CN120246747B

CN120246747B - An automated equipment for stacking composite sheet coils off-line

Info

Publication number: CN120246747B
Application number: CN202510736431.2A
Authority: CN
Inventors: 邵健锋; 陈俊吉; 王焜; 缪欣呈
Original assignee: Shenzhen Jintian International Intelligent Robot Co ltd
Current assignee: Shenzhen Jintian International Intelligent Robot Co ltd
Priority date: 2025-06-04
Filing date: 2025-06-04
Publication date: 2025-08-05
Anticipated expiration: 2045-06-04
Also published as: CN120246747A

Abstract

The invention discloses automatic equipment for discharging and stacking composite plate coiled materials, which comprises a coiling machine, an automatic guide vehicle with a coiling clamp, a formed coiled material overturning structure, a conveyor, a stacking guide vehicle with a stacking clamp and a tray, wherein the coiling machine is used for placing formed coiled materials, the automatic guide vehicle with the coiling clamp is used for clamping the formed coiled materials on the coiling machine and moving to the position of the formed coiled material overturning structure, placing the formed coiled materials on the formed coiled material overturning structure, the formed coiled material overturning structure is used for overturning the formed coiled materials and conveying the formed coiled materials by the conveyor, and the stacking guide vehicle with the stacking clamp is used for taking off the formed coiled materials from the conveyor and moving the formed coiled materials to the tray for stacking. The equipment provided by the invention can be used for improving the automation and intelligence level of the composite board offline process, reducing the manual intervention and improving the efficiency and accuracy.

Description

Automatic equipment for coil material discharging and stacking of composite boards

Technical Field

The invention relates to the technical field of wind driven generator blade production, in particular to automatic equipment for off-line stacking of composite board coiled materials.

Background

In the wind industry, the size of wind turbine blades is typically between 40 meters and 90 meters. As a raw material for producing the blade, the composite board needs to be produced in whole according to the length of the blade. For ease of transportation and storage, the composite sheet is typically wound into a round roll by a winder. However, at present, most of coil stock discharging procedures in composite board production workshops in China mainly depend on manual operation, and coil stock discharging and stacking are usually completed by manual hoisting or a mechanical arm combination mode. One production plant is usually provided with a plurality of production lines, and the specifications of coil stocks produced by different production lines are different, so that the coil stocks with different specifications need to be classified, ordered and stacked according to the requirements of the blade production process.

The traditional manual operation mode has a plurality of problems, firstly, the manual labor intensity is high, the efficiency is easy to be reduced and the error rate is easy to be increased after long-term work, and secondly, the manual operation is high in cost and low in operation efficiency. Particularly in a large-scale production environment, manual operation cannot meet the high-efficiency and accurate production requirements, so that the overall production efficiency is low, and accurate coil stock classification and stacking are difficult to realize.

Therefore, a new device is necessary to be designed, the automation and intelligence level of the composite board offline process is improved, the manual intervention is reduced, and the efficiency and the accuracy are improved.

Disclosure of Invention

The invention aims to overcome the defects of the prior art and provides automatic equipment for winding and stacking of composite board rolls.

The automatic equipment comprises a winding machine, an automatic guiding vehicle with a winding taking clamp, a formed winding turning structure, a conveyor, a winding taking platform, a stacking guiding vehicle with a stacking clamp and a tray, wherein the winding machine is used for placing formed winding; the automatic guide vehicle with the winding clamp is used for clamping the formed coil on the winding machine, moving to the position of the formed coil overturning structure, placing the formed coil on the formed coil overturning structure, overturning the formed coil, conveying the formed coil to the winding station by the conveyor, and stacking the formed coil from the winding station by the stacking guide vehicle with the stacking clamp, and moving to the tray for stacking.

The automatic guiding vehicle with the coil taking clamp comprises a coil taking automatic guiding vehicle and a coil taking clamp, wherein the coil taking clamp comprises a support, a material taking structure, a cargo carrying detection structure and a driving structure, the material taking structure is assembled on one side of the support, the driving structure is assembled on the support, the driving structure is connected with the material taking structure, the cargo carrying detection structure is assembled on the material taking structure, the coil taking clamp comprises a first AGV body, a lifting mechanism and a scissor fork mechanism, the lifting mechanism is assembled on the first AGV body, the scissor fork mechanism is connected with the lifting mechanism, and the support is connected with the scissor fork mechanism.

The cargo carrying detection structure is characterized in that the material taking structure comprises an upper material taking claw, a lower material taking claw and a sliding assembly, the sliding assembly is connected with the support, the upper material taking claw and the lower material taking claw are respectively connected with the sliding assembly, and the cargo carrying detection structure is respectively arranged on the upper material taking claw and the lower material taking claw.

The cargo carrying detection structure comprises a first detection plate, a first elastic piece, a first proximity switch, a first connecting rod and a first shell, wherein the first detection plate is connected above the first shell, the first elastic piece is inserted into the first shell, the upper end of the first elastic piece extends out of the first shell and is connected with the first detection plate, the first connecting rod penetrates through the first elastic piece, the upper end of the first connecting rod is connected with the first detection plate, the first proximity switch is located on one side of the first shell, and the first shell is assembled on the material taking structure.

The forming coil material overturning structure comprises a base, a conveying assembly, an overturning assembly and a guard plate assembly, wherein the guard plate assembly is assembled on the conveying assembly, the conveying assembly is connected with the overturning assembly, and the overturning assembly is assembled on the base.

The turnover assembly comprises a turnover power source and a turnover push rod, wherein the turnover power source is assembled on the base, the turnover power source is connected with the turnover push rod, and the turnover push rod is connected with the conveying assembly.

The stacking guide vehicle with the stacking clamp comprises a stacking clamp and a second AGV body, wherein the stacking clamp comprises a stacking material component, a stacking support and a stacking driving component, the stacking material component is connected with the stacking driving component, the stacking driving component and the stacking material component are respectively assembled on the stacking support, and the stacking support is connected with the second AGV body.

The technical scheme is that the stacking and coiling material assembly comprises a stacking and left material taking claw, a stacking and right material taking claw and a stacking and coiling sliding assembly, wherein the stacking and left material taking claw and the stacking and right material taking claw are respectively assembled on the stacking and coiling sliding assembly, and the stacking and coiling sliding assembly is connected to the stacking and coiling bracket.

The technical scheme is that the pile driving assembly comprises a pile power source, a second speed reducer, a second coupler, a second screw rod fixing seat, a second screw rod and a second connecting piece, wherein the pile left material taking claw and the pile right material taking claw are respectively connected with the second connecting piece, the pile power source is connected with the second speed reducer, the second speed reducer is connected with the second coupler, the second coupler is connected with the second screw rod, the second screw rod is connected with the pile support through the second screw rod fixing seat, and the second connecting piece is connected with the second screw rod.

The technical scheme is that the automatic stacking and lifting device further comprises a stacking and lifting assembly, wherein the stacking and lifting assembly is connected with the stacking and lifting support, and the stacking and lifting assembly is connected with the second AGV body.

Compared with the prior art, the invention has the beneficial effects that the automation and the intellectualization level of the offline procedure are obviously improved by integrating various automation devices. The automatic guide vehicle with the coil taking clamp clamps the formed coil and accurately transmits the formed coil to the formed coil overturning structure, the conveyer conveys the overturned coil to the coil taking platform, and finally the stack guide vehicle with the coil taking clamp automatically stacks the coil to the tray, so that manual intervention is effectively reduced, working efficiency and accuracy are improved, manual operation errors are reduced, logistics and stacking flow of a composite board production workshop are optimized, and production efficiency and overall intelligent level are improved.

The invention is further described below with reference to the drawings and specific embodiments.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the description of the embodiments will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

Fig. 1 is a schematic perspective view of an automatic device for winding composite boards off-line stacking according to an embodiment of the present invention;

FIG. 2 is a schematic layout view of an automatic device for stacking and feeding composite board rolls in a production line according to an embodiment of the present invention;

fig. 3 is a schematic perspective view of an automatic guiding vehicle with a roll-taking clamp according to an embodiment of the present invention;

FIG. 4 is a schematic side view of an automatic guiding vehicle with a roll-taking clamp according to an embodiment of the present invention;

FIG. 5 is a schematic drawing I of an automatic guiding vehicle with a roll-taking clamp according to an embodiment of the present invention;

FIG. 6 is a second view of an automatic guided vehicle with a take-up clamp according to an embodiment of the present invention;

Fig. 7 is a schematic perspective view of a coil picking clamp according to an embodiment of the present invention;

FIG. 8 is a schematic diagram of an exploded view of a take-up clamp according to an embodiment of the present invention;

FIG. 9 is a schematic diagram of an exploded view of a first cargo detection structure according to an embodiment of the present invention;

Fig. 10 is a schematic perspective view of a turnover structure of a forming coil according to an embodiment of the present invention;

FIG. 11 is a schematic side view of a turnover structure of a forming coil in a vertical state according to an embodiment of the present invention;

FIG. 12 is a schematic side view of a turnover structure of a forming coil in a horizontal state according to an embodiment of the present invention;

fig. 13 is a schematic perspective view of a stacking guide vehicle with a stacking clamp according to an embodiment of the present invention;

FIG. 14 is a schematic side view of a stacker guide cart with a stacker clip according to an embodiment of the present invention;

fig. 15 is a schematic perspective view of a stacking clamp according to an embodiment of the present invention;

FIG. 16 is a schematic view of a structure of a stacking clamp according to an embodiment of the present invention;

FIG. 17 is a schematic view of a second cargo detection assembly according to an embodiment of the present invention;

FIG. 18 is a perspective view of a stacking process of a stacker guide cart with a stacking clamp according to an embodiment of the present invention;

the figure identifies the description:

1. Forming a coil; 2, a winding machine; 10, a coil taking clamp; 11, upper pick-up claw, 12, lower pick-up claw, 13, first cargo detection structure, 131, first pick-up plate, 132, first elastic member, 134, first door frame, 23, scissor fork mechanism, 133, first link, 135, first housing, 14, drive structure, 141, drive motor, 142, speed reducer, 143, 144, screw mount, 145, left-handed nut, 146, screw, 147, right-handed nut, 15, camera device, 151, camera, 152, mounting seat, 153, adjusting plate, 154, second elastic member, 16, bracket, 21, first AGV body, 22, lifting mechanism, 221, lifting power source, 222, first door frame, 23, scissor fork mechanism, 231, telescoping power source, 232, carriage, 233, scissor fork arm, 24, first navigation module, 25, first barrier radar, 30, stack clamp, 31, stack left-reel, 32, stack reel claw, 33, detection assembly, 331, second plate, 332, third elastic member, 334, second door frame, 22, lifting power source, 221, lifting power source, 222, first door frame, second door frame, 23, second door frame, third door frame, fourth frame, third door frame, fourth frame third door frame, fourth frame third frame, fourth frame, fourth frame third frame, fourth frame fourth, fourth frame fourth, fourth, fourth fifth frame, fourth fifth, fifth frame, fifth, to, the automatic guide device comprises a conveying frame, 622, a roller conveying line, 63, a turnover assembly, 631, a turnover power source, 632, a turnover push rod, 64, a guard plate assembly, 641, a guard plate, 642, a turnover plate power assembly, 643, a connecting frame, 65, a discharging table, 100, an automatic guide vehicle with a coil taking clamp, 110, a formed coil turnover structure, 120, a conveyor, 130, a coil taking table and 140, and a stacking guide vehicle with a coil stacking clamp.

