CN113200419B

CN113200419B - AGV (automatic guided vehicle) with fiber strip joint device and joint method

Info

Publication number: CN113200419B
Application number: CN202010261406.0A
Authority: CN
Inventors: 邱丽遐
Original assignee: Individual
Current assignee: Individual
Priority date: 2020-04-03
Filing date: 2020-04-03
Publication date: 2023-01-10
Anticipated expiration: 2040-04-03
Also published as: CN113200419A

Abstract

With the need for intelligent spinning mill development, the method of transporting can and sliver joint by the conventional car stop is replaced by a more intelligent and automatic scheme. In order to overcome the defects in the actual production, the invention provides a technical solution. This solution proposes an AGV vehicle with a sliver piecing device. The fiber strip joint device of the AGV is positioned at the top of the AGV and is arranged on the AGV through a support frame; comprises a first fiber strip tail grabbing arm, a second fiber strip tail grabbing arm and a fiber strip tail joint part. A first fiber strip tail of the AGV car grabs the arm for grabbing the fiber strip tail of the sliver can clamped by the AGV car. And the second fiber strip tail grabbing arm of the AGV is used for grabbing fiber strip tails on a drawing frame, a strip and coil combination machine or a roving frame guide frame. The fiber strip tail joint part is used for twisting fiber strip tails of the first fiber strip tail grabbing arm and the second fiber strip tail grabbing arm to form a joint as thick as an original fiber strip.

Description

AGV (automatic guided vehicle) with fiber strip joint device and joint method

Technical Field

The invention relates to an AGV (automatic guided vehicle) with a fiber strip joint device and a joint method, belonging to the technical field of textile machinery, in particular to a drawing frame, a strip and lap combination machine and a roving frame.

Background

The textile industry, as a traditional industry, has been a labor-intensive and labor-intensive industry. In recent years, more and more young people are less willing to work in the textile industry. Particularly, in a spinning mill, workers need to convey slivers among a carding machine, a drawing frame, a combing machine, a roving frame, a rotor spinning machine and an eddy current spinning machine on one hand, and need to twist the tail ends of fiber slivers in the slivers or broken ends with the tail ends of the running fiber slivers on equipment on the other hand, so that the fiber slivers can work continuously. The labor intensity of workers is high, and the labor efficiency is low.

Based on this current situation, AGV vehicles are currently being introduced to spinning mills to undertake the task of a worker carrying a can.

For example, patents: CN209956913U, an AGV vehicle capable of transporting a can is proposed. The AGV car can automatically clamp the round sliver can and automatically transport the round sliver can. However, the invention has the following defects: after the sliver can is transported to a designated position, workers are required to perform manual joint to knead the tail end of the fiber sliver in the sliver can and the tail end of the original fiber sliver; further, the invention does not mention how to hold a rectangular can.

For example, patents: CN107866787A, a "sliver can carrying robot" is proposed, on one hand, sliver cans are carried in an automatic navigation mode, on the other hand, can replacement is carried out automatically, and empty sliver cans and full sliver cans are replaced automatically. The invention has the following defects: only the automatic can replacement and can handling at the carding machine are realized; how to convey the sliver cans to the guide frame of the drawing frame or the guide frame of the roving frame and how to twist the tail ends of the fiber slivers of the full sliver cans and the original tail ends of the fiber slivers are not related, and manual splicing is still required by operators. The joint is time-consuming and labor-consuming to work; in addition, the joint proficiency of each operator can affect the consistency of the sliver joints, causing unnecessary quality fluctuations.

With the development of the intelligentization of spinning work, the method for transporting the sliver can and the sliver connector by the car stop worker needs to be replaced by a more intelligent and more automatic scheme. On one hand, labor can be saved; on the one hand, the consistency of the joint quality can be ensured.

Disclosure of Invention

In order to overcome the defects in the actual production, the invention provides a technical solution. This solution proposes an AGV vehicle with a sliver piecing device. On the one hand, the AGV car can realize the automatic handling and the change of a sliver can, and on the one hand, the fiber sliver piecing devices on the AGV car finish the fiber sliver piecing work, thereby replacing manual transportation sliver cans and manual piecing. The technical scheme has the obvious benefits that: the AGV with the fiber strip joint device realizes automatic sliver can replacement and sliver joint, ensures the consistency of the quality of the fiber strip joint, saves labor and improves the production efficiency.

