CN113636417B - Intelligent winding moves and carries AGV dolly - Google Patents
Intelligent winding moves and carries AGV dolly Download PDFInfo
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- CN113636417B CN113636417B CN202110978910.7A CN202110978910A CN113636417B CN 113636417 B CN113636417 B CN 113636417B CN 202110978910 A CN202110978910 A CN 202110978910A CN 113636417 B CN113636417 B CN 113636417B
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- gear motor
- gear
- grabbing
- conveying
- yarn
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H67/00—Replacing or removing cores, receptacles, or completed packages at paying-out, winding, or depositing stations
- B65H67/04—Arrangements for removing completed take-up packages and or replacing by cores, formers, or empty receptacles at winding or depositing stations; Transferring material between adjacent full and empty take-up elements
- B65H67/0405—Arrangements for removing completed take-up packages or for loading an empty core
- B65H67/0411—Arrangements for removing completed take-up packages or for loading an empty core for removing completed take-up packages
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H63/00—Warning or safety devices, e.g. automatic fault detectors, stop-motions ; Quality control of the package
- B65H63/08—Warning or safety devices, e.g. automatic fault detectors, stop-motions ; Quality control of the package responsive to delivery of a measured length of material, completion of winding of a package, or filling of a receptacle
- B65H63/084—Warning or safety devices, e.g. automatic fault detectors, stop-motions ; Quality control of the package responsive to delivery of a measured length of material, completion of winding of a package, or filling of a receptacle responsive to a predetermined weight of the package
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H67/00—Replacing or removing cores, receptacles, or completed packages at paying-out, winding, or depositing stations
- B65H67/06—Supplying cores, receptacles, or packages to, or transporting from, winding or depositing stations
- B65H67/062—Sorting devices for full/empty packages
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H67/00—Replacing or removing cores, receptacles, or completed packages at paying-out, winding, or depositing stations
- B65H67/06—Supplying cores, receptacles, or packages to, or transporting from, winding or depositing stations
- B65H67/064—Supplying or transporting cross-wound packages, also combined with transporting the empty core
- B65H67/065—Manipulators with gripping or holding means for transferring the packages from one station to another, e.g. from a conveyor to a creel trolley
Abstract
The invention relates to an intelligent winding and transferring AGV trolley, which comprises: the yarn winding device comprises a carrying device, a grabbing device for grabbing yarn groups on a winder after yarn winding is completed, a weighing device for weighing the yarn groups grabbed by the grabbing device, a transmission device for horizontally transmitting the weighed yarn groups, a reversing device for transmitting the yarn groups transmitted by the transmission device to the next process, and a control device; the grabbing device is rotatably arranged on the carrying device; the weighing device, the transmission device and the reversing device are sequentially and fixedly arranged on the carrying device; the carrying device, the grabbing device, the weighing device, the transmission device and the reversing device are all electrically connected with the control device; the intelligent yarn winding transfer AGV trolley can automatically take down yarn groups on a winder, weigh and record the yarn groups and then transfer the yarn groups to the next process.
Description
Technical Field
The invention relates to the technical field of intelligent carrying robots, in particular to an intelligent winding and transferring AGV.
Background
Winding refers to the process of rewinding cop, hank yarn, etc. into bobbins of various forms. The yarn is given proper tension when wound, so that the bobbin is well formed, the yarn is convenient to untwist, and various defects on the yarn can be removed. Manual winding is prevalent in the early Han dynasty of China. In 1952, the mountain-county, shandong county, and the subsequent Han dynasty, which is going out of the soil, all had a character image of the person who is operating the car, indicating that Han dynasty has become a popular textile tool for use in the folk. Many automated spooling equipment has emerged in society over many years of development. However, for yarn groups after winding, a traditional lagging mode of manual material taking, weighing and carrying is adopted. The automatic intelligent transfer device has the advantages of large manual consumption, low working efficiency, large noise of working threads, frequent contact between operators and a winder and extremely high safety risk, and is necessary.