Detailed Description

The following description of the embodiments of the present invention will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are some, but not all embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.

It should be understood that the terms "comprises" and "comprising," when used in this specification and the appended claims, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.

It is also to be understood that the terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used in this specification and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise.

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

In the wind power industry, composite boards are used for producing blades, but coil stock of a current production workshop is mainly subjected to manual operation, so that the labor intensity is high, the efficiency is low, the cost is high, accurate classification and stacking are difficult to realize, and the high-efficiency requirement of large-scale production cannot be met.

Therefore, the embodiment of the invention provides the automatic equipment for the coil material offline stacking of the composite board, which can improve the automation and the intellectualization level of the offline process of the composite board, reduce the manual intervention and improve the efficiency and the accuracy.

Specifically, the composite board coil stock offline stacking automation equipment realizes an efficient automatic production process through a plurality of automation modules and an intelligent control system. Firstly, the equipment automatically completes the steps of clamping, overturning, conveying and the like of the coil stock through the parts of the coiling machine 2, the automatic guiding vehicle, the formed coil stock overturning structure 110 and the like, thereby reducing manual intervention. In particular, the automatic guide car 100 and the stacking guide car with the coil picking clamp can accurately carry coil materials to a specified position, and complete the stacking process through the stacking clamp, so that the stacking accuracy and consistency are ensured. At the same time, the first load detection structure 13 and the various driving means in the apparatus ensure a precise control and stable operation of the coil stock. Through the automatic links, the production efficiency is improved as a whole, the operation errors are reduced, a higher intelligent level is realized, and the accuracy and the efficiency of the production process are obviously improved.

In order to better understand the above technical solutions, the following detailed description will refer to the accompanying drawings and specific embodiments.

Referring to fig. 1, an automatic composite sheet coil discharging and stacking apparatus includes a winder 2, an automatic guide car 100 with a coil taking clamp, a coil taking turnover structure 110, a conveyor 120, a coil taking station 130, a stacking guide car 140 with a coil stacking clamp, and a tray 50, wherein the winder 2 is used for placing a coil 1, the automatic guide car 100 with the coil taking clamp is used for clamping the coil 1 on the winder 2 and moving to a position where the coil taking turnover structure 110 is located to place the coil 1 on the coil taking turnover structure 110, the coil taking turnover structure 110 is used for turning over the coil 1 and transmitting the coil to the coil taking station 130 by the conveyor 120, and the stacking guide car 140 with the coil taking clamp is used for taking off the coil 1 from the coil taking station 130 and moving to the tray 50 for stacking.

In the present embodiment, the automatic guiding vehicle 100 with a winding clamp is responsible for clamping the formed coil 1 from the winding machine 2 and conveying the formed coil to the formed coil turning structure 110, the formed coil turning structure 110 turns the coil from the vertical state to the horizontal direction, and the conveyor 120 transfers the turned coil to the winding station 130. The take-up station 130 provides a roll take-up location for a stack leader car 140 with a stack gripper. The stacker guide cart 140 with the stacking clamp is responsible for stacking the rolls to a designated storage location.

Through promoting automation, intellectuality and the precision of composite board production offline, rely on manual operation, inefficiency, accuracy is not enough and manpower resources are with high costs scheduling problem among the solution prior art. Specifically, the invention provides equipment, an application method and a system for the functions of reeling, transferring and stacking of composite boards, which are specially applied to the production of the composite boards and aim at optimizing and improving the production efficiency and the management level.

The application object is mainly the wind power industry, and the process of rolling down the composite board is automatically and intelligently completed in a composite board production workshop. The system has the working flow that an automatic guide car 100 with a coil taking clamp clamps a formed coil 1 from a coiling machine 2 of a composite board production line, the formed coil is conveyed to a formed coil overturning structure 110, the formed coil overturning structure 110 overturns the coil by 90 degrees, then the coil is transported to a coil taking platform 130 through a conveyor 120, and a stacking guide car 140 with a stacking clamp takes the coil from the coil taking platform 130 and stacks the coil. The system also integrates a Warehouse Management System (WMS), a Warehouse Control System (WCS) and a production management system (MES), realizes automatic unreeling of the composite board production line through production information and manual PDA ordering, and classifies, sorts and stacks the coiled materials according to the production information.

The problems of efficiency reduction and error increase caused by long-time manual work in the traditional manual unreeling operation are solved, the labor cost is high in a large-scale production environment, and the overall operation efficiency is low. By the method, automation and intellectualization are realized in the process of unreeling the composite board workshop, the production efficiency is greatly improved, and the labor cost is reduced.

The layout of the apparatus of this embodiment on the whole production line is shown in fig. 2, and the docking station of the stack guide cart 140 with the stacking clamp is used for stacking AGVs for forming stacks of rolls 1, and is used for an AGV charging area, a stack stock area for forming rolls 1, and a control center. The specific flow is as follows:

The automatic guiding vehicle 100 for dispatching the winding clamp goes to the station of the winding machine 2, the winding material is manually bundled and stranded to confirm whether the winding condition is provided, the automatic guiding vehicle 100 with the winding clamp checks whether the winding condition is provided, if the winding condition is provided, the winding material is clamped, and if the winding condition is not provided, the winding material is waited. The automatic guiding vehicle 100 with the coil-taking clamp clamps the coil, and then conveys the coil to the formed coil turning structure 110 for discharging.

The forming roll overturning structure 110 overturns the roll from a vertical state to a horizontal state. The conveyor 120 transfers the flipped rolls to the take-up station 130.

The stack guide car 140 with the stack clamp stands by to manually confirm whether the stack condition is met, and if so, the stack guide car 140 with the stack clamp carries the coil stock to a designated stack position.

After each link is completed, the system receives the feedback of the related operation, and ensures the completion of the roll-down task.

The automatic guiding vehicle 100 with the coil picking clamp firstly receives tasks, goes to the winding machine 2 to pick up coils, and is conveyed to the forming coil overturning structure 110 after the completion of the coil picking, the forming coil overturning structure 110 overturns the coils by 90 degrees and transmits the coils to the coil picking platform 130 through the conveyor 120, and the stacking guiding vehicle 140 with the stacking clamp confirms stacking conditions after receiving information to complete stacking operation.

The automatic guided vehicle 100 with the winding clamp performs the winding operation by judging whether the winding condition is provided or not, and feeds back to the system after completion. The roll-turning structure 110 turns the roll to the horizontal direction, and the conveyor 120 completes the roll transfer. The stacker guide cart 140 with the stacker gripper stacks the rolls to a designated storage area according to system instructions.

Through the process, the system can efficiently finish the tasks of coil stock off-line, carrying and stacking, and ensures that the whole production process runs automatically and intelligently.

Referring to fig. 3 to 7, an automatic guiding vehicle 100 with a roll taking fixture includes an automatic guiding vehicle for taking rolls and a roll taking fixture 10, wherein the roll taking fixture 10 includes a bracket 16, a material taking structure, a first load detecting structure 13 and a driving structure 14, the material taking structure is assembled on one side of the bracket 16, the driving structure 14 is assembled on the bracket 16, the driving structure 14 is connected with the material taking structure, and the first load detecting structure 13 is assembled on the material taking structure. The automatic coil taking guide vehicle comprises a first AGV body 21, a lifting mechanism 22 and a scissor fork mechanism 23, wherein the lifting mechanism 22 is assembled on the first AGV body 21, and the scissor fork mechanism 23 is connected with the lifting mechanism 22. The carriage 16 is connected to the scissor fork mechanism 23.

In this embodiment, the bracket 16 is the support structure for the entire unwind stand 10 that provides both a securing and support function for the various components of the stand. The structural design of the bracket 16 is required to ensure that the clamp is stable during operation and is capable of withstanding a certain weight and force for efficient coil handling operations.

The take-off structure is the most critical part of the take-off clamp 10 and includes an upper take-off jaw 11 and a lower take-off jaw 12. The upper and lower discharge fingers 11, 12 are mounted on one side of the frame 16 and are typically coupled to the frame 16 by linear guide slides so as to effect clamping and unclamping under the influence of the drive mechanism 14. By controlling the opening and the retraction of the upper and lower material taking claws 12, the material taking structure can clamp or unclamp the coil material, thereby realizing the grabbing and releasing of the coil material.

In the material taking structure, an upper material taking claw 11 and a lower material taking claw 12 are respectively connected with a left-handed nut 145 and a right-handed nut 147, and under the action of a driving motor 141, the material taking claws are driven to synchronously open and retract by forward and reverse rotation of a screw rod 146. This ensures that the clamp is able to effectively grip the roll and complete the take-out operation.

The first load detection structure 13 is used to detect whether the take-out claw has properly gripped the coil stock. This is accomplished by a compression spring and a first sensing plate 131 connected to the take-off pawl. When the take-out claw clamps the coil stock, the coil stock compresses the spring, so that the first detection plate 131 moves, and the first proximity switch 134 is triggered, and a signal is generated to confirm that the coil stock is clamped. Conversely, when the take-out claw is released, the spring will rebound, the first detection plate 131 returns to its original position, and the first proximity switch 134 turns off the signal, confirming that the roll has been released.

The drive structure 14 is the power source for the entire unwind stand 10. It mainly comprises driving motor 141, speed reducer 142, shaft coupling 143, lead screw 146 etc. through driving motor 141 drive speed reducer 142, and then drive the rotation of lead screw 146. The screw rod 146 is connected with a left-handed nut 145 and a right-handed nut 147 of the material taking claw, and the material taking claw is driven to open and close by the rotation of the screw rod 146, so that the coiled material is clamped and loosened.

The driving motor 141 drives the screw rod 146 to rotate forward and backward, and drives the material taking claw to synchronously open and retract. This action can be adjusted as required to accommodate rolls of different specifications. The clamp can monitor in real time whether the coil stock is properly clamped by the spring of the first cargo detecting structure 13 and the first detecting plate 131, and ensure that the clamp does not unwind the coil stock during handling. The synchronous action of the upper and lower discharge claws 11 and 12 ensures that the clamp can stably grasp and release the coil stock without damaging the coil stock.