The invention relates to the following components:

"sliver" also known as "sliver", "sliver" or "sliver" is made from cotton fibers, viscose, wool, rayon, and mixtures thereof. The invention relates to slivers placed in a can, produced by a carding machine, drawing frame or combing machine.

The "fiber bar column" refers to a column shape formed by putting fiber bars on a tray of a can for one circle, and is called as a fiber bar column. The height of the "fiber sliver" decreases as the fiber sliver in the sliver can decreases.

"sliver tail" means a tail end of sliver that is cut or stretch broken.

"full sliver" means a sliver containing sliver of a specified length or weight.

By "empty can" is meant a can with no strands or a small number of remaining strands.

The 'sliver guide frame' refers to a sliver can feeding part of a drawing frame, a sliver lap combination machine or a roving frame, and fiber slivers in the sliver can are fed into a drafting system of the drawing frame, the sliver lap combination machine or the roving frame through a pair of cotton guide rollers of the sliver guide frame.

The 'fiber strip tail in the can' refers to the fiber strip tail end of the fiber column in the can.

"sliver tail" of a sliver guide refers to the tail end of a sliver fed to a draw frame, sliver lap combiner or roving frame by a pair of sliver guide rollers of the sliver guide.

An "AGV car" refers to an automated guided vehicle for transporting a can between various processes.

The technical scheme adopted by the invention for solving the technical problems is as follows: an AGV with a sliver piecing device has an autonomous navigation function, a sliver can clamping function and a sliver piecing function. The AGV car carries the draw frame of drawing frame with the can of carding machine, or transports the can of drawing frame to the draw frame of next track drawing frame, or transports the can of drawing frame to strip and roll up the combination machine guide frame, or transports the can of drawing frame to fly frame guide frame, and further, the fiber strip piecing devices on the AGV car twine the fiber strip tail of the can of carrying and the drawing frame, strip and roll up original fiber strip tail on the guide frame of combination machine or fly frame together, form like the joint of original fiber strip thickness, thereby ensure the continuity of whole fiber strip production.

In a preferred embodiment of the present invention, the AGV is an automatic guided vehicle including AGV wheels, AGV sliver collet holding arms, and sliver engaging means. The AGV can navigate autonomously or according to a preset map. The AGV car centre gripping arm can grip the sliver can, with sliver can reciprocating transport between each process. Preferably, the AGV transports the sliver cans between the carding machine and the draw frame, between the draw frame and the draw frame of the next draw frame, between the draw frame and the draw frame of the sliver lap combination machine, and between the draw frame and the guide frame of the roving frame.

According to the invention, the fiber sliver jointing device of the AGV is positioned at the top of the AGV and is installed on the AGV through a supporting frame; comprises a first fiber strip tail grabbing arm, a second fiber strip tail grabbing arm and a fiber strip tail joint part.

In a preferred embodiment of the present invention, the first sliver tail gripping arm of the sliver piecing device of the AGV is configured to grip the sliver tail of the can gripped by the AGV.

In a preferred embodiment of the present invention, the second sliver tail grabbing arm of the sliver piecing device of the AGV is used for grabbing the sliver tail on the drawing frame, sliver lap combiner or roving frame.

In a preferred embodiment of the present invention, the sliver tail joint component of the sliver joint device of the AGV twists the sliver tails of the first and second sliver tail gripping arms to form joints with the original sliver thickness.

In a preferred embodiment of the present invention, the sliver tail joint part is supplied with compressed air, and the sliver tail in the sliver can and the sliver tail of the sliver guide are twisted together by the compressed air to form a joint with a thickness like a fibril sliver. Compressed air, preferably greater than or equal to 6bar. The fed first and second sliver tails are twisted together by the airflow of the compressed air to form a sliver joint. Preferably, at least one compressed air pipe is connected to the fiber strand tail head.

In a preferred embodiment of the present invention, the AGV has a can gripping arm located on the same side of the AGV for gripping a can. Preferably, there are two can gripping arms, for circular cans, gripping circular cans circularly; for rectangular cans, the rectangular can is held in a rectangular shape.

