20 can drive the cantilever shaft 30 to rotate around the first axis to adjust the angle between the axis of the cantilever shaft 30 and the horizontal plane, so that the angle between the axis of the cantilever shaft 30 and the horizontal plane meets the requirements, that is, the axis of the cantilever shaft 30 is aligned with the axis of the rotating shaft in the winding table.

[0076] For example, the angle between the axis of the cantilever shaft 30 and the horizontal plane can be adjusted to 0°, that is, the axis of the cantilever shaft 30 is parallel to the horizontal plane. At this time, the axis of the cantilever shaft 30 can be aligned with the axis of the rotating shaft in the coiling table.

[0077] Exemplarily, the first axis is perpendicular to the axis of the cantilever shaft 30 .

[0078] For example, the horizontal plane may be the plane where the AGV chassis 10 is located.

[0079] The cantilever shaft 30 may include a solid shaft or a hollow shaft, which is not specifically limited in the embodiments of the present application. For example, the cantilever shaft 30 may include a hollow shaft, which can reduce the weight of the cantilever shaft 30.

[0080] In this embodiment, the first drive assembly 40 is located above the AGV chassis 10 and on the side of the adjustment plate 20 away from the cantilever shaft 30. The first drive assembly 40 is disposed on the AGV chassis 10. The first drive assembly 40 is configured to drive the adjustment plate 20 to rotate about a first axis, so that the adjustment plate 20 drives the cantilever shaft 30 to rotate about the first axis, thereby aligning the axis of the cantilever shaft 30 with the plane of the AGV chassis 10. The first drive assembly 40 may include an electric cylinder, a pneumatic cylinder, or a hydraulic cylinder, which will not be listed in detail in the embodiments of this application. For example, the first drive assembly 40 may include an electric cylinder.

[0081] Thus, the first drive assembly 40 drives the adjustment plate 20 to rotate around the first axis, and the adjustment plate 20 drives the cantilever shaft 30 to rotate around the first axis to change the angle between the axis of the cantilever shaft 30 and the horizontal plane, so that the axis of the cantilever shaft 30 and the axis of the rotating shaft on the winding table can be parallel. In other words, the cantilever shaft 30 and the rotating shaft on the winding table can be aligned, and the coil on the cantilever shaft 30 can be moved to the winding table, so as not to affect the subsequent processes.

[0082] In some embodiments, as shown in FIG3 , the AGV cantilever vehicle 100 further includes a first connecting rod 50, which is located between the adjustment plate 20 and the first drive assembly 40. One end of the first connecting rod 50 is hinged to the adjustment plate 20, and the other end is hinged to the first drive assembly 40. In this way, the first drive assembly 40 is connected to the adjustment plate 20 via the first connecting rod 50. The first drive assembly 40 is connected to the AGV chassis vehicle 10.

[0083] In this embodiment, an adjustment plate hinge seat 21 is provided on the adjustment plate 20, and a first connecting rod hinge point 51 is provided at one end of the first connecting rod 50 connected to the adjustment plate 20. The adjustment plate 20 and the first connecting rod 50 are hinged by passing the hinge shaft through the adjustment plate hinge seat 21 and the hinge point 51.

[0084] Thus, the first drive assembly 40 drives the first connecting rod 50 to move, the first connecting rod 50 drives the adjustment plate 20 to rotate around the first axis, and the adjustment plate 20 drives the cantilever shaft 30 to rotate around the first axis, so that the axis of the cantilever shaft 30 and the axis of the rotating shaft on the winding table are parallel, that is, the cantilever shaft and the rotating shaft on the winding table can be aligned, and the coil on the cantilever shaft 30 can be moved to the winding table.

[0085] In other embodiments, one end of the first driving assembly 40 is hinged to the adjustment plate 20, and the other end is hinged to the first fixing plate 70. In this way, the number of parts can be reduced, that is, the structure of the AGV cantilever vehicle 100 can be simplified.

[0086] Thus, the first drive assembly 40 directly drives the adjustment plate 20 to rotate around the first axis, and the adjustment plate 20 drives the cantilever shaft 30 to rotate around the first axis, so that the axis of the cantilever shaft 30 and the axis of the rotating shaft on the winding table are parallel, that is, the cantilever shaft 30 and the winding table can be aligned, and the coil on the cantilever shaft 30 can be moved to the winding table.

[0087] In some other embodiments, the upper end of the adjustment plate 20 is hinged to the AGV chassis 10. One end of the first drive assembly 40 is fixedly connected to the AGV chassis 10, and the other end abuts against the adjustment plate 20.

[0088] Thus, the first drive assembly 40 pushes the adjustment plate 20 to rotate around the first axis, and the adjustment plate 20 drives the cantilever shaft 30 to rotate around the first axis, so that the axis of the cantilever shaft 30 and the axis of the rotating shaft on the winding table are parallel, that is, the cantilever shaft 30 and the rotating shaft on the winding table can be aligned, and the coil on the cantilever shaft 30 can be moved to the winding table.

[0089] In some embodiments, the AGV cantilever vehicle 100 further includes a level sensor (not shown). The level sensor is used to measure the angle between the axis of the cantilever shaft 30 and the horizontal plane. The level sensor is fixed to the cantilever shaft 30 and electrically connected to the first drive assembly 40. Thus, the first drive assembly 40 can receive the angle signal measured by the level sensor and drive the adjustment plate 20 to rotate about the first axis based on the angle.

[0090] Thus, the horizontal sensor measures the angle between the axis of the cantilever shaft 30 and the plane on which the AGV chassis 10 is located, and transmits the measured angle to the first drive assembly 40. If the first drive assembly 40 receives the angle measured by the horizontal sensor and determines that the angle does not meet the requirements, the first drive assembly 40 will continue to drive the adjustment plate 20 to rotate around the first axis, and the adjustment plate 20 drives the cantilever shaft 30 to rotate around the first axis to change the angle between the axis of the cantilever shaft 30 and the horizontal plane until the angle between the axis of the cantilever shaft 30 and the horizontal plane meets the requirements. If the first drive assembly 40 receives the angle signal measured by the horizontal sensor and determines that the angle meets the requirements, the first drive assembly 40 stops driving the adjustment plate 20 to rotate around the first axis.

[0091] As a working mode of the level sensor, throughout the entire process of the AGV cantilever vehicle 100 transporting coils, the level sensor remains in an active state. That is, the level sensor continuously transmits the measured 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 to change the angle between the axis of the cantilever shaft 30 and the horizontal plane. In this way, the angle between the axis of the cantilever shaft 30 and the horizontal plane can always meet the requirements. When the coil needs to be moved from the cantilever shaft 30 to the coiling table, the cantilever shaft 30 can be quickly aligned with the rotating shaft on the coiling table, and the coil can be moved from the cantilever shaft 30 to the coiling table. This can reduce the time required to align the cantilever shaft 30 with the rotating shaft on the coiling table, thereby increasing the frequency of transportation.