The camera device 15 determines whether the docking position of the reel-taking jig 10 is accurate in real time by scanning the two-dimensional code. This enables the clamp to be accurately docked with the coil stock, ensuring the accuracy of the operation.

In summary, the design concept of the coil picking fixture 10 is to implement automatic coil picking and carrying in the production process of composite boards through the integrated driving structure 14, the material picking structure, the first cargo detecting structure 13 and the camera 151 positioning system, so as to improve the production efficiency and reduce the complexity and risk of manual operation.

In an embodiment, referring to fig. 8, the material taking structure includes an upper material taking claw 11, a lower material taking claw 12, and a sliding assembly connected to a bracket 16, wherein the upper material taking claw 11 and the lower material taking claw 12 are respectively connected to the sliding assembly, and the upper material taking claw 11 and the lower material taking claw 12 are respectively provided with a first cargo detecting structure 13.

In the present embodiment, the upper and lower take-out claws 11 and 12 function to hold or take out and put out the coil material to be processed.

In one embodiment, the outer end of the upper pick-up claw 11 extends upward to form an upper baffle, and the outer end of the lower pick-up claw 12 extends downward to form a lower baffle, where the upper baffle and the lower baffle can block the formed coil 1.

The sliding component is connected with the bracket 16, and the sliding component is used for supporting the sliding movement of the upper material taking claw 11 and the lower material taking claw 12 in the vertical direction or other directions, so as to ensure the smooth proceeding of the material taking process.

The jaws are also provided with first load detection formations 13 which detect whether the web has been gripped to ensure that the gripper is working properly.

In an embodiment, referring to fig. 8, the sliding assembly includes a sliding rail and a sliding block, the sliding rail is connected to the bracket 16, the sliding block is slidably connected to the sliding rail, and the upper material taking claw 11 and the lower material taking claw 12 are respectively connected to the sliding block.

In this embodiment, the slide rail is fixed to the bracket 16 to provide a sliding path.

The sliding block is in sliding connection with the sliding rail and can freely slide along a specific track on the sliding rail. The upper material taking claw 11 and the lower material taking claw 12 are respectively connected with the sliding block, and the height or the position of the material taking claw is adjusted by utilizing the movement of the sliding block, so that the purpose of taking materials is achieved.

In an embodiment, referring to fig. 8 to 9, the first cargo detecting structure 13 includes a first detecting plate 131, a first elastic member 132, a first proximity switch 134, a first connecting rod 133, and a first housing 135, wherein the first detecting plate 131 is connected above the first housing 135, the first elastic member 132 is inserted into the first housing 135, the upper end of the first elastic member 132 extends out of the first housing 135 to connect with the first detecting plate 131, the first connecting rod 133 passes through the first elastic member 132, the upper end of the first connecting rod 133 is connected with the first detecting plate 131, the first proximity switch 134 is located at one side of the first housing 135, and the first housing 135 is assembled on the material taking structure.

In one embodiment, referring to fig. 9, the first elastic member 132 includes a spring.

In this embodiment, the first cargo detecting structure 13 is designed to detect whether a coiled material or an article is clamped, so as to ensure that the material taking clamp can accurately determine whether the material has been gripped when performing the material taking operation. First test panel 131 is one of the key components of first load test structure 13. The main function of the device is to contact with the coiled material, and whether the article is clamped or not is judged through the change of the position or the state of the device. The first sensing plate 131 is typically mounted above the first housing 135 so as to be in direct contact with the material. The first detection plate 131 may be shifted according to the weight or position change of the roll material, and a signal may be transmitted to the first proximity switch 134.

When the material is gripped, the position of the first detecting plate 131 is changed, the first proximity switch 134 is triggered, and the system can determine whether the material is gripped.

The first elastic member 132 is a spring installed between the first detection plate 131 and the first housing 135, and functions to provide a restoring force. When the first detecting plate 131 is displaced due to contact of materials, the first elastic member 132 provides elastic force to restore the first detecting plate 131 to the original position. The spring can ensure that the first detection plate 131 is always in an initial state under the condition of no material, and when the material is clamped, the first detection plate 131 can deflect, so that a corresponding detection signal is triggered.

The first elastic member 132 is used for enabling the first detecting plate 131 to flexibly respond when the material is clamped, and to recover the original position after the material is removed, so as to ensure the accuracy and stability of each detection.

The first proximity switch 134 is a sensing assembly in the first cargo detection structure 13. Which is located at one side of the first housing 135 for detecting a change in the position of the first detection plate 131. The first proximity switch 134 can sense the offset or contact state of the first detecting plate 131, and when the first detecting plate 131 changes due to the contact of the material, the first proximity switch 134 sends a signal to feed back whether the material is clamped or not to the control system.

The first proximity switch 134 is responsible for monitoring the position change of the first detection plate 131 in real time. It signals when the first sensing plate 131 is offset to determine whether material has been gripped. By means of the signal, the system can judge whether the material taking process is carried out smoothly.

The first connecting rod 133 is used to connect the first elastic member 132 and the first detecting plate 131, and penetrates the spring, and links the first detecting plate 131 with other components (such as the driving structure 14). The first connecting rod 133 functions to transmit the elastic force of the first elastic member 132 to the first sensing plate 131 and to transmit the movement of the first sensing plate 131 to the first proximity switch 134. The design ensures the tight connection between the first detection plate 131 and the spring, and ensures that the system can work normally in the material clamping process.

The first connecting rod 133 is connected with the first detection plate 131 through a spring, so that the elastic force of the spring can effectively act on the first detection plate 131, and meanwhile, the movement of the first detection plate 131 is transmitted to the first proximity switch 134, so that the monitoring of the material taking process is facilitated.

The first housing 135 serves primarily as a support and protection for the outer frame of the first cargo detecting structure 13. All of the components are assembled within the first housing 135. The first housing 135 not only provides support for these components, but also ensures that they remain stable during use, avoiding the effects of external factors on their performance.

The first housing 135 functions to provide a stable structure for receiving and protecting the internal components of the first sensing plate 131, the springs, the first proximity switch 134, etc., and to ensure that they perform the cargo sensing task accurately and stably.

The first detection plate 131 is mounted above the first housing 135 to ensure direct contact with the object to be detected. The first elastic member 132 is inserted into the first housing 135, and its upper end extends to the outside of the first housing 135, and is connected to the first detection plate 131, so as to restore the position of the first detection plate 131. The first connecting rod 133 penetrates the spring, and the upper end thereof is connected with the first detecting plate 131, so that the elastic force of the spring can be transmitted to the first detecting plate 131. The first proximity switch 134 is installed at one side of the first housing 135, and is responsible for monitoring the position change of the first sensing plate 131 in real time.

The first cargo detecting structure 13 of this embodiment is skillfully designed to combine the components such as the spring, the first detecting plate 131, the first connecting rod 133, the first proximity switch 134, etc., and the flexible response and the restoring capability of the first detecting plate 131 in the process of clamping the article are ensured by the elastic force provided by the spring. The first proximity switch 134 can timely feed back whether the article is clamped, so that the whole system can work efficiently and accurately. The first housing 135 then acts as a support, protection and stabilization assembly, ensuring long term stable operation of the system.

The first cargo detecting structure 13 is respectively fixed on the upper material taking claw 11 and the lower material taking claw 12, and is opened along with the action of the material taking claws, when the first detecting plate 131 moves in contact with the coil material compression spring, the first detecting plate 131 triggers the first proximity switch 134 to judge whether the coil material is clamped in place, the material taking claws retract, the spring rebounds the first detecting plate 131 to move back, and the first proximity switch 134 turns off signals.

In an embodiment, referring to fig. 8, the driving structure 14 includes a driving motor 141, a speed reducer 142, a coupling 143, a screw holder 144, a screw 146 and a connecting member, wherein the upper material taking claw 11 and the lower material taking claw 12 are respectively connected with the connecting member, the driving motor 141 is connected with the speed reducer 142, the speed reducer 142 is connected with the screw 146 through the coupling 143, two ends of the screw 146 are connected with the screw holder 144, the screw holder 144 is fixed on the bracket 16, and the connecting member is connected with the screw 146.

In an embodiment, referring to fig. 5, the connecting piece includes a left-hand nut 145 and a right-hand nut 147, the upper material taking claw 11 is connected with the left-hand nut 145, and the lower material taking claw 12 is connected with the right-hand nut 147.

In this embodiment, the driving structure 14 and the extracting claw are designed mainly to realize an automatic extracting operation, so as to ensure that the materials can be efficiently and accurately extracted and moved.

The driving motor 141 is a core component of the entire driving system and is responsible for providing a power source. It is typically converted to mechanical energy by electrical energy, thereby driving the movement of other components. The rotation of the motor is regulated to a desired speed and torque by the action of the speed reducer 142 to drive the other components of the system.

The speed reducer 142 functions to convert the high-speed rotation output from the driving motor 141 into a lower speed suitable for actual operation while increasing the output torque. The speed reducer 142 is connected to the driving motor 141 and transmits the motion to the screw 146 through the coupling 143.

The coupling 143 serves to connect the speed reducer 142 and the screw 146, and ensures power transmission therebetween. The coupling 143 is able to efficiently transmit torque and allows some degree of error adjustment of the system to avoid damage due to installation misalignment or shaft alignment problems.

The screw 146 is one of the core components of the drive system, which is converted into linear motion by rotational motion. Two ends of the screw rod 146 are fixed on the screw rod fixing seat 144, and the rotation of the screw rod 146 drives the material taking claw connected with the screw rod 146 to move up and down. By rotating the screw 146, the system can achieve precise adjustment of the upper and lower feed fingers 11, 12.

The screw rod fixing seat 144 is used for fixing the screw rod 146, and ensures the stability of the screw rod 146 in the moving process. Both ends of the screw rod 146 are connected with screw rod fixing seats 144, and the screw rod fixing seats 144 are fixed on the bracket 16 again to provide stable support for the whole driving system.

The connector is used to connect the screw 146 and the portion of the take out jaw. Through the connecting piece, the linear motion of the screw rod 146 can directly influence the actions of the upper material taking claw 11 and the lower material taking claw 12, so that the clamping and placing of materials are realized.

The material taking claw comprises an upper material taking claw 11 and a lower material taking claw 12, which are respectively connected with a screw rod 146 through connecting pieces and are matched with different nuts to work.

The upper material taking claw 11 is responsible for grabbing the upper part of the material, and ensures that the material is accurately clamped. Which is connected to a screw 146 by a left-hand nut 145. The rotation of the screw rod 146 pushes the left-hand nut 145 to move, thereby driving the upper material taking claw 11 to move up and down. When the left-hand nut 145 is driven to move in a certain direction by the rotation of the screw rod 146, the upper material taking claw 11 moves along with the screw rod, and the gripping or placing task is completed.