In a preferred embodiment of the present invention, the can gripping arm of the AGV has a can drive wheel for driving the can to rotate slowly.

As a preferred embodiment of the present invention, the AGV includes: the system comprises an autonomous navigation system, a driving system and a walking system.

In a preferred embodiment of the present invention, the method for implementing fiber sliver jointing of a circular sliver can by an AGV vehicle comprises:

when the fiber strip in a circular sliver can of the sliver guide frame is about to be exhausted or used up, or the fiber strip is broken, the machine sends an instruction to inform the AGV to replace and joint the sliver can. First, an AGV moves to the empty can or the can with the sliver broken, pushes the can out of the spinning position (the position where the can is moved into the sliver guide), and at the same time, tears or cuts the sliver to form a sliver tail, which is suspended below the pair of feed rollers of the sliver guide to prepare for splicing. The fiber strip is the tail of the fiber strip of the guide strip frame.

Further, the AGV car or the other AGV car automatically navigates to a full can, grips the can with the can gripper arm, and transports to the position of the guide frame where the can and the joint need to be replaced. The first fiber strip grabbing arm searches for the fiber strip tail in the sliver can from the clamped full sliver can. As the fiber strip tail in the sliver can is randomly placed at any position outside the sliver can, in order to grab the fiber strip tail, the sliver can driving wheel of the clamping arm of the AGV car drives the sliver can to start to rotate slowly. During the rotation, the fiber strip tail moves along with the rotation of the sliver can until being grabbed by the first fiber strip tail grabbing arm. The first fiber strip tail grabbing arm sends the grabbed fiber strip tail in the sliver can to the fiber strip tail joint part.

Further, a second fiber strip tail grabbing arm starts to find and grab the fiber strip tail of the guide strip frame; the guide bar frame fiber strip tail is suspended below the cotton feeding roller pair of the guide bar frame and is easily grabbed by the second fiber strip tail grabbing arm. And then, the second fiber strip tail grabbing arm sends the fiber strip tail of the guide bar frame into the fiber strip tail joint part. And the fiber strip tail and the guide bar frame fiber strip tail in the strip barrel are twisted to form a fiber strip joint. Preferably, the thickness of the joint is consistent with the thickness of the fiber strips, so that the joint quality is better.

In a preferred embodiment of the present invention, the method for implementing fiber sliver jointing of rectangular cans by an AGV vehicle comprises:

when the fiber strip in a rectangular can of the guide frame is about to be exhausted or used up, or the fiber strip breaks, the machine sends out an instruction to inform the AGV vehicle to replace the can and joint the fiber strip. First, an AGV moves to the empty can or the can with the sliver broken, pushes the can out of the spinning position (the position where the can is moved into the sliver guide), and at the same time, tears or cuts the sliver to form a sliver tail, which is suspended below the pair of feed rollers of the sliver guide to prepare for splicing. The fiber strip is the tail of the fiber strip of the guide strip frame.

Further, the AGV car or the other AGV car automatically navigates to a rectangular full can, grips the can with a can gripping arm, and transports to the position of the guide frame where the can and the joint need to be replaced. The first fiber strip grabbing arm searches for the fiber strip tail in the sliver can from the clamped full sliver can. The fiber strip tail in the sliver can is preferably arranged on the short side of the rectangular sliver can and is close to the fiber strip tail joint device. The first fiber strip tail grabbing arm is used for grabbing the fiber strip tail and sending the fiber strip tail into the fiber strip tail joint part.

Further, a second fiber strip tail grabbing arm starts to find and grab the fiber strip tail of the guide strip frame; the guide bar frame fiber strip tail is suspended below the cotton feeding roller pair of the guide bar frame and is easily grabbed by the second fiber strip tail grabbing arm. And then, the second fiber strip tail grabbing arm sends the fiber strip tail of the guide bar frame into the fiber strip tail joint part. And in the fiber strip joint tail part, the fiber strip tail in the strip barrel and the fiber strip tail of the guide strip frame are twisted to form a fiber strip joint. Preferably, the thickness of the joint is consistent with the thickness of the fiber strips, so as to improve the joint quality.