[0092] As another operating mode of the level sensor, the level sensor only activates when the coil needs to be moved from the cantilever shaft 30 to the coiling table. When the coil is moved from the cantilever shaft 30 to the coiling table, the cantilever shaft 30 stops moving, and the level sensor measures the angle between the axis of the cantilever shaft 30 and the horizontal plane. The measured angle is then transmitted 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 angle. The adjustment plate 20 drives the cantilever shaft 30 to rotate about the first axis to ensure that the angle between the axis of the cantilever shaft 30 and the horizontal plane meets the required angle. The cantilever shaft 30 then begins to move, aligning with the rotating axis on the coiling table, and the coil can be moved from the cantilever shaft 30 to the coiling table. Because the level sensor is not always operating, the service life of the AGV cantilever vehicle 100 can be extended while maintaining the service life of the level sensor.

[0093] In some embodiments, as shown in FIG1 and FIG4 , FIG4 is a structural diagram of an adjustment plate and a support column according to some embodiments. The AGV boom vehicle 100 further includes two support columns 60 and a first fixing plate 70 .

[0094] Two support columns 60 are located on the upper surface of the AGV chassis 10, on the side of the adjustable plate 20 away from the cantilever axis 30. The support columns 60 extend vertically and are fixedly connected to the AGV chassis 10. The two support columns 60 are respectively arranged on opposite sides of the AGV chassis 10 along the direction in which the first axis extends. As shown in Figure 1, one support column 60 is arranged on the left side of the AGV chassis 10, and the other is arranged on the right side of the AGV chassis 10. The two support columns 60 are connected at one end away from the AGV chassis 10 to enhance the stability of the support columns 60.

[0095] The first fixing plate 70 is positioned between the two support columns 60 and the adjustment plate 20 and is mounted on the support columns 60. The first fixing plate 70 is hingedly connected to the adjustment plate 20, allowing the adjustment plate 20 to rotate about a first axis. The first drive assembly 40 is disposed on the first fixing plate 70. The first axis coincides with the axis of the shaft that hinges the first fixing plate 70 to the adjustment plate 20.

[0096] For example, as shown in Figure 2, the adjustment plate 20 is parallel to the extension direction of the first axis, and the first fixed plate 70 is parallel to the extension direction of the first axis. The upper end of the first fixed plate 70 is hinged to the upper end of the adjustment plate 20, and the axis of the axis X at which the first fixed plate 70 and the adjustment plate 20 are hinged coincides with the first axis. Alternatively, for example, the adjustment plate 20 is parallel to the extension direction of the first axis, and the first fixed plate 70 is parallel to the extension direction of the first axis. The upper end of the first fixed plate 70 is hinged to the upper end of the adjustment plate 20, and the axis at which the first fixed plate 70 and the adjustment plate 20 are hinged coincides with the first axis.

[0097] A fixing flange 33 is provided at one end of the cantilever shaft 30 fixedly connected to the adjustment plate 20 , and the fixing flange 33 cooperates with the fixing hole on the adjustment plate 20 to achieve fixed connection between the cantilever shaft 30 and the adjustment plate 20 .

[0098] In some embodiments, as shown in FIG. 1 , FIG. 2 and FIG. 4 , the AGV cantilever vehicle 100 further includes two lifting guide rails 1 , four lifting sliders 2 , a lifting screw 3 , a lifting nut 4 and a lifting motor 5 .

[0099] The lifting rail 1 extends vertically and is mounted on a support column 60. Two lifting sliders 2 are spaced vertically apart and mounted on each lifting rail 1. A first fixed plate 70 is fixedly connected to the four lifting sliders 2. The first fixed plate 70 is slidably connected to the two support columns 60 via the lifting sliders 2, allowing it to slide vertically. Furthermore, the adjustment plate 20 hinged to the first fixed plate 70 and the cantilever shaft 30 fixedly connected to the adjustment plate 20 can also slide vertically.

[0100] The lifting screw 3 extends in the vertical direction and is connected to the support column 60. The lifting screw 3 and the lifting nut 4 are installed in conjunction with the lead screw, and the lifting nut 4 is fixedly connected to the first fixed plate 70. The lifting motor 5 is fixed on the support column 60 and drives the lifting screw 3 to rotate through a belt drive (chain drive, gear rotation or coupling rotation). The lifting screw 3 drives the lifting nut 4 to move in the vertical direction. The lifting nut 4 drives the first fixed plate 70 to move in the vertical direction, and then drives the cantilever shaft 30 to move in the vertical direction, so that the cantilever shaft 30 can take materials from cache tables at different heights, or feed materials to coil tables at different heights, so as to expand the scope of application of the AGV cantilever vehicle 100.

[0101] In some embodiments, as shown in Figures 5, 6, 7, and 8, Figure 5 is a structural diagram of a cantilever shaft according to some embodiments, Figure 6 is a cross-sectional structural diagram of a cantilever shaft according to some embodiments, Figure 7 is a partial enlarged view of A in Figure 6, and Figure 8 is a structural diagram of a fixing bar and a second tensioning block according to some embodiments. The cantilever shaft 30 is provided with a first through-hole 31 and a second through-hole 32. The first through-hole 31 extends axially through the cantilever shaft 30, and the second through-hole 32 extends along a first direction M1. The first direction M1 intersects the axis of the cantilever shaft 30, for example, the first direction M1 is perpendicular to the axis of the cantilever shaft 30.

[0102] As shown in FIG. 6 and FIG. 8 , the AGV boom vehicle 100 further includes a first tensioning block 80 , a second tensioning block 90 and a second driving assembly 110 .

[0103] As shown in Figure 6, the first tensioning block 80 is partially located within the first through hole 31 and partially located within the second through hole 32. The first tensioning block 80 can slide in the first direction M1 so that it partially extends beyond the outer circumference of the cantilever shaft 30, abutting against the coiled material to tighten the coiled material. This reduces the risk of the coiled material shaking during transportation and the risk of the coiled material falling off the cantilever shaft 30.

[0104] For example, multiple first tensioning blocks 80 are evenly distributed along the circumference of the cantilever shaft 30, which can ensure a more uniform force on the web and reduce the risk of damage to the web due to uneven force. For example, two, four, or six first tensioning blocks 80 can be evenly distributed along the circumference of the cantilever shaft 30. Examples of this application are not listed here.