The lower material taking claw 12 is responsible for grabbing the lower portion of the material, opposite to the upper material taking claw 11. The right-handed screw is connected with a screw rod 146 through a right-handed nut 147, and the screw rod 146 rotates to enable the right-handed nut 147 to move on the screw rod 146, so that the lower material taking claw 12 is driven to move up and down. Similar to the upper discharge claw 11, when the right-handed nut 147 rotates along the screw rod 146, the lower discharge claw 12 moves along with the screw rod, and the material taking and placing operation is completed.

The left-hand nut 145 and the right-hand nut 147 are designed to ensure that the upper and lower take-off jaws 11 and 12 can move in a synchronous and reverse direction, thereby achieving a gripping operation. By using left-hand and right-hand nuts 147, respectively, the upper take-off jaw 11 is raised as the left-hand nut 145 moves along the screw 146, while the right-hand nut 147 drives the lower take-off jaw 12 down, and vice versa. This reverse movement ensures that the material is accurately gripped and moved.

The driving motor 141 starts to operate, and after being decelerated by the decelerator 142, drives the coupling 143 to rotate. The coupling 143 transmits power to the screw 146, and the screw 146 starts to rotate. The rotating screw rod 146 drives the left-hand nut 145 and the right-hand nut 147 to move along the axial direction thereof. The left-handed nut 145 drives the upper material taking claw 11 to move up and down, and the right-handed nut 147 drives the lower material taking claw 12 to move up and down. The up-and-down movement of the upper and lower discharge claws 11 and 12 completes the gripping and releasing operation of the material.

In this embodiment, the screw 146 is, but is not limited to, a ball screw.

The driving structure 14 in this embodiment adopts a design of combining a motor, a speed reducer 142, a screw rod 146 and a nut system, so that the material taking claw is ensured to be capable of accurately and synchronously moving, and the task of clamping and releasing materials is efficiently completed. By the design of the left-handed and right-handed nuts 147, the system realizes the reverse synchronous movement of the upper and lower material taking claws 12, and improves the accuracy and efficiency of operation.

In an embodiment, referring to fig. 7 to 8, the above-mentioned reeling clamp 10 further includes a camera device 15, and the camera device 15 is mounted on a stand 16.

In an embodiment, referring to fig. 8, the camera device 15 includes a camera 151 and a mounting base 152, the mounting base 152 is connected to the stand 16, and the camera 151 is connected to the mounting base 152.

In an embodiment, referring to fig. 8, the camera device 15 further includes an adjusting plate 153 and a second elastic member 154, wherein one end of the second elastic member 154 is connected to the mounting base 152, the other end of the second elastic member 154 is connected to the adjusting plate 153, and the camera 151 is mounted on the adjusting plate 153.

In this embodiment, the camera 151 is a core component of the system, and is responsible for scanning the two-dimensional code of the target object and acquiring image information. In this embodiment, the camera 151 is mainly used to identify the two-dimensional code on the reeling device, and further determine whether the reeling clamp 10 is docked to the correct position.

The mount 152 is used to firmly attach the camera 151 to the stand 16. It provides a fixed structure to ensure that the camera 151 remains stable during operation, avoiding inaccurate images due to vibration or improper operation. The connection of the mount 152 to the stand 16 ensures that the camera 151 can be operated in a specific position.

The adjustment plate 153 allows the camera 151 to be fine tuned to ensure that the camera 151 can be adjusted to the optimal viewing angle for scanning. The design of the adjusting plate 153 enables a user to easily adjust the position and angle of the camera 151, thereby ensuring higher accuracy in scanning the two-dimensional code.

A second resilient member 154 (typically a spring or other flexible material) is connected to the mounting block 152 at one end and to the adjustment plate 153 at the other end. Its function is to provide a fine-tuned elastic support so that the adjustment plate 153 can be adjusted to a small extent without the use of tools. Such elastic support can ensure that the camera 151 is always maintained at the optimal position while avoiding positional deviation due to mishandling or environmental factors.

The mounting and adjustment of the camera device 15 is a very important part of the overall system. The operation of the camera device 15 depends on its ability to accurately dock and scan the target object. The camera 151 is fixed to the mount 152 by a connection structure such as a screw or a jig. The mounting block 152 is used for fixing the camera 151 on the bracket 16, so as to ensure the position stability.

Mount 152 is coupled to bracket 16 by a suitable structure, such as a threaded connection or a bayonet. The support 16 is a framework of the coil picking clamp 10, and the stability of the support 16 ensures that the camera 151 can accurately and stably perform scanning operation.

Of course, in another embodiment, one end of the second elastic member 154 is connected to the mounting base 152, and the other end is connected to the adjusting plate 153. This allows the adjustment plate 153 to be flexibly adjusted. The fine tuning function of the adjustment plate 153 allows the user to adjust the angle of the camera 151 as desired to ensure that it is always able to scan the two-dimensional code and acquire a clear image.

The camera 151 is fixed by an adjustment plate 153. The design of the adjustment plate 153 provides sufficient flexibility so that the camera 151 can be precisely positioned and adjusted according to different operating environments.

The camera device 15 has a core function of determining the docking position of the reel-up jig 10 by scanning the two-dimensional code. The working principle is as follows:

The camera 151 acquires the related information by scanning the two-dimensional code on the roll taking device. The two-dimensional code may include data such as position information, material type, operation state, etc. The camera 151 decodes the two-dimensional code, and transmits the recognition result to the control system.

Based on the two-dimensional code image captured by the camera 151, the system determines whether the take-up jig 10 is docked in the correct position. If the two-dimensional code information shows that the butt joint position of the clamp and the equipment is inaccurate, the system can adjust the position of the clamp through a feedback mechanism.

If the system detects that the position of the coil picking clamp 10 is inaccurate, the angle and the position of the camera 151 are adjusted in real time according to the image information acquired by the camera 151, so that a more accurate two-dimensional code image is acquired, and the correction of the butt joint position is completed.

The adjustment plate 153 provides the function of fine tuning the camera 151 during this process. If the two-dimensional code position is not ideal, the adjusting plate 153 can enable the camera 151 to scan a clearer and more accurate two-dimensional code image by adjusting the angle of the camera 151.

The second elastic member 154 provides elastic support for the camera 151 and the adjusting plate 153, and ensures accuracy and stability in the adjusting process. The elastic member allows the camera 151 to be fine-tuned over a range to accommodate different scanning requirements.

The accurate scanning capability of the camera 151 ensures accurate interpretation of the two-dimensional code and accurate judgment of the butt joint position of the coil picking clamp 10. The design of the adjusting plate 153 and the second elastic member 154 allows the camera 151 to be flexibly adjusted, and ensures that the scanning angle and the scanning position reach the optimal state both in the vertical direction and in the horizontal direction. Through the firm connection of mount pad 152 and support 16, camera device 15 remains stable in the course of the work, is difficult for receiving external environment's interference, has guaranteed visual guidance system's high efficiency. The fine adjustment of the adjusting plate 153 and the support of the second elastic member 154 make the adjustment process very simple and convenient, and do not require additional tools, thereby greatly improving the convenience of use.

The camera device 15 in this embodiment enables the take-up jig 10 to accurately judge the docking position by reasonable design. The camera 151 acquires data by scanning the two-dimensional code, and combines the fine adjustment function of the adjusting plate 153 and the second elastic member 154, thereby ensuring the stability and the high efficiency of the vision system. These designs enhance the automation, precision and flexibility of the overall unwind fixture 10, enhancing the efficiency and accuracy of the system.

The coil taking clamp 10 realizes high-efficiency automation of coil taking through the cooperative work of the support 16, the material taking structure, the first cargo detecting structure 13 and the driving structure 14, wherein the material taking structure is assembled on one side of the support 16, the driving structure 14 is connected with the material taking structure, the first cargo detecting structure 13 is assembled on the material taking structure, the coil can be accurately identified and can be quickly taken out through the driving structure 14, the manual operation time and human errors are reduced, the accuracy and the consistency of the coil taking process are ensured, and the production efficiency is greatly improved.

In one embodiment, the first AGV body 21 described above comprises a double-steering wheel drive AGV.

The first AGV body 21 is the core of the overall automatic guided vehicle, having a dual steering wheel drive system (for accurate control of direction. By dual steering wheel drive, the AGV is capable of multiple complex motion modes, including:

forward and backward, conventional forward and backward movements;

The first AGV body 21 can flexibly move in a narrow space;

spin walking, i.e., allowing the primary AGV body 21 to rotate in situ, adapting to a complex environment or adjusting direction.

The lifting mechanism 22 is an important component of the automatic coil taking guide vehicle and is responsible for realizing the up-and-down lifting operation of the coiled material. The elevating mechanism 22 includes:

the lifting mechanism 22 has the main function of lifting the coiled material to a required height, so that the coiled material can be smoothly loaded or unloaded onto the first AGV body 21;

the scissor fork mechanism 23 is another important part of the reel-up automatic guided vehicle, responsible for providing the gripping and handling functions of the coil. The scissor fork mechanism 23 can adjust the length of the fork arms back and forth through the action of the telescopic oil cylinder, so that the accurate grabbing and transporting of coiled materials are realized.

The design of the whole automatic coil taking guide vehicle system is highly integrated, and has high automation and intellectualization. The first AGV body 21 uses laser navigation and the first obstacle avoidance radar 25 to ensure safe travel in a complex environment. The lifting mechanism 22 and the scissor fork mechanism 23 are combined to realize accurate grabbing, lifting and transporting of coiled materials. The combination of the design of the coil picking clamp 10 and the scissor fork mechanism 23 ensures that the coiled material is not easy to slide or damage in the process of carrying, thereby greatly improving the efficiency and the safety of the production line.

The design not only realizes full-automatic carrying operation, but also can reduce manual operation and improve production efficiency, and simultaneously ensures the accuracy and safety of operation.

In one embodiment, referring to fig. 3, the outer periphery of the first AGV body 21 is equipped with a first obstacle avoidance radar 25. Specifically, the first obstacle avoidance radar 25 is provided at each of the four azimuth angles of the first AGV body 21. This design is intended to enhance the autonomous navigation and obstacle avoidance capabilities of the AGV. The first obstacle avoidance radar 25 is located outside the first AGV body 21, and may scan the environment surrounding the AGV in real time through a lidar or other type of sensor to detect the presence of an obstacle. For example, the radar may detect information about the position, shape, distance, etc. of the object and feed the data back to the control system of the AGV. This allows the AGV to flexibly avoid obstacles in a complex work environment, thereby ensuring that no collisions or accidents occur during transport.

In one embodiment, referring to fig. 3, the lifting mechanism 22 includes a lifting power source 221 and a first door frame 222, wherein the lifting power source 221 is connected to the first door frame 222, and the first door frame 222 is assembled on the first AGV body 21.