In a preferred embodiment of the present invention, the AGV may be used in one or more vehicles.

In a preferred embodiment of the present invention, the can is a circular can or a rectangular can.

In a preferred embodiment of the invention, the circular can is provided with or without a pulley. Preferably, the circular can has pulleys to facilitate transport of the AGV.

In a preferred embodiment of the invention, the rectangular can is provided with or without a pulley. Preferably, the rectangular can is free of pulleys to prevent tipping during transport.

The invention has the beneficial effects that: the automatic transport can of the AGV car replaces the traditional manual transport can, so that the labor is saved, and the workload of operators is reduced; the AGV car is provided with an automatic joint device, so that the function of conveying the sliver can is realized, the traditional manual joint is replaced, the inconsistency of the joint caused by the manual joint is avoided, and the consistent joint quality is ensured; furthermore, the AGV with the fiber strip joint device lays a foundation for further intelligent factories.

Drawings

The invention is further illustrated with reference to the following figures and examples:

FIG. 1 is a schematic view of a AGV with a first fiber bar tail grabbing arm grabbing a fiber bar tail side view (round bar canister)

FIG. 2 is a schematic top view of a AGV with a first sliver tail gripping arm gripping a sliver tail (round sliver can)

FIG. 3 is a schematic view of the AGV vehicle's second fiber strip tail grabbing arm grabbing fiber strip tail side view (round sliver can)

FIG. 4 is a schematic view of the AGV vehicle showing the side view of the first fiber strip tail grabbing arm grabbing the fiber strip (rectangular can)

FIG. 5 is a schematic view of the AGV vehicle from above (rectangular can) showing the first fiber strip tail grabbing arm grabbing fiber strip tail

FIG. 6 is a schematic view of the AGV vehicle showing the rear side view of the second fiber strip gripping arm gripping the fiber strips (rectangular can)

In the figure:

1. a first sliver tail grasping arm;

2. a second sliver tail grabbing arm;

3. a fiber strand tail connector component;

4. a support frame;

5. a circular can;

6. fiber bar columns;

7. fiber strip tails in the strip can;

8, an AGV lathing barrel clamping arm;

9. a can driving wheel;

10. a guide strip frame fiber strip tail;

11. a cotton guide roller pair;

12. a rectangular can;

a: an AGV car;

l: a guide bar frame;

s1: the moving direction of the first fiber strip tail grabbing arm;

s2: the barrel rotation direction;

s3: the moving direction of the second fiber strip tail grabbing arm;

w1: moving the position of a first fiber strip tail grabbing arm;

w2: moving the position of a second fiber strip tail grabbing arm;

p1: moving the tail of the fiber strip in the strip can;

p2: moving the tail of the fiber strip of the guide strip frame;

g: short side edges of the rectangular can;

GG: symmetrical short sides of the rectangular can;

d: the long side of the rectangular can;

DD: symmetrical long sides of the rectangular can;

Detailed Description

Example 1

As shown in fig. 1, 2 and 3, an embodiment of the present invention is shown. The can used is a circular can.

FIG. 1 is a schematic side view of an AGV with a first sliver tail gripping arm gripping a sliver from the rear (round sliver can).

FIG. 2 is a schematic top view of a first sliver tail gripping arm of an AGV car gripping a sliver tail (round sliver can).

FIG. 3 is a schematic side view of the AGV car showing the rear end of the sliver being grabbed by the second sliver tail grabbing arm (round sliver can).

AGV car A has first fiber strip tail to snatch arm 1, second fiber strip tail and snatchs arm 2 and fiber strip tail joint spare 3, links to each other with a support frame 4, installs in AGV car A top. Wherein, the can clamping arms 8 of the AGV are respectively arranged at two sides of the AGV, and each clamping arm is provided with a can driving wheel 9. The round sliver can 5 is loaded with fiber sliver columns 6 formed by fiber slivers. At the top end of the fiber rod 6, there is a hanging fiber rod tail 7, which is the fiber rod tail in the can of the present invention. See fig. 1 and 2.

In this embodiment, the sliver splicing process for an AGV car is: a can clamping arm 8 of the AGV car clamps a can 5 and transports the can to a can feeding position of the guide frame.