[0105] As shown in Figure 8 , the second tensioning block 90 is located within the first through-hole 31 and is capable of sliding axially along the cantilever shaft 30. The second tensioning block 90 includes a sidewall 91 that forms an angle with the axis of the cantilever shaft 30 and abuts against the first tensioning block 80. Thus, the axial sliding of the second tensioning block 90 along the cantilever shaft 30 drives the first tensioning block 80 to slide in the first direction M1. The first tensioning block 80 partially extends beyond the outer circumference of the cantilever shaft 30, abutting against the coiled material to tighten it.

[0106] For example, the angle between the sidewall 91 and the axis of the cantilever shaft 30 remains constant. This allows the first tensioning block 80 to maintain a constant sliding speed in the first direction M1. This means that the first tensioning block 80 is more stable while tightening the web, and the second tensioning block 90 maintains a simple structure and is easy to manufacture. Alternatively, for example, the angle between the sidewall 91 and the axis of the cantilever shaft 30 gradually changes, causing the sliding speed in the first direction M1 to decrease, allowing the first tensioning block 80 to quickly approach the web and then slow down near the web. This reduces the time it takes for the first tensioning block 80 to tighten the web and ensures that the web is not damaged by the tensioning block.

[0107] The second drive assembly 110 is partially located within the first through-hole 31 and is fixed to the cantilever shaft 30. The second drive assembly 110 drives the second tensioning block 90 to slide axially along the cantilever shaft 30. The second drive assembly 110 can include an electric cylinder, a pneumatic cylinder, or a hydraulic cylinder. The embodiments of this application are not listed one by one. For example, the second drive assembly 110 includes an electric cylinder.

[0108] Therefore, when it is necessary to tighten the coil, the second drive assembly 110 drives the second tightening block 90 to slide along the axial direction of the cantilever shaft 30, and the second tightening block 90 drives the first tightening block 80 to slide. The first tightening block 80 partially extends out of the outer peripheral surface of the cantilever shaft 30 and abuts against the coil, thereby tightening the coil and reducing the risk of the coil falling off the cantilever shaft 30.

[0109] In some embodiments, as shown in FIG8 , the AGV cantilever vehicle 100 further includes two tensioning sliders 121, a tensioning guide rail 122, and a fixing bar 120. The two tensioning sliders 121 are spaced apart along the axial direction of the cantilever shaft 30 and are fixedly connected to the inner wall of the cantilever shaft 30. The tensioning guide rail 122 is located in the first through hole 31 and extends along the axial direction of the cantilever shaft 30. The tensioning guide rail 122 is slidably connected to the tensioning sliders 121. The fixing bar 120 is located in the first through hole 31 and extends along the axial direction of the cantilever shaft 30. The fixing bar 120 is fixedly connected to the tensioning guide rail 122. The end of the fixing bar 120 near the adjustment plate 20 is connected to the second drive assembly 110, so that the second drive assembly 110 can drive the fixing bar 120 to slide along the axial direction of the cantilever shaft 30.

[0110] The plurality of second tensioning blocks 90 are symmetrically arranged about the fixing bar 120 and fixedly connected to the fixing bar 120 . The second tensioning blocks 90 located on one side of the fixing bar 120 are spaced apart along the axial direction of the cantilever shaft 30 .

[0111] Therefore, when it is necessary to tighten the coil, the second drive component 110 drives the fixing bar 120 to slide along the axial direction of the cantilever shaft 30, the fixing bar drives the second tightening block 90 to slide, the second tightening block 90 drives the first tightening block 80 to slide, and the first tightening block 80 partially extends out of the outer peripheral surface of the cantilever shaft 30 and abuts against the coil, thereby tightening the coil and reducing the risk of the coil falling off the cantilever shaft 30.

[0112] In some embodiments, as shown in Figures 6 and 7 , the first tensioning block 80 includes a first sub-section 81 and a second sub-section 82. The first sub-section 81 is partially located within the second through-hole 32. The second sub-section 82 is located within the first through-hole 31 and is connected to one end of the first sub-section 81 that faces inwardly of the first through-hole 31 along the first direction M1. The second tensioning block 90 is triangular or an isosceles trapezoidal shape, with an inclined sidewall 91 that abuts the first sub-section 81.

[0113] The AGV cantilever vehicle 100 also includes an elastic member (not shown in the figure), which is located in the first through hole 31. One end of the elastic member is connected to the second sub-part 82, and the other end is connected to the cantilever shaft 30. It can generate a force that causes the first tensioning block 80 to move closer to the axis of the cantilever shaft 30.

[0114] Therefore, when it is necessary to tighten the coil, the second drive assembly 110 drives the second tightening block 90 to slide, and the second tightening block 90 drives the first tightening block 80 to slide, and the first sub-section 81 extends out of the outer peripheral surface of the cantilever shaft, and the end of the first sub-section 81 away from the second sub-section 82 abuts against the coil, thereby tightening the coil to reduce the risk of the coil falling off the cantilever shaft 30.

[0115] When the coil needs to be transferred from the cantilever shaft 30 to the coiling table, the second drive assembly 110 drives the second tensioning block 90 to slide in the opposite direction. Under the action of the elastic force of the elastic member, the first tensioning block 80 moves toward the direction close to the axis of the cantilever shaft 30, and the end of the first sub-section 81 away from the second sub-section 82 is retracted into the outer peripheral surface of the cantilever shaft 30. The first tensioning block 80 is separated from the coil. At this time, the coil can slide freely on the cantilever shaft 30, and the coil can be moved from the cantilever shaft 30 to the coiling table.

[0116] For example, along the axis of the cantilever shaft 30, at least a portion of the second sub-section 82 is larger than the first sub-section 81. Thus, a step is formed between the first sub-section 81 and the second sub-section 82, which is used to connect the elastic member. One end of the elastic member abuts the end of the second sub-section 82 closest to the first sub-section 81, and the other end abuts the inner wall of the cantilever shaft 30. For example, the elastic member can be a compression spring.

[0117] In some embodiments, as shown in Figures 6 and 7 , the first tensioning block 80 further includes a third sub-section 83. The third sub-section 83 is located on a side of the first sub-section 81 away from the second sub-section 82 and is fixedly connected to the first sub-section 81. The third sub-section 83 is made of a relatively high-hardness material, thereby increasing the service life of the first tensioning block 80. Exemplarily, the first sub-section 81 and the third sub-section 83 are fixedly connected by bolts, which facilitates replacement of the third sub-section 83.

[0118] In some embodiments, as shown in FIG7 , the AGV cantilever vehicle further includes a linear bearing 12 , which is installed in the second through hole 32 . The linear bearing 12 has a low friction coefficient, which can reduce the friction coefficient between the first tensioning block 80 and the second through hole 32 , thereby increasing the service life of the first tensioning block 80 .