The lift mechanism 22 includes a lift power source 221 and a first mast 222. The lift power source 221 is typically a powered component such as a hydraulic ram or motor and the first mast 222 is a frame structure that supports the entire lift mechanism 22. The two parts are joined together and assembled to the primary AGV body 21 to ensure that the elevator mechanism 22 can adjust its height and position as needed. The first portal 222 is driven by the lifting power source 221 to achieve lifting operation, and thus, the coil can be conveniently lifted from the ground to the loading platform of the AGV or lowered.

In one embodiment, referring to fig. 3, the lifting power source 221 includes, but is not limited to, a lifting cylinder.

The power of the lifting mechanism 22 is provided by a hydraulic system, and the cylinders provide lifting force by compression and release of hydraulic oil. The lifting oil cylinder can accurately control lifting speed and force, ensures stable lifting process and can bear material loads of different weights. The use of an oil cylinder to drive the lifting system is a common design in industrial automation, and is particularly suitable for occasions requiring larger load and higher stability.

In an embodiment, referring to fig. 3, the scissors fork mechanism 23 includes a telescopic power source 231, a sliding structure and scissors fork arms 233, wherein two sides of the sliding structure are installed in the first gantry 222, the sliding structure is connected with the lifting power source 221, one end of the scissors fork arms 233 is used as a fixed end, the other end of the scissors fork arms 233 is used as a movable end sliding structure and is connected with the fixed end of the scissors fork arms 233, the sliding structure is connected with the telescopic power source 231, and the movable end of the scissors fork arms 233 is connected with the bracket 16.

In this embodiment, the telescopic power source 231 is a core component of the scissors fork mechanism 23 and is responsible for providing power to extend and retract the scissors fork arms 233. The power source is typically a hydraulic ram, motor, pneumatic device, or the like, for driving the scissors yoke 233 to extend and retract in a vertical direction. The telescopic power source 231 is connected with the sliding structure, and lifting and stretching of the scissor fork arm 233 are achieved by controlling the action of the telescopic power source 231.

The sliding structure is another key component in the scissor fork mechanism 23. It is mounted within the first portal 222, typically in a configuration designed to slide along a track or channel within the first portal 222. The sliding structure is fixed on both sides inside the first portal 222 by suitable supports, which ensure its smooth movement inside the first portal 222. The sliding structure serves to carry and guide the movement of the scissor fork 233, ensuring that it remains stable during lifting.

In this design, one end of the scissors yoke 233 serves as a fixed end and is connected to the lifting power source 221 through a sliding structure. The other end of the scissor fork 233 is adapted to cooperate with the winding clamp 10 to support the article being handled, ensuring stable gripping of the article during lifting. The scissor fork arm 233 and the sliding structure are precisely connected to move so that it can move in the vertical direction to accommodate different height items.

The sliding structure is connected to the lifting power source 221 such that the lifting power source 221 drives the sliding structure to move. During lifting, the motion of the lifting power source 221 directly affects the motion of the sliding structure, thereby indirectly controlling the lifting of the scissor fork 233. The movement of the sliding structure is tightly matched with the lifting of the scissor fork arm 233, so that the stability of the fork arm when carrying the article is ensured.

In addition to being connected to the lifting power source 221, the sliding structure is also connected to the telescopic power source 231. The telescopic power source 231 further adjusts the telescopic position of the scissor fork arm 233 through driving the sliding structure, so that the telescopic power source can adapt to articles with different sizes and heights. This connection ensures that the scissor arms 233 can be adjusted in length and height as needed to enable them to handle different sized items.

The lifting power source 221 enables the scissor fork 233 to be lifted vertically by controlling the movement of the sliding mechanism, thereby conveniently lifting or lowering the object from the ground or other platform. The sliding structure can adjust the length of the scissor fork arm 233 through the telescopic power source 231, so that the scissor fork arm is suitable for articles with different sizes. The telescoping power source 231 and the sliding structure cooperate to ensure accurate movement of the scissor fork 233. The stability of the sliding structure is critical for accurate control of the scissor fork mechanism 23. The track or groove design provided in the first portal 222 ensures that the sliding structure can slide smoothly, avoiding unstable movement due to friction or offset.

The scissor fork mechanism 23 realizes the lifting and telescoping functions of the objects through the cooperation of the carefully designed telescopic power source 231, the sliding structure and the scissor fork arms 233. The design of the sliding structure enables the scissors fork arm 233 to stably lift in the vertical direction, and the length of the scissors fork arm 233 is adjusted by driving of the telescopic power source 231 so as to adapt to articles with different sizes. This kind of structural design has ensured that AGV can accomplish the task in automatic transport accurately, high-efficiently.

In one embodiment, referring to fig. 3, the sliding structure includes a carriage 232.

In this embodiment, a carriage 232 is used to support and guide the movement of scissor fork 233. The carriage 232 may slide in a track or channel within the first mast 222 and by the action of the carriage 232, the scissor fork 233 may remain stationary during lifting and lowering and avoid unnecessary wear or movement instability due to friction or other factors.

In one embodiment, referring to fig. 3, a groove is formed in the first door frame 222, and the carriage 232 is disposed in the groove.

In this embodiment, a recess is provided in the first portal 222 and the carriage 232 is disposed in the recess. This design ensures that the carriage 232 remains stable and smooth during movement. The recess provides a fixed track in which the carriage 232 can slide freely, reducing deflection and instability of the scissor fork arm 233 as it moves. This design can improve the accuracy and durability of the scissor fork mechanism 23, ensuring that no displacement or collision occurs during lifting and grabbing.

In an embodiment, referring to fig. 3, the above-mentioned device further includes a first navigation module 24, and the first navigation module 24 is mounted on the lifting mechanism 22.

In this embodiment, the first navigation module 24 is used to provide positioning and path planning functions to ensure accurate travel of the AGV in complex environments. The first navigation module 24 mounted on the elevator mechanism 22 can cooperate with other control systems of the AGV to adjust and optimize the path in real time during the elevator motion and movement.

In one embodiment, referring to fig. 3, the first navigation module 24 is mounted on top of the first gantry 222. This choice of location helps to ensure that the first navigation module 24 has a wide field of view, and typically the top location is advantageous to improve the detection range of the radar or laser device from being obscured by other devices or obstructions. The top position may enhance the positioning accuracy and response speed of the first navigation module 24, especially when facing complex work environments, and may effectively improve the self-adapting capability of the AGV.

The automatic coil taking guide vehicle realizes automatic conveying of coiled materials through the cooperation of the lifting mechanism 22 and the scissor fork mechanism 23. The lifting mechanism 22 is assembled on the first AGV body 21, the scissor fork mechanism 23 is connected with the lifting mechanism 22, the height and the extension of the fork arms can be accurately adjusted, the AGV can automatically transport and place coiled materials, the production efficiency is effectively improved, the manual intervention is reduced, the labor cost is reduced, and meanwhile, the accuracy and the safety of the conveying process are ensured.

Referring to fig. 5 and 6, the cooperation of the first AGV body 21, the lift mechanism 22 and the scissor fork mechanism 23 is based. The first AGV body 21 is adjusted in height by the lifting mechanism 22, and the material grabbing and carrying are performed by the aid of the scissor fork mechanism 23 and the roll picking clamp 10. The automatic coil taking guiding vehicle moves the coil taking clamp 10 to the winding machine 2, the upper material taking claw 11 and the lower material taking claw 12 are accurately operated under the action of the sliding component by utilizing the driving structure 14, the upper material taking claw 11 and the lower material taking claw 12 are inserted into the inner hole of the formed coil 1 and are spread out to be completely attached to the wall of the inner hole, and the formed coil 1 is ensured to be accurately grabbed at different height positions. The first cargo detecting structure 13 monitors whether the cargo is properly loaded in real time through the cooperation of the elastic member and the first proximity switch 134.

Through the collaborative work of the camera device 15, the sliding component and the driving structure 14, the automatic coil picking-up guiding vehicle can realize accurate material positioning and grabbing. The camera device 15 assists the system in acquiring real-time image data to provide support for positioning and judgment during the material taking process. Simultaneously, the cooperation of slip subassembly and getting material claw ensures that in dynamic movement, anchor clamps can nimble adjustment position, ensure to snatch the stability of target material. The cooperation between the scissor mechanism 23 and the lift mechanism 22 allows for a high degree of adaptation of the system to the working environment, thereby improving the flexibility and efficiency of the overall operation.

The automatic guiding vehicle 100 with the coil taking clamp realizes efficient coil taking and automatic conveying functions by arranging the coil taking automatic guiding vehicle and the coil taking clamp 10. The support 16, the material taking structure, the driving structure 14 and the first cargo detecting structure 13 of the material taking clamp 10 work cooperatively to ensure accurate and reliable material taking. The cooperation of elevating system 22 and scissors fork mechanism 23 makes AGV can be in the accurate adjustment height and position in dynamic movement to promote the efficiency that the coil stock was taken out by a wide margin, reduce manual operation time, and effectively avoid human error. Automated handling further reduces labor costs in the production process, and ensures efficient, safe and consistent production operations.

In one embodiment, referring to FIG. 10, the roll-forming reversing structure 110 includes a base 61, a conveying assembly 62, a reversing assembly 63, and a guard assembly 64, the guard assembly 64 is mounted on the conveying assembly 62, the conveying assembly 62 is connected to the reversing assembly 63, and the reversing assembly 63 is mounted on the base 61.

In the present embodiment, the base 61 is a basic supporting portion of the entire turnover structure, and all other components are assembled and fixed on the base 61, ensuring stable operation of the entire system. The base 61 provides the necessary support for the flipping assembly 63 so that the flipping function can be reliably performed.

The conveyor assembly 62 is a critical part of the material conveying process and generally includes a conveyor rack 621 and a roller conveyor line 622. The main function of this assembly is to transport the formed coil 1 from the inlet of the turner to the turning area, while also guiding the turned material to the subsequent processing steps. The conveyor assembly 62 is connected to the flipping assembly 63 to ensure that the material is smoothly moved and turned to the target location during flipping.

The overturning assembly 63 is a core part for realizing 90-degree overturning of the material and comprises a hydraulic system and an overturning push rod 632. The flipping assembly 63 effects the flipping between the vertical and horizontal orientation of the forming roll 1 by a drive system, such as a hydraulic cylinder. The assembly is typically mounted on a base 61 and the material is turned from the vertical position to the horizontal or back from the horizontal position to the vertical by hydraulic or other driving means for further processing.

The shield assembly 64 serves to protect the formed coil 1 from tipping or damage during the overturning process. The apron assembly 64 is mounted to the conveyor assembly 62 and cooperates with the flipping assembly 63. In the overturning process, the guard plate assembly 64 can play a role in protecting the finished coiled material, ensure the safety of overturning operation and prevent the material from being influenced or damaged by external factors.