Further, the first sliver tail grabbing arm 1 starts to find and grab the sliver tail 7 in the sliver can. Since the sliver tail 7 is randomly placed outside the sliver can 5, in order to catch the sliver tail 7, the can driving wheel 9 on the can holding arm 8 of the agv a starts to drive the sliver can 5 to rotate slowly, following the direction of arrow S2. Along with the rotation of the can 5, the fiber strip tail 7 moves until being caught by the first fiber strip tail catching arm 1. As shown in fig. 2.

Further, the first ribbon tail catching arm 1 catches the ribbon tail 7 in the can, and moves to a new position W1 along the S1 direction, and at the same time, the ribbon tail 7 caught by the first ribbon tail catching arm 1 is also moved to a new position P1. At position P1, the sliver tail 7 is placed in the sliver tail connector part 3. Ready for the next step of splicing. As shown in fig. 1.

Further, as shown in fig. 3, the second sliver tail gripping arm 2 starts gripping the sliver tail 10 of the sliver guide L. The guide bar frame fiber strip tail 10 is suspended below the cotton guide roller pair 11 of the guide bar frame L, the second fiber strip tail grabbing arm 2 easily grabs the fiber strip tail 10 of the guide bar frame, further, the second fiber strip tail grabbing arm moves to a new position W2 along the S3 direction, and the fiber strip tail 10 of the guide bar frame moves to a new position P2 along with the movement of the second fiber strip tail grabbing arm 2; at position P2, the creel sliver tail 10 is placed in the sliver tail connector block 3.

Further, the fiber strip tail 7 and the guide bar frame fiber strip tail 10 which are placed in the can of the fiber strip tail joint component 3 are twisted in the joint component 3 to form a joint with the thickness as the original fiber strip. Preferably, as an embodiment, the sliver tail joint 3 is connected with a compressed air pipe, and the

sliver tails

7 and 10 are twisted together by the action of compressed air to form a joint.

Further, the sliver tail tab part 3 releases the formed joint. The fiber strip tail 7 and the guide bar frame fiber strip tail 10 in the twisted strip cylinder form a connected fiber strip, and the fiber strip is fed into the guide bar frame L.

Example 2

As shown in fig. 4, 5 and 6, another embodiment of the present invention is shown. The can used is a rectangular can.

AGV car A has first fiber strip tail to snatch arm 1, second fiber strip tail and snatchs arm 2 and fiber strip tail joint spare 3, links to each other with a support frame 4, installs in AGV car A top. Wherein, the can clamping arms 8 of the AGV are respectively arranged at two sides of the AGV and are used for clamping a rectangular can 12. The rectangular sliver cans 12 are loaded with fiber sliver columns 6 composed of fiber slivers. At the top end of the fibre sliver 6 there is a hanging fibre sliver tail 7, which is the fibre sliver tail in the sliver can referred to in the present invention. Since rectangular can 12 is an elongated structure including short sides G and symmetrical short sides GG, and long sides D and symmetrical long sides DD. Preferably, the sliver tail 7 in the can is placed at the short side G of the rectangular can 12, and the short side G is close to the sliver tail joint block 3 of the AGV car a, which is advantageous in that the first sliver tail catching arm 1 easily catches the sliver tail 7 in the can. See fig. 4 and 5.

In this embodiment, the sliver splicing process for an AGV car is: a can clamping arm 8 of the AGV car A clamps the can 5 and transports the can to a can feeding position of the guide frame L.

Further, the first sliver tail grabbing arm 1 starts to find and grab the sliver tail 7 in the sliver can. Since sliver tail 7 in can is placed on short side G of rectangular can 12 and short side G is close to sliver joint member 3, first sliver tail gripping arm 1 easily grips sliver tail 7 in can, as shown in fig. 4 and 5.

Further, the first ribbon tail catching arm 1 catches the ribbon tail 7 in the can, and moves to a new position W1 along the S1 direction, and at the same time, the ribbon tail 7 caught by the first ribbon tail catching arm 1 is also moved to a new position P1. At position P1, the sliver tail 7 is placed in the sliver tail connector part 3. Ready for the next step of splicing. As shown in fig. 4.