[0119] In the case where the AGV boom vehicle includes an elastic member, one end of the elastic member may abut against one end of the second sub-portion 82 close to the first sub-portion 81 , and the other end may abut against the linear bearing.

[0120] In some embodiments, as shown in Figures 2, 9, and 10, Figure 9 is a structural diagram of a moving member and a cantilever shaft according to some embodiments, and Figure 10 is a structural diagram of a clamp according to some embodiments. The AGV cantilever vehicle further includes a moving member 130, two clamps 140, and a first drive mechanism 150.

[0121] The moving member 130 surrounds a portion of the cantilever shaft 30 and is slidably connected to the cantilever shaft 30 , so that the moving member 130 can slide along the axial direction of the cantilever shaft 30 , and the moving member 130 can move the coil from one end of the cantilever shaft 30 to the other end.

[0122] The two clamping jaws 140 are located on a side of the movable member 130 away from the adjustment plate 20. The two clamping jaws 140 are respectively provided on either side of the cantilever shaft 30 and are respectively connected to the movable member 130, so that the clamping jaws 140 can rotate in a direction away from or toward the cantilever shaft 30. When the clamping jaws 140 rotate toward the cantilever shaft 30, the clamping jaws 140 can clamp the web. When the clamping jaws 140 rotate away from the cantilever shaft 30, the clamping jaws 140 release the web.

[0123] For example, the portion of the clamping jaw 140 that contacts the coil is in the shape of an arc, which can increase the contact area between the coil and the clamping jaw 140 , thereby increasing the force between the clamping jaw 140 and the coil.

[0124] The first driving mechanism 150 is disposed on a surface of the moving member 130 away from the adjustment plate 20 . The first driving mechanism 150 is configured to drive the clamping jaw 140 to rotate in a direction away from or close to the cantilever shaft 30 , so that the clamping jaw 140 clamps or releases the coil.

[0125] Therefore, when the coil needs to be moved from one end of the cantilever shaft 30 to the other, the first drive mechanism 150 drives the clamping jaws 140 to rotate in a direction close to the cantilever shaft 30 to clamp the coil. Then, the moving member 130 moves along the axial direction of the cantilever shaft 30 to move the coil from one end of the cantilever shaft 30 to the other.

[0126] The end of the cantilever shaft 30 near the adjustment plate 20 is fixedly connected to the adjustment plate 20, so that the end of the cantilever shaft 30 near the adjustment plate 20 is supported by the adjustment plate 20. The coil is located at the end of the cantilever shaft 30 near the adjustment plate 20. Since the coil is supported by the cantilever shaft 30, the end of the cantilever shaft 30 near the adjustment plate 20 is also supported by the adjustment plate 20. Furthermore, the coil is supported by the adjustment plate 20, which can reduce the risk of rigid deformation of the cantilever shaft 30.

[0127] In some embodiments, as shown in FIG. 2 and FIG. 10 , the first driving mechanism 150 includes a fixing block 151 , a sliding block 152 , two second connecting rods 153 and a third driving assembly 154 .

[0128] The fixing block 151 includes a guide rail portion 1511 and a fixing portion 1512. The guide rail portion 1511 is disposed on the surface of the movable member 130 away from the adjustment plate 20 and extends radially along the cantilever shaft 30. The fixing portion 1512 is disposed on the surface of the guide rail portion 1511 closer to the cantilever shaft 30 and is located between the two clamping jaws 140. The fixing portion 1512 is hingedly connected to the clamping jaws 140, allowing the clamping jaws 140 to rotate in a direction away from or toward the cantilever shaft 30.

[0129] The slider 152 is slidably connected to the guide rail portion 1511 .

[0130] Two second connecting rods 153 are respectively provided on both sides of the fixing block 151 along a direction perpendicular to the extension of the guide rail portion 1511. One end of the second connecting rod 153 is hinged to the slider 152, and the other end is hinged to the clamping claw 140 on the same side of the fixing block 151.

[0131] The third driving assembly 154 is disposed on the moving member 130 , and is used to drive the slider 152 to slide radially along the cantilever shaft 30 .

[0132] Thus, the third drive assembly 154 drives the slider 152 to slide radially along the cantilever shaft 30, the slider 152 drives the second connecting rod 153 to move, and the second connecting rod 153 drives the clamping jaw 140 to rotate in the direction close to the cantilever shaft 30 to clamp the coil, or rotate in the direction away from the cantilever shaft 30 to loosen the coil.

[0133] In some embodiments, as shown in Figures 3 and 9, the AGV cantilever vehicle 100 also includes a moving rack 131, a moving gear 132, a moving motor 133, a moving guide rail 134 and a moving slider 135. The moving rack 131 extends along the axial direction of the cantilever shaft 30 and is installed on the outer peripheral surface of the cantilever shaft 30. The moving gear 132 is meshed and installed with the moving rack 131. The moving motor 133 is installed on the moving member 130 and is fixedly connected to the moving gear 132. The moving guide rail 134 extends along the axial direction of the cantilever shaft 30 and is fixedly arranged on the outer peripheral surface of the cantilever shaft 30. The moving guide rail 134 is partially located between the moving member 130 and the cantilever shaft 30. The moving slider 135 is slidably installed with the moving guide rail 134 and is fixedly connected to the moving member 130.

[0134] Thus, the moving motor 133 drives the moving gear 132 to rotate, and under the action of the moving rack 131, the moving gear 132 slides along the axial direction of the cantilever shaft 30, and 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 drives the clamping claw 140 to slide along the axial direction of the cantilever shaft 30 to move the roll material from one end of the cantilever shaft 30 to the other end.

[0135] In some embodiments, as shown in Figure 10, the third drive assembly 154 includes a clamping rack 1541, a clamping gear 1542, and a clamping motor 1543. The clamping rack 1541 extends in the same direction as the guide rail portion 1511 and is fixedly connected to the slider 152. The clamping gear 1542 is meshed with the clamping rack 1541. The clamping motor 1543 is mounted on the moving member 130 and fixedly connected to the clamping gear 1542.

[0136] Thus, the clamping motor 1543 drives the clamping gear 1542 to rotate, the clamping gear 1542 drives the clamping rack 1541 to move radially along the cantilever shaft 30, the clamping rack 1541 drives the slider 152 to move, the slider 152 drives the second connecting rod 153 to move, and the second connecting rod 153 drives the clamping jaw 140 to rotate in the direction close to the cantilever shaft 30 to clamp the roll material, or rotate in the direction away from the cantilever shaft 30 to loosen the roll material.