Summarizing, the formed coil material overturning structure 110 ensures stable overturning of materials in different directions by reasonably configuring the base 61, the conveying assembly 62, the overturning assembly 63 and the guard plate assembly 64, and simultaneously ensures the stability and safety of the materials in the overturning process. The design effectively improves the material treatment efficiency, reduces the manual intervention and reduces the operation risk.

In an embodiment, referring to fig. 11 to 12, the turnover assembly 63 includes a turnover power source 631 and a turnover pushrod 632, the turnover power source 631 is mounted on the base 61, the turnover power source 631 is connected to the turnover pushrod 632, and the turnover pushrod 632 is connected to the conveying assembly 62.

In this embodiment, the core of the flipping assembly 63 is comprised of a flipping power source 631 and a flipping pushrod 632. The overturning power source 631 is assembled on the base 61, and is connected with the overturning push rod 632 to drive the push rod to act, so as to realize the overturning function of the material. The flip push rod 632 is connected with the conveying assembly 62, so that the flipped material can be stably conveyed to the next processing link through the conveying line.

In an embodiment, referring to fig. 11 to 12, the overturning power source 631 includes a first hydraulic cylinder hinged to the overturning pushrod 632.

In this embodiment, the flipping power source 631 employs a first hydraulic cylinder that provides the power required for flipping by hydraulic actuation. The hinge structure is adopted between the hydraulic cylinder and the overturning push rod 632, so that the overturning push rod 632 can realize a proper movement angle according to the thrust of the hydraulic cylinder, and the overturning angle and direction of materials are controlled. The hinge structure has higher flexibility and can provide accurate control and stability in the overturning process.

In one embodiment, referring to fig. 10, the conveying assembly 62 includes a conveying frame 621 and a roller conveying line 622, wherein the roller conveying line 622 is assembled on the conveying frame 621, and the conveying frame 621 is connected to the overturning assembly 63.

In this embodiment, the carriage 621 and roller conveyor line 622 form the main part of the material transport. The roller conveyor line 622 is mounted on the carriage 621 to ensure stability and smoothness during conveyance. The connection between the conveying frame 621 and the overturning assembly 63 enables the overturned materials to be smoothly conveyed to the designated position while the materials are overturned, so that the problem of stacking or overturned failure of the materials is avoided.

In summary, the overturning assembly 63 of the present embodiment drives the overturning push rod 632 through the hydraulic system to overturn the formed coil 1, and meanwhile, the precise matching of the conveying assembly 62 enables the overturned material to smoothly pass through the subsequent processing link, so as to improve the material processing efficiency and the operation safety.

In an embodiment, referring to fig. 10, the guard plate assembly 64 includes a guard plate 641, a flap power assembly 642 and a connecting frame 643, the connecting frame 643 is connected to the flap assembly 63, the flap power assembly 642 is assembled on the connecting frame 643, and the flap power assembly 642 is connected to the guard plate 641.

In one embodiment, referring to fig. 10, the two sides of the carriage 621 are respectively equipped with the guard plate assemblies 64.

In one embodiment, referring to fig. 10, the flap power assembly 642 includes a second hydraulic cylinder.

In this embodiment, the shield assembly 64 is used to protect the material from tipping or damage during the tumbling process. Specifically, the shield assembly 64 includes a shield 641, a flap power assembly 642, and a connector 643.

The purpose of the guard 641 is to prevent the risk of tipping of the overturned material, in particular when overturned in the vertical direction, the guard 641 being able to be deployed at the right moment to prevent the formed coil 1 from accidentally tilting or falling. The guard 641 automatically withdraws after the unloading operation is completed by the unloading table 65 structure, thereby protecting the safety of the finished coiled material.

The flap power assembly 642 is a key part for realizing the deployment and retraction actions of the guard 641, and is connected with the guard 641, so that the guard 641 can be dynamically adjusted through a driving device. The flap power assembly 642 employs a second hydraulic cylinder as the primary power source. The second hydraulic cylinder drives the guard 641 to automatically spread when needed by utilizing the thrust generated by the hydraulic system, thereby ensuring the safe overturning of materials. When the overturning operation is completed, the second hydraulic cylinder can control the guard 641 to retract, so that interference to subsequent operations is avoided.

The connecting frame 643 is used as a connecting structure between the turning plate power assembly 642 and the turning assembly 63, so that stable operation of the turning plate power assembly 642 and the guard plate 641 in the turning process is ensured. The connecting frame 643 has stronger structural supporting force, and can ensure the movement precision of the guard board 641 in the overturning process.

In this embodiment, the shield assemblies 64 are mounted on both sides of the carriage 621, which ensures that the shield assemblies 64 effectively encase the material during the roll-over of the forming coil 1, preventing accidental. Particularly, during the overturning process, the guard plate assemblies 64 on the two sides of the conveying frame 621 can work cooperatively, so that the overturning machine can be reliable and reliable when processing materials with various specifications.

Through combining the second pneumatic cylinder driven and turning over board power component 642 and the backplate 641 structure of rational design, this embodiment has effectively solved the risk that the material emptys in the upset process. The cooperation of the shield assembly 64 with the turning structure and the carriage 621 ensures the high efficiency and stability of the turning machine when performing a 90 turn. Meanwhile, the automatic retraction function of the guard plate 641 not only improves the working efficiency of the equipment, but also enhances the safety of material treatment.

In one embodiment, referring to fig. 10, the roll-over structure 110 further includes a discharge table 65, and the discharge table 65 is assembled on the conveying assembly 62.

In one embodiment, referring to fig. 10, the unloading platform 65 includes a wedge.

In an embodiment, referring to fig. 10, the number of the wedges is two, and the two wedges are opposite to each other.

In this embodiment, the main function of the discharge table 65 is to provide a stable platform for the material, and to ensure that the material is smoothly discharged and subsequently conveyed when the material is turned from a vertical position to a horizontal position.

The design of the unloading platform 65 comprises wedge-shaped blocks, and the main function of the unloading platform is to ensure the smooth unloading process by reasonably designing the shape and the position and matching with the material receiving in the overturning process. The number of the wedge-shaped blocks is two, and the two wedge-shaped blocks are arranged at opposite positions to form effective supporting and guiding functions. The opposite arrangement of the two wedge blocks can ensure that the formed coil stock 1 cannot deviate in the overturning process, and unstable unloading condition is avoided, so that the safety and stability of the equipment are improved.

In addition, the design of the wedge block can be compatible with the forming coil materials 1 with different specifications, so that the turnover machine can process various material sizes without turnover or discharging failure caused by specification difference.

The design scheme can improve the applicability and stability of the turnover machine, particularly in the turnover and conveying processes of materials, ensure that the discharging table 65 can effectively support and guide the transfer of the materials, and enable the whole operation flow to be smoother and safer.

The formed coil material overturning structure 110 realizes 90-degree overturning switching of the formed coil material 1 in the vertical and horizontal directions through reasonable design of the base 61, the conveying assembly 62, the overturning assembly 63 and the guard plate assembly 64, specifically, the guard plate assembly 64 is assembled on the conveying assembly 62, the conveying assembly 62 is connected with the overturning assembly 63, the overturning assembly 63 is assembled on the base 61, and through the hydraulically driven overturning assembly 63, the system can accurately control overturning of the formed coil material 1 in the vertical and horizontal directions, so that stable and smooth material overturning is ensured. The design not only improves the efficiency of material treatment, but also effectively reduces the labor cost and the operation risk, reduces the manual intervention through the automatic overturning and conveying functions, and improves the safety and the stability of operation.

In one embodiment, referring to fig. 13-14, a stack guide vehicle 140 with a stack clamp includes a stack clamp 30 and a second AGV body 41, wherein the stack clamp 30 includes a stack coil assembly, a stack coil holder 36 and a stack coil driving assembly 34, the stack coil assembly is connected to the stack coil driving assembly 34, the stack coil driving assembly 34 and the stack coil assembly are respectively assembled on the stack coil holder 36, and the stack coil holder 36 is connected to the second AGV body 41.

In this embodiment, the stacking clamp 30 is the core component of this stacker guide cart system, which functions to complete the gripping, handling and stacking of round rolls.

The primary function of the stacker-reclaimer assembly is to grasp and hold the rolls. The automatic handling device can stably clamp the coil stock when the AGV moves, and prevent the coil stock from sliding or falling in the conveying process.

The stack bracket 36 is the base frame of the stack clamp 30 and is responsible for supporting the stack and stack drive assemblies 34 and ensuring their stability during operation. The stack holder 36 is connected to the second AGV body 41 as a connection carrier for the system so that the stack gripper 30 can cooperate with the second AGV body 41.

The stack actuation assembly 34 is responsible for controlling the movement of the stack batch assembly to ensure that the stack batch assembly can be opened, closed, lifted and lowered smoothly. The movement of the clamp can be precisely controlled.

The design of the stacking clamp 30 is intended to ensure that it is possible to operate adaptively between round rolls of different specifications, while ensuring safety and stability during stacking or handling.

The second AGV body 41 is the basis of a stacker guide cart that is primarily responsible for providing movement capability and handling of rolls in conjunction with the stack gripper 30. The second AGV body 41 is typically equipped with an automatic navigation system and an obstacle avoidance system to ensure that it can operate autonomously in a complex factory environment and avoid collisions with other objects.

The connection of the stack holder 36 to the second AGV body 41 is critical because it ensures the fixity and stability of the stack clamp 30. Through the strong connection mode, the stacking clamp 30 and the second AGV body 41 can cooperate, so that the AGV can maintain the stability of the coil stock during the handling process, and realize accurate stacking and material taking operations.

The second AGV body 41 is positioned through a navigation system first, an optimal path is determined, after the AGV moves to the position where the coil is located, the coil winding assembly acts through the driving assembly to grasp the coil, once the coil is successfully clamped, the second AGV body 41 carries according to a preset path to send the coil to a target position, and after the AGV reaches the target position, the coil winding assembly releases the coil to finish discharging and stacking.

The automatic navigation of the second AGV body 41 and the precise control of the stack gripper 30 improves the handling efficiency. The close fit of the stack clamp 30 with the second AGV body 41 ensures stability and safety during transport. The coil stock of different specifications and sizes can be handled, multiple transport demand is adapted.

The stack guide cart 140 with the stack clamp is an efficient, accurate and automated device that enables automatic handling, stacking and reclaiming of the rolls through the cooperation of the stack roll assembly, the stack support 36, the stack drive assembly 34 and the second AGV body 41. The system can remarkably improve production efficiency, reduce labor cost and ensure safety and stability under a complex environment.