Further, as shown in fig. 6, the second sliver tail grabbing arm 2 starts to grab the sliver tail 10 of the sliver guide L. The guide bar frame fiber strip tail 10 is suspended below the cotton guide roller pair 11 of the guide bar frame L, the second fiber strip tail grabbing arm 2 easily grabs the fiber strip tail 10 of the guide bar frame, further, the second fiber strip tail grabbing arm moves to a new position W2 along the S3 direction, and the fiber strip tail 10 of the guide bar frame moves to a new position P2 along with the movement of the second fiber strip tail grabbing arm 2; at position P2, the bar guide sliver tail 10 is placed in the sliver tail connector part 3.

sliver tails

7 and 10 are twisted together by the action of compressed air to form a joint.

Various modifications, additions and substitutions for the specific embodiments described may occur to those skilled in the art without departing from the scope of the invention as defined by the accompanying claims.

Claims

1. AGV car (A) that has ribbon piecing devices for carrying can (5) between spinning workshop's fibre processing machine, AGV car has can centre gripping arm (8), its characterized in that: be provided with support frame (4) on AGV car (A), first fibre strip tail snatchs arm (1), second fibre strip tail snatchs arm (2) and fibre strip tail joint head spare (3) and sets up respectively on support frame (4), first fibre strip tail snatchs arm (1) and is used for snatching barrel fibre strip tail (7) and removes it to fibre strip tail joint head spare (3), second fibre strip tail snatchs arm (2) and is used for snatching guide bar frame fibre strip tail (10) on the fibre processing machine and removes it to fibre strip tail joint head spare (3), fibre strip tail joint head spare (3) be used for forming a fiber strip and release with barrel fibre strip tail (7) and guide bar frame fibre strip tail (10) twist and connect.

2. The AGV vehicle with sliver piecing arrangement of claim 1, wherein: a can (5) carried by the AGV car (A) is circular, a can driving wheel (9) is arranged on the can clamping arm (8), and the can driving wheel (9) can drive the can (5) to slowly rotate.

3. The AGV vehicle with sliver piecing arrangement of claim 2, wherein: the sliver tail joint component (3) is provided with compressed air supply, and the sliver can sliver tail (7) and the sliver guide frame sliver tail (10) are twisted together under the action of compressed air flow to form a joint.

4. Method for splicing an AGV vehicle (a) with sliver splicing device, said AGV vehicle (a) having a sliver can gripping arm (8) for handling a sliver can (5) between fiber processing machines in a spinning room, characterized in that: the AGV comprises an AGV car (A) and is characterized in that a support frame (4) is further arranged on the AGV car (A), a first fiber strip tail grabbing arm (1), a second fiber strip tail grabbing arm (2) and a fiber strip tail joint part (3) are respectively arranged on the support frame (4), and the first fiber strip tail grabbing arm (1) grabs a fiber strip tail (7) of a can and moves the fiber strip tail to the fiber strip tail joint part (3); the second fiber strip tail grabbing arm (2) grabs a guide bar frame fiber strip tail (10) on the fiber processing machine and moves the guide bar frame fiber strip tail to the fiber strip tail joint part (3); the fiber strip tail joint component (3) is used for twisting and connecting the sliver can fiber strip tail (7) and the sliver guide frame fiber strip tail (10) to form a fiber strip and releasing the fiber strip.

5. Splicing method for AGV vehicles (a) with sliver splicing device according to claim 4, characterized in that: a can (5) that AGV car (A) carried is circular, be provided with can drive wheel (9) on can centre gripping arm (8), can drive wheel (9) drive can (5) rotate slowly to first fibre strip tail snatchs arm (1) and snatchs can fibre strip tail (7).

6. Splicing method for AGV vehicles (a) with sliver splicing device according to claim 4, characterized in that: a can carried by the AGV car (A) is rectangular, and a can short side edge (G) with a can fiber strip tail (7) is close to the first fiber strip tail grabbing arm (1) by the can clamping arm (8).

7. Splicing method for AGV vehicles (a) with sliver splicing device according to claim 5 or 6, characterized in that: the sliver tail joint component (3) is provided with compressed air supply, and the sliver can sliver tail (7) and the sliver guide frame sliver tail (10) are twisted together under the action of compressed air flow to form a joint.