[0137] In other embodiments, the third drive assembly 154 includes a pneumatic cylinder, an electric cylinder, or a hydraulic cylinder, which are not listed in detail in the present application. For example, the third drive assembly 154 includes an electric cylinder, which is mounted on the moving member 130 and fixedly connected to the slider 152.

[0138] Thus, the third drive assembly 154 directly drives the slider 152 to move radially along the cantilever shaft 30, the slider 152 drives the second connecting rod 153 to move, and the second connecting rod 153 drives the clamping jaw 140 to rotate in the direction close to the cantilever shaft 30 to clamp the coil, or rotate in the direction away from the cantilever shaft 30 to loosen the coil.

[0139] 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 movable part 130. The second fixed plate 155 is fixed to the movable part 130 by screws, and the fixed block 151 is fixed on the surface of the second fixed plate 155 away from the movable part 130, so that the fixed block 151 is fixed to the movable part 130 through the second fixed plate 155.

[0140] As shown in FIG. 10 , the second fixing plate 155 is a Z-shaped plate bent along the direction of the moving member 130 .

[0141] In some embodiments, as shown in FIG10 , the AGV cantilever vehicle further includes a pusher block 160. The pusher block 160 is fixed to the side of the clamping jaw 140 away from the moving member 130, with the end away from the clamping jaw 140 being furthest from the moving member 130. Thus, during the process of pushing the coiled material, the end of the pusher block 160 away from the clamping jaw abuts against the coiled material. The pusher block 160 is made of an elastic material, which can act as a buffer during the process of pushing the coiled material.

[0142] In some embodiments, as shown in Figures 9 and 11 (Figure 11 is a structural diagram of a material blocking plate according to some embodiments), the AGV cantilever vehicle 100 further includes a material blocking plate 170. The material blocking plate 170 is located on a side of the cantilever shaft 30 away from the adjustment plate 20 and rotates about a second axis to extend or retract into the outer circumference of the cantilever shaft 30. The second axis is parallel to the axis of the cantilever shaft 30 and spaced apart.

[0143] Thus, the material blocking plate 170 rotates about the second axis and extends out of the outer circumference of the cantilever shaft 30. The material blocking plate 170 can block the movement of the coiled material, thereby reducing the risk of the coiled material falling off the cantilever shaft 30. The material blocking plate 170 rotates about the second axis and retracts into the outer circumference of the cantilever shaft 30. The material blocking plate 170 cannot block the movement of the coiled material, and the coiled material can be moved from the buffer table to the cantilever shaft 30, or from the cantilever shaft 30 to the coiling table.

[0144] In other embodiments, the material blocking plate is located on a side of the cantilever shaft 30 away from the adjustment plate 20 and rotates around the axis of the cantilever shaft 30 to extend from or retract into the outer circumference of the cantilever shaft 30 .

[0145] In some embodiments, as shown in Figure 11, the AGV cantilever vehicle also includes a material blocking motor 180, a first optical sensor 190, and a second optical sensor 191. The material blocking motor 180 is located in the first through hole 31 at a position away from the first drive assembly 40 and is fixed to the cantilever shaft 30. The material blocking motor 180 is used to drive the material blocking plate 170 to rotate along the second axis, and the second axis is located at the axis position of the hinge axis of the material blocking plate 170. The first optical sensor 190 is connected to the material blocking motor 180 and is used to detect whether the material blocking plate 170 is in an extended state. The second optical sensor 191 is connected to the material blocking motor 180 and is used to detect whether the material blocking plate 170 is in a retracted state. When the material blocking plate 170 extends out of the cantilever shaft 30, the first optical sensor 190 transmits a trigger signal to the material blocking motor 180. At this time, the coil cannot move from the buffer table to the cantilever shaft 30, or cannot move from the cantilever shaft 30 to the coiling table. When the material blocking plate 170 is retracted into the cantilever shaft 30, the second optical sensor 191 transmits a trigger signal to the material blocking motor 180. At this time, the coiled material can be moved from the buffer table to the cantilever shaft 30, or from the cantilever shaft 30 to the coiling table.

[0146] In this embodiment, the material blocking plate 170, the material blocking motor 180, the first optical sensor 190 and the second optical sensor 191 are eccentrically arranged in the cantilever shaft 30, so that the material blocking plate 170 can extend or retract into the outer peripheral surface of the cantilever shaft 30 during rotation along the second axis.

[0147] At the same time, the baffle plate 170 in this embodiment is in a default state extending out of the outer circumference of the cantilever shaft 30 . When the baffle plate 170 is driven by the baffle motor 180 , the baffle plate 170 retracts into the outer circumference of the cantilever shaft 30 .

[0148] In the embodiment of the present application, the AGV cantilever vehicle 100 further includes a controller, which is electrically connected to the material blocking motor 180. When the material blocking plate 170 needs to extend out of the cantilever shaft 30, the controller transmits an extension command to the material blocking motor 180, and the material blocking motor 180 drives the material blocking plate 170 to extend out of the outer circumference of the cantilever shaft 30 after receiving the extension command.

[0149] When the baffle plate 170 reaches the preset position, the first optical sensor 190 sends a trigger signal, which is transmitted back to the controller. After receiving the trigger signal, the controller controls the baffle motor 170 to stop moving, so that the baffle plate 170 remains in the extended state.

[0150] When the material blocking plate 170 needs to be retracted into the cantilever shaft 30 , the controller transmits a retraction instruction to the material blocking motor 180 . After receiving the retraction instruction, the material blocking motor 180 drives the material blocking plate 170 to retract into the outer circumference of the cantilever shaft 30 .

[0151] When the baffle plate 170 reaches the preset position, the second optical sensor 191 sends a trigger signal, which is transmitted back to the controller. After receiving the trigger signal, the controller controls the baffle motor 170 to stop moving, so that the baffle plate 170 remains in the retracted state.

[0152] In some implementations of the present application, a motor with its own encoder can be used as the material blocking motor 180. Since the motor with its own encoder can identify its own position, the design of the first optical sensor 190 and the second optical sensor 191 can be omitted, thereby further optimizing the structure of the AGV cantilever vehicle 100.

[0153] In some embodiments, as shown in FIG5 , the AGV cantilever vehicle 100 further includes multiple roller bearings 101. These roller bearings 101 are mounted on the outer wall of the cantilever shaft 30 and partially protrude from the outer wall of the cantilever shaft 30. The axes of the roller bearings 101 are perpendicular to the axis of the cantilever shaft 30. The roller bearings 101 are spaced apart axially along the cantilever shaft 30 and evenly distributed circumferentially along the cantilever shaft 30. The friction between the roller bearings 101 and the coiled material is rolling friction, which can reduce the friction coefficient between the cantilever shaft 30 and the coiled material, thereby increasing the service life of the cantilever shaft 30.