In an embodiment, referring to fig. 15 and 16, the above-mentioned stack-winding assembly includes a left stack-winding pick-up claw 31, a right stack-winding pick-up claw 32, and a stack-winding slide assembly 37, where the left stack-winding pick-up claw 31 and the right stack-winding pick-up claw 32 are respectively mounted on the stack-winding slide assembly 37, and the stack-winding slide assembly 37 is connected to the stack-winding bracket 36.

In an embodiment, referring to fig. 15 and 16, the above-mentioned stack sliding assembly 37 includes a slider and a guide rail, the guide rail is connected to the stack bracket 36, the slider is assembled on the guide rail, and the left stack pick-up claw 31 and the right stack pick-up claw 32 are respectively connected to the slider.

In this embodiment, the left and right stack pick-up fingers 31 and 31 are mounted on the stack slide assembly 37, respectively, and are movable on the guide rail by the slide assembly. The two cooperate to form a clamping device which clamps the coil stock by opening and closing actions.

The stack slide assembly 37 is composed of a slider and a guide rail. The guide rail is connected to the stack holder 36 and the slider is fitted to the guide rail to provide a sliding function. The left and right material taking claws of the stacking roll are respectively fixed on the sliding block, so that the material taking claws can be synchronously opened or closed along with the movement of the sliding block.

The stack bracket 36 is used to secure the stack slide assembly 37 and provide structural support to ensure stable operation of the entire take out jaw assembly.

In one embodiment, the left and right winding-up and winding-up claws 31 and 32 are respectively provided with a baffle plate for clamping the formed winding material 1.

In this embodiment, baffles are provided on both the left and right take out fingers 31, 31 of the stack for catching the formed roll 1. The design of the baffle can prevent the coiled material from sliding down due to external force or vibration in the clamping process. This is critical to stability during handling, ensuring that the roll is not accidentally unwound.

In an embodiment, referring to fig. 15 and 16, the above-mentioned stack driving assembly 34 includes a stack power source 341, a second reducer 342, a second coupling 343, a second screw fixing seat 344, a second screw 346, and a second connecting member, wherein the stack left and right feeding claws 31 and 32 are respectively connected to the second connecting member, the stack power source 341 is connected to the second reducer 342, the second reducer 342 is connected to the second coupling 343, the second coupling 343 is connected to the second screw 346, the second screw 346 is connected to the stack bracket 36 through the second screw fixing seat 344, and the second connecting member is connected to the second screw 346.

In this embodiment, the stack drive assembly 34 is responsible for providing power so that the left and right stack take off fingers can be synchronized and controlled accurately.

The stack power source 341 is the core power device that drives the operation of the assembly. Typically an electric motor, provides the appropriate torque and speed through a transmission system.

The second speed reducer 342 is connected to the stack scrolling power source 341 for adjusting the rotational speed of the power output. The high-speed rotation output from the motor can be reduced to a proper working speed by the second speed reducer 342 so as to precisely control the action of the material taking claw.

The second coupling 343 connects the second speed reducer 342 and the second screw 346, and transmits power. It can ensure stability in the transmission process and simultaneously prevent mechanical damage.

The second screw 346 is fixed to the stack bracket 36 by the second screw fixing base 344, and is connected to the second coupler 343. This is the core component that drives the movement of the left and right take out fingers of the stack. Rotation of the second screw 346 moves the slider on the rail, thereby opening or closing the take-off pawl.

The second connecting member is connected with the second screw 346, and functions to transmit power and achieve synchronous control. Through accurate transmission structure, ensure that two get material claw can coordinate the work.

In this embodiment, the second connecting member includes a second left-handed nut 345 and a second right-handed nut 347, the left-handed stacking gripper 31 is connected to the second left-handed nut 345, and the right-handed stacking gripper 32 is connected to the second right-handed nut 347.

And in the present embodiment, the second screw 346 is, but not limited to, a ball screw.

The stack scrolling force source 341 includes, but is not limited to, a stack scrolling motor.

The motor drives the second screw 346 to rotate forward and backward, so that the synchronous opening and withdrawing actions of the left and right stacking and taking claws 31 and 32 can be realized, and the stacking clamp 30 can clamp or unclamp goods.

The working principle of the whole piling and coiling material assembly is as follows:

The stacking roll power source 341 provides power, the second speed reducer 342 reduces the rotating speed, so that the second spindle connector 343 can drive the second screw rod 346 to rotate, the rotation of the second screw rod 346 drives the sliding block to move along the guide rail, the stacking roll left material taking claw 31 and the stacking roll right material taking claw 32 on the sliding block synchronously act to grab or release the roll materials, the baffle plate on the material taking claw ensures that the formed roll materials 1 cannot slide down in the clamping process, the second screw rod fixing seat 344 ensures that the second screw rod 346 is stable and supports the stability of the whole system in the power transmission process, and vibration or mechanical faults are avoided.

The design enables the stacking and coiling material assembly to efficiently and reliably complete the conveying task of circular coiled materials through precise mechanical transmission and synchronous control.

In one embodiment, referring to fig. 15 and 16, the stacking clamp 30 further includes a cargo detection assembly 33, and the cargo detection assembly 33 is mounted on the stacking reel.

In an embodiment, referring to fig. 17, the cargo detecting assembly 33 includes a second detecting plate 331, a third elastic member 332, a second proximity switch 334, a second connecting rod 333, and a second housing 335, wherein the second detecting plate 331 is connected above the second housing 335, the third elastic member 332 is inserted into the second housing 335, the upper end of the third elastic member 332 extends out of the second housing 335 and is connected to the second detecting plate 331, the second connecting rod 333 passes through the third elastic member 332, the upper end of the second connecting rod 333 is connected to the second detecting plate 331, the second proximity switch 334 is located at one side of the second housing 335, and the second housing 335 is assembled on the stack bracket 36.

In an embodiment, referring to fig. 17, the third elastic member 332 includes a spring.

In this embodiment the load detection assembly 33 is a critical part of the stacking coil system, which functions to ensure that the coil is in the correct position during stacking by sensing whether the coil is clamped. The detection assembly can monitor the clamping state of coiled materials in real time through the cooperation with the coiling claw, so that the accuracy and the safety of operation are ensured.

The second detection plate 331 is the core of the cargo detection assembly 33 and is responsible for responding to the pressure of the roll and triggering the second proximity switch 334 as the roll is gripped by the stacker reclaimer jaw. The design of the second detection plate 331 ensures that it is free to move when it contacts the roll, transmitting a corresponding signal. The third elastic member 332, which is typically a spring, plays a resetting role, ensuring that the second detection plate 331 can return to the initial position when not contacting the coil stock, ensuring the sensitivity and accuracy of the system.

The second proximity switch 334 is used for sensing the displacement of the second detection plate 331, when the second detection plate 331 is pressed down by the coil stock, the second proximity switch 334 is triggered to generate a signal to determine whether the coil stock is clamped. The signal is used to determine if the stack of coils is in place, thereby adjusting the follow-up action.

The second connection rod 333 connects the second detection plate 331 and the spring, and ensures that the rebound force of the spring can directly act on the second detection plate 331, so that the second detection plate 331 can be reset after the pressure is released.

The second housing 335 encloses all components together, protecting the internal components and providing support for the connection. The second housing 335 also provides a securing point that allows the entire cargo detection assembly 33 to be securely fitted into the stacker crane.

When the left stack pick-up claw 31 and/or the right stack pick-up claw 32 are opened, the second detection plate 331 of the cargo detecting assembly 33 is initially positioned, and is not subjected to an external force. The left stack pick-up claw 31 and/or the right stack pick-up claw 32 grip the roll material, which contacts the second detection plate 331 and applies pressure. At this time, the second detection plate 331 moves downward, pushing the second connection rod 333. When the second detection plate 331 moves, the spring is compressed and drives the second connection rod 333 downward, ensuring accurate response of the second detection plate 331. The second proximity switch 334 is located at one side of the second housing 335, and when the second detection plate 331 is pressed to touch the second proximity switch 334, the second proximity switch 334 is triggered, generating a signal. The system can then determine if the coil has been clamped in place. After the take-off pawl is retracted, the pressure is relieved and the spring action returns the second detector plate 331 to its original position and the second proximity switch 334 opens a signal indicating that the roll has moved from the detection position.

The whole process can feed back whether the coil stock is clamped or not in real time, and the action or subsequent operation of the coil stock taking claw is adjusted according to the signals.

The cargo detection assembly 33 is mounted on the stacker-reclaim cradle and is connected to the cradle by a second housing 335. The position design of the detection assembly ensures that the detection assembly can be synchronous with the action of the stacking winding claw, and ensures that the detection function effectively plays a role in the whole stacking process.

The second detector plate 331 in the cargo detection assembly 33 is in an unpressurized state when the stacker reclaimer fingers are open. When the stacker-reclaimer claw clamps the roll, the second detecting plate 331 senses the pressure of the roll, and pushes the second connecting rod 333 to react with the spring, so that the second proximity switch 334 is activated, and a signal is sent. When the material taking claw is retracted, the spring rebounds, the second detection plate 331 is reset, the second proximity switch 334 is opened, and one detection period is completed.

The cargo detection assembly 33 can automatically monitor whether the coil stock is clamped correctly, and the system can adjust the action of the clamp according to the feedback signal, so that the high efficiency and the accuracy of operation are ensured. The design is suitable for occasions requiring high-precision stacking and coiling materials, such as an automatic production line or a high-efficiency stacking system.

Overall, the cargo detection assembly 33 ensures high efficiency and reliability of the stacker-reclaimer system in performing tasks by simple and efficient mechanical and sensing techniques.

In one embodiment, referring to fig. 13 and 14, the stack guidance cart 140 with the stack clamp further includes a stack lift assembly 42, the stack bracket 36 is connected to the stack lift assembly 42, and the stack lift assembly 42 is connected to the second AGV body 41.

In one embodiment, referring to fig. 13 and 14, the above-mentioned stack lifting assembly 42 includes a second lifting power source 421, a second gantry 422, a second lifting frame 423, a second fork frame 424, and a connection attachment 425, wherein the second gantry 422 is connected to the second AGV body 41, the second lifting power source 421 is fixed on the second gantry 422, the second lifting frame 423 is connected to the second lifting power source 421, the second fork frame 424 is installed in the second lifting frame 423, the connection attachment 425 is connected to the second fork frame 424, and the stack clamp 30 is connected to the connection attachment 425.

In an embodiment, referring to fig. 13 and 14, the second lifting frame 423 is provided with a mounting groove, and the second fork frame 424 is mounted in the mounting groove.

In this embodiment, the second lift power source 421 is a core power device, typically an oil cylinder or electric drive, that provides the lift motion for pushing the entire stack lift assembly 42.

The second door frame 422 is fixedly connected to the second AGV body 41 to provide support for the entire lift system. Which securely connects the second lift power source 421 to the second AGV body 41.