Disclosure of Invention
Aiming at the defects of the prior art, the invention aims to provide an intelligent winding and transferring AGV trolley which solves the problems that the existing manual yarn group conveying efficiency is low and danger is easy to occur.
The technical aim of the invention is realized by the following technical scheme:
an intelligent winding transfer AGV trolley, comprising: the yarn winding device comprises a carrying device, a grabbing device for grabbing yarn groups on a winder after yarn winding is completed, a weighing device for weighing the yarn groups grabbed by the grabbing device, a transmission device for horizontally transmitting the weighed yarn groups, a reversing device for transmitting the yarn groups transmitted by the transmission device to the next process, and a control device; the grabbing device is rotatably arranged on the carrying device; the weighing device, the transmission device, the reversing device and the control device are fixedly arranged on the carrying device; the carrying device, the grabbing device, the weighing device, the transmission device and the reversing device are all electrically connected with the control device.
Optionally, the gripping device includes: the device comprises a horizontal rotating mechanism, a vertical overturning mechanism and a grabbing mechanism; the horizontal rotating mechanism is rotatably arranged on the carrying device, and the vertical overturning mechanism is arranged on the horizontal rotating mechanism; the grabbing mechanism is arranged on the vertical overturning mechanism in a sliding manner; the horizontal rotating mechanism, the vertical overturning mechanism and the grabbing mechanism are all electrically connected with the control device.
Optionally, the method further comprises: a swivel bearing and support post; the horizontal rotation mechanism includes: the device comprises a first rotary gear, a second rotary gear, a rotary disk and a first gear motor; the support column is fixedly arranged on the carrying device; the inner ring of the rotary bearing is fixedly connected with the support column, the outer ring of the rotary bearing is fixedly connected with the first rotary gear, the rotary disk is concentrically and fixedly connected with the first rotary gear, the second rotary gear is rotatably arranged on the rotary disk and is meshed and linked with the first rotary gear, and the first gear motor is arranged on the rotary disk; the driving end of the first speed reduction motor is in transmission connection with the second rotary gear; the first gear motor is electrically connected with the control device.
Optionally, the vertical overturning mechanism includes: the first fixing seat, the second gear motor and the first sliding rail; the first fixing seat is fixedly arranged on the horizontal rotating mechanism; one end of the sliding rail is rotatably arranged on the first fixing seat, the second speed reduction motor is fixedly arranged on the horizontal rotating mechanism, and the driving end of the second speed reduction motor is in transmission connection with the sliding rail; the grabbing mechanism is arranged on the first sliding rail in a sliding manner; the second gear motor is electrically connected with the control device.
Optionally, the grabbing mechanism includes: the device comprises a second fixing seat, a first clamp, a second clamp corresponding to the first clamp, a third gear motor and a second sliding rail; the second fixing seat is arranged on the vertical overturning mechanism in a sliding manner, the second sliding rail is fixedly arranged on the second fixing seat, and the first clamp and the second clamp are both arranged on the second sliding rail in a sliding manner; the third gear motor is fixedly arranged on the second fixing seat, and the first clamp and the second clamp are in transmission connection with the driving end of the third gear motor; the third gear motor is electrically connected with the control device.
Optionally, the weighing device includes: the device comprises a first supporting frame, a fourth gear motor and a gravity sensor, wherein the first supporting frame is arranged on a carrying device, the fourth gear motor and the gravity sensor are both arranged on the first supporting frame, a plurality of conveying roll shafts are further arranged on the gravity sensor, and the conveying roll shafts are both rotatably arranged on the first supporting frame and are both in transmission connection with the driving end of the fourth gear motor; and the gravity sensor and the fourth gear motor are electrically connected with the control device.
Optionally, the conveying device comprises a second supporting frame, a plurality of fifth reducing motors and a plurality of first conveying roller mechanisms; the second supporting frame is fixedly arranged on the carrying device; the plurality of fifth gear motors are arranged on the second supporting frame, the plurality of first conveying roller mechanisms are arranged on the second supporting frame, and driving ends of the plurality of fifth gear motors are in one-to-one corresponding transmission connection with the plurality of first conveying roller mechanisms; and a plurality of fifth gear motors are electrically connected with the control device.