[0154] In some embodiments, the AGV cantilever vehicle 100 further includes a visual recognition component (not shown) mounted on the cantilever shaft 30 for identifying a positioning code on the coiling table. The positioning code allows the AGV cantilever vehicle 100 to determine whether the cantilever shaft 30 is aligned with the coiling table.

[0155] In some embodiments, as shown in Figures 12 and 13 (Figure 12 is a front view of a coiled material according to some embodiments, and Figure 13 is a left side view of a coiled material according to some embodiments), the coiled material includes a drum and material, the material sleeve being disposed on the drum, the axial dimension of the coiled material being smaller than the axial dimension of the drum, and a gap being formed between the ends of the coiled material and the ends of the drum.

[0156] The process of moving a coil from a buffer station to a coil station is as follows:

[0157] Retrieving: The AGV chassis 10 moves near the buffering station. The lift motor 5 then drives the first fixed plate 70 vertically to a specified height, allowing the cantilever shaft 30 to be inserted into the reel. A horizontal sensor measures the angle between the cantilever shaft 30's axis and the horizontal plane and transmits this measurement to the first drive assembly 40. Based on the measured angle, the first drive assembly 40 drives the adjustment plate 20 to rotate about the first axis. This adjustment plate 20 then rotates the cantilever shaft 30 around the first axis to maintain the desired angle between the cantilever shaft 30's axis and the horizontal plane. The material stop motor 180 then drives the material stop plate 170 to retract into the outer circumference of the cantilever shaft 30, allowing the cantilever shaft 30 to be inserted into the reel. Next, the third drive assembly 154 drives the slider 152 to slide radially along the cantilever shaft 30. This slider 152 drives the second connecting rod 153, which in turn rotates the clamping jaw 140 toward the cantilever shaft 30 to clamp the reel. The moving motor drives the moving gear to rotate. Under the action of the moving rack, the moving gear drives the moving member 130 to move axially along the cantilever shaft 30. The moving member 130 drives the clamping jaw 140 to move, thereby moving the coil from the end of the cantilever shaft 30 away from the adjustment plate 20 to the end close to the adjustment plate 20. The third drive assembly 154 drives the slider 152 to slide in the opposite radial direction of the cantilever shaft 30. The slider 152 drives the second connecting rod 153 to move. The movement of the second connecting rod 153 drives the clamping jaw 140 to rotate in a direction away from the cantilever shaft 30, loosening the coil. The second drive assembly 110 drives the second tensioning block 90 to slide axially along the cantilever shaft 30. The second tensioning block 90 drives the first tensioning block 80 to slide in the first direction M1. The first tensioning block 80 partially extends out of the outer wall of the cantilever shaft 30 and abuts against the coil, and the first tensioning block 80 presses the coil tightly. The material blocking motor 180 drives the material blocking plate 170 to rotate in the opposite direction around the second axis, and the material blocking plate 170 extends out of the outer circumference of the cantilever shaft 30 .

[0158] Specifically, the controller is electrically connected to the material stopper motor 180. Before the cantilever shaft 30 is inserted into the coil, the material stopper plate 170 is in a default state, preventing the cantilever shaft 30 from being inserted into the coil. Therefore, the controller transmits a retraction command to the material stopper motor 180, which, upon receiving the command, drives the material stopper plate 170 to retract into the outer circumference of the cantilever shaft 30.

[0159] When the baffle plate 170 reaches the preset position, the second optical sensor 191 sends a trigger signal, which is transmitted back to the controller. After receiving the trigger signal, the controller controls the baffle motor 170 to stop moving, so that the baffle plate 170 remains in the retracted state.

[0160] When the cantilever shaft 30 is loaded with a coil and needs to be restored to a default state, the controller transmits an extension instruction to the material blocking motor 180 . After receiving the extension instruction, the material blocking motor 180 drives the material blocking plate 170 to extend out of the outer circumference of the cantilever shaft 30 .

[0161] When the baffle plate 170 reaches the preset position, the first optical sensor 190 sends a trigger signal, which is transmitted back to the controller. After receiving the trigger signal, the controller controls the baffle motor 170 to stop moving, so that the baffle plate 170 remains in the extended state.

[0162] Feeding: The AGV chassis 10 leaves the buffer station and drives to the vicinity of the coiling station. The lifting motor 5 drives the first fixed plate 70 to move to the specified height in the vertical direction so that the cantilever shaft 30 is aligned with the rotating shaft on the coiling station. The horizontal sensor measures the angle between the axial direction of the cantilever shaft 30 and the horizontal plane so that the angle between the axis of the cantilever shaft 30 and the horizontal plane meets the requirements. The visual recognition component recognizes the positioning code on the rotating shaft on the coiling station and performs positioning, that is, the cantilever shaft 30 and the rotating shaft on the coiling station are aligned. The material blocking motor 180 drives the material blocking plate 170 to retract into the outer peripheral surface of the cantilever shaft 30. The second drive component 110 drives the second tensioning block 90 to slide in the opposite direction along the axial direction of the cantilever shaft 30. Under the action of the elastic member, the first tensioning block 80 slides in the opposite direction along the first direction M1 and retracts into the outer peripheral surface of the cantilever shaft 30, and the first tensioning block 80 is separated from the coil. The moving member 130 moves in the opposite direction along the axial direction of the cantilever shaft 30 to push the coil from the cantilever shaft 30 to the coiling table.

[0163] Specifically, the controller is electrically connected to the material blocking motor 180. Before the coiled material is separated from the cantilever shaft 30, the material blocking plate 170 is in a default state, preventing the coiled material from separating from the cantilever shaft 30. Therefore, the controller transmits a retraction command to the material blocking motor 180, and upon receiving the command, the material blocking motor 180 drives the material blocking plate 170 to retract into the outer circumference of the cantilever shaft 30.

[0164] When the baffle plate 170 reaches the preset position, the second optical sensor 191 sends a trigger signal, which is transmitted back to the controller. After receiving the trigger signal, the controller controls the baffle motor 170 to stop moving, so that the baffle plate 170 remains in the retracted state.

[0165] When the cantilever shaft 30 needs to restore to the default state after unloading the coil, the controller transmits an extension instruction to the material blocking motor 180. After receiving the extension instruction, the material blocking motor 180 drives the material blocking plate 170 to extend out of the outer circumference of the cantilever shaft 30.

[0166] When the baffle plate 170 reaches the preset position, the first optical sensor 190 sends a trigger signal, which is transmitted back to the controller. After receiving the trigger signal, the controller controls the baffle motor 170 to stop moving, so that the baffle plate 170 remains in the extended state.