The second lifting frame 423 is connected to the second fork frame 424 by a second lifting power source 421 and is responsible for carrying and supporting the second fork frame 424 and the stack clamp 30 thereon. The second lifting frame 423 provides necessary stability and support during lifting.

The second fork carriage 424 is responsible for connecting to the stack clamp 30 and bringing the stack clamp 30 to the desired position via the connecting attachment 425. The second fork carriage 424 is designed to allow it to move within the slot of the second lift frame 423 and to be raised or lowered by the second lift power source 421.

The connection means 425, which is a second connection between the stack gripper 30 and the second fork 424, ensures that the gripper is able to grip the stack effectively, in particular the above-mentioned stack holder 36 is provided with a flange 35, the connection means 425 being connected to the flange 35.

The second door frame 422 is fixed to the second AGV body 41 as a supporting structure to ensure stability of the elevator system. The second lifting frame 423 performs lifting movement by a second lifting power source 421, and the second lifting frame 423 is provided with mounting grooves therein, and the second fork frame 424 is mounted in the mounting grooves, thereby ensuring stability and smooth movement of the second fork frame 424. The stack gripper 30 is connected to the second fork 424 by means of the connecting attachment 425, ensuring that the stack is firmly gripped during transport and that the stack gripper 30 is accurately stacked during stacking.

The stack lift assembly 42 provides lift motion via a second lift power source 421 (e.g., an oil cylinder or motor) to enable the stack gripper 30 to move between different heights during stacking to facilitate the gripping and placement of the stack. Through the stack lifting assembly 42, the AGV can accurately bring the stack clamp 30 to a specified stacking position, automatic stacking and picking operations are realized, and the working efficiency is improved. The connection attachments 425 ensure stable connection and securement of the stack clips 30, preventing instability or clip-off during stacking.

In this embodiment, a high degree of flexibility and efficient stacking operation is achieved between the second AGV body 41 and the stacking clamp 30 by the stack lift assembly 42. The combination of the design of the stack lift assembly 42 and the second AGV body 41 provides stable transport and stacking functions that enable highly automated stack handling tasks to be completed, thereby improving the work efficiency and accuracy of the stack guidance vehicle.

In one embodiment, referring to fig. 13, the second AGV body 41 is provided with a second navigation module 43. Laser navigation is used during travel. The second AGV body 41 is driven by, but not limited to, a single steering wheel 44, is convenient to control the direction, and has forward, backward, and cornering functions. The second AGV body 41 is provided with a second obstacle avoidance radar 45 for detecting an obstacle in the forward direction.

Referring to fig. 18, the stacking guide vehicle 140 with the stacking clamp stacks the formed rolls 1 onto the tray 50, specifically, the left stacking and right stacking and taking claws 31 and 32 are connected with the fixed linear guide rail and the slider, and are connected with the left-hand and second right-hand nuts 347 of the ball screw of the driving assembly, respectively. The motor drives the ball screw to rotate forwards and reversely, so that synchronous opening and withdrawing actions of the left stacking and taking claw 31 and the right stacking and taking claw 32 can be realized, and the clamp can be ensured to stably and accurately clamp or loosen the goods, thereby improving the working efficiency and the precision and ensuring the stable clamping of the goods in the carrying process. In addition, the stack gripper 30 is provided with a load detection assembly 33 which is fastened to the left and right take-off jaws and which opens in synchronism with the movement of the left and right stack take-off jaws 31, 32. When the left and right stack gripper fingers 31, 32 are opened, the compression spring second detector plate 331 is activated and a signal is transmitted to the second proximity switch 334 to detect whether the web is clamped in place. When the material taking claw is retracted, the spring rebounds to enable the second detection plate 331 to return to the original position, so that real-time monitoring in the clamping process is realized, and the clamp is ensured to work accurately. An Automatic Guided Vehicle (AGV) with a stack gripper 30 fixes the gripper through a connecting device, and simultaneously has a stack lifting assembly 42, so that the gripper can move up and down and coordinate with the back and forth movement of the second AGV body 41, thereby completing the automatic transportation and stacking operation. This design has not only improved the flexibility of goods transport, still makes AGV carry out accurate operation on the circular coil stock of multiple specification, including tasks such as horizontal get material, unload, transport and stack. Finally, the high integration of the whole system ensures the efficient application of the stacking clamp 30 in different working scenes, and greatly improves the automation level of transportation and stacking operation.

In other embodiments, the forming coil 1 described above may be replaced by another material.

According to the stacking guide vehicle 140 with the stacking clamp, the stacking clamp 30 and the second AGV body 41 are arranged, the stacking clamp 30 comprises the stacking material assembly, the stacking support 36 and the stacking driving assembly 34, flexibility and adaptability of automatic conveying and stacking are guaranteed, the stacking material assembly is connected with the stacking driving assembly 34, the clamp can adjust grabbing modes of the stacking material assembly according to round rolling materials of different specifications, the stacking support 36 is connected with the second AGV body 41, stability and accuracy of the clamp in the conveying process are guaranteed, and the problem that flexibility and adaptability are lacking in the process of processing materials with irregular shapes and changeable sizes in the prior art is effectively solved through the structural design, meanwhile, automatic conveying and stacking accuracy of the round rolling materials are improved, and overall operation efficiency is improved.

In one embodiment, the conveyor 120 includes, but is not limited to, a conveyor line, the take-up station 130 includes, but is not limited to, a stand, and the formed rolls 1 are stacked on the tray 50 and then restrained by a wooden block to prevent collapse.

The automatic equipment for the offline stacking of the composite board coil material remarkably improves the automation and intelligent level of the offline process by integrating various automatic equipment. Specifically, the automatic guide car 100 with the coil taking clamp comprises a coiling machine 2, a formed coil turning structure 110, a conveyor 120, a coil taking platform 130, a stacking guide car 140 with a coil piling clamp, a tray 50 and other devices, the formed coil 1 is clamped by the automatic guide car 100 with the coil taking clamp and is precisely transmitted to the formed coil turning structure 110, the turned coil is transmitted to the coil taking platform 130 through the conveyor 120, and finally the coil is automatically stacked on the tray 50 by the stacking guide car 140 with the coil piling clamp, so that the manual intervention is effectively reduced, the working efficiency and the accuracy are improved, the manual operation error is reduced, the logistics and stacking flow of a composite board production workshop are optimized, and the production efficiency and the integral intelligent level are improved.

While the invention has been described with reference to certain preferred embodiments, it will be understood by those skilled in the art that various changes and substitutions of equivalents may be made and equivalents will be apparent to those skilled in the art without departing from the scope of the invention. Therefore, the protection scope of the invention is subject to the protection scope of the claims.

Claims

1. The automatic equipment for stacking the composite board coil stock is characterized by comprising a winding machine, an automatic guide vehicle with a coil taking clamp, a formed coil stock overturning structure, a conveyor, a coil taking platform, a stacking guide vehicle with a coil stacking clamp and a tray, wherein the winding machine is used for placing the formed coil stock; the automatic guide vehicle with the coil taking clamp is used for clamping the formed coil on the winding machine, moving to the position of the formed coil turnover structure and placing the formed coil on the formed coil turnover structure; the formed coil overturning structure is used for overturning the formed coil and transmitting the formed coil to the coil taking station by the conveyor; the stacking guide vehicle with the stacking clamp is used for taking off the formed coil stock from the coil taking-out platform and moving the formed coil stock to the tray for stacking;

The automatic guiding vehicle with the coil taking clamp comprises a coil taking automatic guiding vehicle and a coil taking clamp, wherein the coil taking clamp comprises a support, a material taking structure, a cargo carrying detection structure and a driving structure, the material taking structure is assembled on one side of the support, the driving structure is assembled on the support, the driving structure is connected with the material taking structure, the cargo carrying detection structure is assembled on the material taking structure, the coil taking clamp comprises a first AGV body, a lifting mechanism and a scissors fork mechanism, the lifting mechanism is assembled on the first AGV body, and the scissors fork mechanism is connected with the lifting mechanism;

The material taking structure comprises an upper material taking claw, a lower material taking claw and a sliding component, and the sliding component is connected with the bracket; the upper material taking claw and the lower material taking claw are respectively connected with the sliding component, and the cargo carrying detection structures are respectively arranged on the upper material taking claw and the lower material taking claw;

The stacking guide vehicle with the stacking clamp comprises a stacking clamp and a second AGV body, wherein the stacking clamp comprises a stacking material component, a stacking support and a stacking driving component, the stacking material component is connected with the stacking driving component, the stacking driving component and the stacking material component are respectively assembled on the stacking support, and the stacking support is connected with the second AGV body;

the winding assembly comprises a winding left material taking claw, a winding right material taking claw and a winding sliding assembly, wherein the winding left material taking claw and the winding right material taking claw are respectively assembled on the winding sliding assembly, and the winding sliding assembly is connected to the winding bracket.

2. The automatic composite sheet coil stock feeding and stacking equipment according to claim 1, wherein the cargo carrying detection structure comprises a first detection plate, a first elastic piece, a first proximity switch, a first connecting rod and a first shell, wherein the first detection plate is connected above the first shell, the first elastic piece is inserted into the first shell, the upper end of the first elastic piece extends out of the first shell and is connected with the first detection plate, the first connecting rod penetrates through the first elastic piece, the upper end of the first connecting rod is connected with the first detection plate, the first proximity switch is located on one side of the first shell, and the first shell is assembled on the material taking structure.

3. An automated composite sheet roll-off line stacking apparatus as recited in any one of claims 1 to 2, wherein the formed roll reversing structure comprises a base, a conveying assembly, a reversing assembly and a guard assembly, wherein the guard assembly is mounted on the conveying assembly, the conveying assembly is connected with the reversing assembly, and the reversing assembly is mounted on the base.

4. The automatic composite sheet coil stock feeding and stacking device according to claim 3, wherein the turnover assembly comprises a turnover power source and a turnover push rod, the turnover power source is assembled on the base, the turnover power source is connected with the turnover push rod, and the turnover push rod is connected with the conveying assembly.

5. The automatic composite board coil stock discharging and stacking equipment according to claim 4, wherein the coil driving assembly comprises a coil power source, a second speed reducer, a second coupler, a second screw rod fixing seat, a second screw rod and a second connecting piece, the left coil taking claw and the right coil taking claw are respectively connected with the second connecting piece, the coil power source is connected with the second speed reducer, the second speed reducer is connected with the second coupler, the second coupler is connected with the second screw rod, the second screw rod is connected with the coil support through the second screw rod fixing seat, and the second connecting piece is connected with the second screw rod.

6. The automated composite sheet coil stock removal stacking apparatus of claim 5, further comprising a coil lifting assembly, wherein the coil support is coupled to the coil lifting assembly, and wherein the coil lifting assembly is coupled to the second AGV body.