[0167] The process of moving multiple coils on a buffer table to multiple coil tables is described as follows. The embodiment of the present application takes the process of moving two coils on a buffer table (the two coils are arranged along the axial direction of the coils) to two coil tables as an example.

[0168] Retrieving: The AGV chassis 10 moves near the buffer station. The lift motor 5 then drives the first fixed plate 70 vertically to a specified height, allowing the cantilever shaft 30 to be inserted into the reel. A horizontal sensor measures the angle between the cantilever shaft 30's axial direction and the horizontal plane, ensuring that the angle between the cantilever shaft 30's axis and the horizontal plane meets the required value. The material retaining motor 180 then drives the retaining plate 170 to retract into the outer circumference of the cantilever shaft 30, inserting the cantilever shaft 30 into the two reels. The third drive assembly 154 then rotates the clamping jaw 140 toward the cantilever shaft 30, clamping the reel near the adjustment plate 20. The movable member 130 then drives the clamping jaw 140 to move axially along the cantilever shaft 30, moving the reel near the adjustment plate 20 to the end of the cantilever shaft 30 near the adjustment plate 20. The third drive assembly 154 then rotates the clamping jaw 140 away from the cantilever shaft 30, releasing the reel. The second driving assembly 110 drives the first tensioning block 80 to slide along the first direction M1 to tighten the coil. The material blocking motor 180 drives the material blocking plate 170 to rotate in the opposite direction, and the material blocking plate 170 extends out of the outer circumference of the cantilever shaft 30.

[0169] First feeding: The AGV chassis 10 leaves the buffer station and drives to the vicinity of the first coiling station. The lifting motor 5 drives the first fixed plate 70 to move to the specified height in the vertical direction so that the cantilever shaft 30 is aligned with the rotating shaft on the coiling station. The horizontal sensor measures the angle between the axial direction of the cantilever shaft 30 and the horizontal plane so that the angle between the axis of the cantilever shaft 30 and the horizontal plane meets the requirements. The visual recognition component recognizes the positioning code on the rotating shaft on the first coiling station and performs positioning, that is, the cantilever shaft 30 and the rotating shaft on the coiling station are aligned. The material blocking motor 180 drives the material blocking plate 170 to retract into the outer peripheral surface of the cantilever shaft 30. The second drive component 110 drives the second tensioning block 90 to slide in the opposite direction along the axial direction of the cantilever shaft 30. Under the action of the elastic member, the first tensioning block 80 slides in the opposite direction along the first direction M1 and retracts into the outer peripheral surface of the cantilever shaft 30, and the first tensioning block 80 is separated from the coil. The third drive assembly 154 drives the clamping jaws 140 to clamp the reel. The moving member 130 drives the clamping jaws 140 to move axially along the cantilever shaft 30. The clamping jaws 140 clamp the reel near the adjustment plate 20 and push the reel away from the adjustment plate 20 onto the reeling table. The moving member 130 then moves, driving the remaining reel to the end of the cantilever shaft 30 near the adjustment plate 20. The clamping jaws 140 release the reel, the first tensioning block 80 tightens the reel, and the retaining plate 170 extends outward from the outer circumference of the cantilever shaft 30.

[0170] Second feeding: The AGV chassis 10 leaves the first coil station and drives to the vicinity of the second coil station. The second feeding process is the same as the feeding process of moving the coil from a buffer station to a coil station, which will not be repeated here.

[0171] The process of moving the coils on multiple buffer tables to multiple coil tables is described as follows. The embodiment of the present application takes the process of moving one coil on two buffer tables to two coil tables as an example.

[0172] First material retrieval: This process is the same as the material retrieval process of moving multiple coils on a buffer table to multiple coil tables, and will not be repeated here.

[0173] Second material retrieval: The AGV chassis 10 leaves the first cache station and drives to the vicinity of the second cache station. When the AGV chassis 10 drives to the vicinity of the cache station, the cantilever shaft 30 moves to the specified height. The horizontal sensor measures the angle between the axial direction of the cantilever shaft 30 and the horizontal plane so that the angle between the axis of the cantilever shaft 30 and the horizontal plane meets the requirements. Then the material blocking motor 180 drives the material blocking plate 170 to retract into the outer circumference of the cantilever shaft 30, and the cantilever shaft 30 is inserted into the reel on the second cache station. The second drive assembly 110 drives the first tensioning block 80 to slide along the first direction M1 to tighten the coil. The material blocking motor 180 drives the material blocking plate 170 to rotate in the opposite direction, and the material blocking plate 170 extends out of the outer circumference of the cantilever shaft 30.

[0174] First feeding: This process is the same as the first feeding process of moving multiple coils on a buffer table to multiple coil tables, and will not be repeated here.

[0175] Second feeding: This process is the same as the second feeding process of multiple coils on a buffer table moving multiple coil tables, and will not be repeated here.

[0176] In the description of this specification, specific features, structures, materials or characteristics may be combined in an appropriate manner in any one or more embodiments or examples.

[0177] The above description is merely a specific embodiment of the present application, but the scope of protection of the present application is not limited thereto. Any changes or substitutions that a person skilled in the art can conceive within the technical scope disclosed in this application should be included within the scope of protection of the present application. Therefore, the scope of protection of the present application should be based on the scope of protection of the claims.

[0178] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. An AGV cantilever vehicle, characterized in that: include: AGV chassis vehicle; An adjustment plate is located above the AGV chassis and is arranged on the AGV chassis; the adjustment plate can rotate around a first axis; A cantilever shaft is located above the AGV chassis; 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 and on the side of the adjustment plate away from the cantilever axis; the first drive assembly is arranged on the AGV chassis and is configured to drive the adjustment plate to rotate around a first axis to adjust the angle between the cantilever axis and the horizontal plane.

2. The AGV cantilever vehicle according to claim 1, characterized in that: The AGV cantilever vehicle also includes: A first connecting rod, located between the adjusting plate and the first driving assembly, with one end hinged to the adjusting plate and the other end hinged to the first driving assembly; The first driving assembly is connected to the AGV chassis vehicle.

3. The AGV cantilever vehicle according to claim 2, characterized in that: The AGV cantilever vehicle also includes: a level sensor, fixedly mounted on the cantilever shaft and electrically connected to the first drive assembly, and configured to measure an angle between the axis of the cantilever shaft and the horizontal plane; Wherein, the first driving component drives the adjustment plate to rotate around the first axis according to the angle measured by the horizontal sensor.

4. The AGV cantilever vehicle according to claim 1, characterized in that: The AGV cantilever vehicle also includes: Two support columns are located above the AGV chassis and on the side of the adjustment plate away from the cantilever axis; the support columns extend in the vertical direction, the support columns are fixedly connected to the AGV chassis, and the two support columns are respectively arranged on opposite sides of the AGV chassis; The first fixed plate is located between the two support columns and the adjustment plate. The first fixed plate is installed on the support columns. The first fixed plate is hinged to the adjustment plate so that the adjustment plate can rotate around the first axis. The first driving assembly is arranged on the first fixed plate.

5. The AGV cantilever vehicle according to any one of claims 1 to 4, characterized in that: The cantilever shaft is provided with a first through hole and a second through hole, the first through hole penetrates the cantilever shaft along the axial direction of the cantilever shaft, and the second through hole penetrates the cantilever shaft along a first direction; the first direction intersects with the axis of the cantilever shaft; The AGV cantilever vehicle also includes: A first tensioning block, partially located in the first through hole and partially located in the second through hole, and capable of sliding along the first direction; A second tensioning block is located in the first through hole and can slide axially along the cantilever shaft; the second tensioning block includes a side wall, the side wall forms an angle with the axis of the cantilever shaft, the side wall abuts against the first tensioning block to drive the second tensioning block to slide along the first direction, so that the first tensioning block partially extends out of the outer peripheral surface of the cantilever shaft; The second driving assembly is partially located in the first through hole and fixed on the cantilever shaft, and is configured to drive the second tensioning block to slide axially along the cantilever shaft.

6. The AGV cantilever vehicle according to claim 5, characterized in that: The AGV cantilever vehicle also includes two tensioning sliders, a tensioning guide rail and a fixing bar; The two tensioning sliders are spaced apart along the axial direction of the cantilever shaft and are fixedly connected to the inner wall of the cantilever shaft; The tensioning guide rail is located in the first through hole and extends along the axial direction of the cantilever shaft. The tensioning guide rail is slidably connected to the tensioning slider.

7. The AGV cantilever vehicle according to claim 5, characterized in that: The first tensioning block comprises: a first sub-portion, at least partially located in the second through hole; A second sub-section is located in the first through hole and connected to one end of the first sub-section along the first direction, and along the axial direction of the cantilever shaft, at least a portion of the size of the second sub-section is larger than the size of the first sub-section; The AGV cantilever vehicle also includes: 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 can generate a force to move the first tensioning block closer to the axis of the cantilever shaft.

8. The AGV cantilever vehicle according to claim 5, characterized in that: The first tensioning block further includes: a third sub-section, the third sub-section being located on a side of the first sub-section away from the second sub-section and connected to the first sub-section; The AGV cantilever vehicle further includes a linear bearing, and the linear bearing is installed in the second through hole; One end of the elastic member abuts against one end of the second sub-part close to the first sub-part, and the other end abuts against the linear bearing.

9. The AGV cantilever vehicle according to any one of claims 1 to 4, characterized in that: The AGV cantilever vehicle also includes: A moving member, surrounding a portion of the cantilever shaft and being slidably connected to the cantilever shaft; Two clamping jaws are located on a side of the moving member away from the adjusting plate; the two clamping jaws are respectively arranged on both sides of the cantilever shaft and are respectively connected to the moving member so that the clamping jaws can rotate in a direction away from or close to the cantilever shaft; The first driving mechanism is arranged on a surface of the moving member away from the adjusting plate, and is configured to drive the clamping claw to rotate in a direction away from or close to the cantilever axis.

10. The AGV cantilever vehicle according to claim 9, characterized in that: The moving part comprises: A moving rack, two moving gears, a moving motor, a moving guide rail and a moving slide; The movable rack extends along the axial direction of the cantilever shaft and is installed on the outer peripheral surface of the cantilever shaft; A moving gear is meshed with the moving rack, and a moving motor is installed on the moving member and fixedly connected with another moving gear; The movable guide rail extends along the axial direction of the cantilever shaft and is fixedly arranged on the outer peripheral surface of the cantilever shaft, and the movable guide rail portion is located between the movable member and the cantilever shaft; The moving slide block is slidably installed with the moving guide rail and is fixedly connected with the moving part.

11. The AGV cantilever vehicle according to claim 9, characterized in that: The first driving mechanism comprises: The fixing block comprises a guide rail portion and a fixing portion; the guide rail portion is arranged on a surface of the moving member away from the adjusting plate, and the guide rail portion extends radially along the cantilever axis; the fixing portion is arranged on a surface of the guide rail portion close to the cantilever axis and is located between the two clamping jaws, and the fixing portion is hinged to the clamping jaws so that the clamping jaws can rotate in a direction away from or close to the cantilever axis; A slider, slidably connected to the guide rail portion; Two second connecting rods are respectively arranged on both sides of the fixed block along the direction perpendicular to the extension of the guide rail portion; one end of the second connecting rod is connected to the The slider is hinged, and the other end is hinged to the clamping claw located on the same side of the fixed block; The third driving component is disposed on the moving member and is configured to drive the sliding block to slide radially along the cantilever axis.

12. The AGV cantilever vehicle according to claim 11, characterized in that: The third driving assembly includes: a clamping rack, a clamping gear, a clamping motor and an electric cylinder; The extending direction of the clamping rack is the same as the extending direction of the guide rail portion, and is fixedly connected to the slider; The clamping gear is meshed and installed with the clamping rack; The clamping motor is installed on the moving part and is fixedly connected to the clamping gear; The electric cylinder is installed on the moving part and is fixedly connected to the sliding block.

13. The AGV cantilever vehicle according to claim 12, characterized in that: The AGV cantilever vehicle also includes: A pusher block is fixed on the clamping jaw, and an end thereof away from the clamping jaw is farthest from the moving part; Wherein, the material of the pusher block includes elastic material.

14. The AGV cantilever vehicle according to any one of claims 1 to 4, characterized in that: The AGV cantilever vehicle also includes: A material blocking plate is located on a side of the cantilever shaft away from the adjustment plate and rotates around a second axis to extend out of or retract into an outer peripheral surface of the cantilever shaft; The second axis is parallel to the axis of the cantilever axis and is spaced apart from each other.

15. The AGV cantilever vehicle according to any one of claims 1 to 4, characterized in that: The AGV cantilever vehicle also includes: a material blocking motor and an optical sensor; The material blocking motor is located in the first through hole and fixed on the cantilever shaft, and the material blocking motor is used to drive the material blocking plate to rotate along the second axis; The optical sensor is connected to the material blocking motor and is used to detect the position of the material blocking plate. The number of the optical sensors is two.

16. The AGV cantilever vehicle according to any one of claims 1 to 4, characterized in that: The AGV cantilever vehicle further includes: a plurality of roller bearings; The plurality of roller bearings are mounted on the 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 distributed at intervals along the axial direction of the cantilever shaft and are evenly distributed along the circumferential direction of the cantilever shaft.

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