Optionally, the first conveying roller mechanism includes: the first limiting plate and the plurality of conveying roll shafts; the first limiting plates are fixedly arranged on the second supporting frames, and the conveying roller shafts are all rotatably arranged on the first limiting plates and are all in transmission connection with the driving ends of the fifth gear motor.
Optionally, the reversing device includes: a third support frame, a second conveyor roller mechanism, and a conveyor belt mechanism; the third support frame is arranged on the carrying device; the second conveying roller mechanism and the conveying belt mechanism are arranged on the third supporting frame; the second conveying roller mechanism and the conveying belt mechanism are electrically connected with the control device.
Optionally, the second conveying roller mechanism includes: the device comprises a sixth gear motor, a second limiting plate and a plurality of conveying roll shafts; the sixth gear motor and the second limiting plate are arranged on the third supporting frame; the conveying roller shafts are all rotatably arranged on the second limiting plate and are all in transmission connection with the driving end of the sixth gear motor; the conveying belt mechanism comprises a plurality of conveying belts, a plurality of belt pulleys, a first lifting seat, a second lifting seat, a lifting driving unit and a seventh speed reducing motor; the first lifting seat and the lifting driving unit are fixedly arranged on the third supporting frame; the second lifting seat is arranged on the first lifting seat in a sliding manner, and the output end of the lifting driving unit is in transmission connection with the second lifting seat; the seventh gear motor is fixedly arranged on the second lifting seat; the pulleys are in transmission connection with the driving end of the seventh gear motor and are all rotatably arranged on the second lifting seat; the transmission belts are correspondingly sleeved on the belt wheels; the conveying belts and the conveying roll shafts are sequentially arranged at intervals; the sixth gear motor, the seventh gear motor and the lifting driving unit are all electrically connected with the control device.
In summary, the invention has the following beneficial effects: the utility model provides an intelligent winding moves AGV dolly, include: the yarn winding device comprises a carrying device, a grabbing device for grabbing yarn groups on a winder after yarn winding is completed, a weighing device for weighing the yarn groups grabbed by the grabbing device, a transmission device for horizontally transmitting the weighed yarn groups, a reversing device for transmitting the yarn groups transmitted by the transmission device to the next station and a control device; the grabbing device is rotatably arranged on the carrying device; the weighing device, the transmission device and the reversing device are sequentially and fixedly arranged on the carrying device; the carrying device, the grabbing device, the weighing device, the transmission device and the reversing device are all electrically connected with the control device; the intelligent yarn winding transfer AGV trolley can automatically take down yarn groups on a winder, weigh and record the yarn groups and then transfer the yarn groups to the next process.
Drawings
FIG. 1 is a side view of the overall structure of the present invention;
FIG. 2 is a top view of the overall structure of the present invention;
FIG. 3 is a schematic view of a horizontal rotation mechanism of the present invention;
FIG. 4 is a schematic view of the vertical tilt mechanism of the present invention;
FIG. 5 is a schematic view of the grasping mechanism of the invention;
FIG. 6 is a schematic view of a weighing apparatus of the present invention;
FIG. 7 is a schematic diagram of a transmission device of the present invention;
fig. 8 is a schematic view of a reversing device of the present invention;
in the figure:
1. a carrying device; 11. a support column; 2. a gripping device; 21. a horizontal rotation mechanism; 210. a first rotary gear; 211. a second rotary gear; 212. a rotating disc; 213. a first gear motor; 22. a vertical overturning mechanism; 220. a first fixing seat; 221. a second gear motor; 222. a first slide rail; 23. a grabbing mechanism; 230. the second fixing seat; 231. a first clamp; 232. a second clamp; 233. a third gear motor; 234. a second slide rail; 3. a weighing device; 31. a first support frame; 32. a fourth gear motor; 33. a gravity sensor; 4. a transmission device; 41. a second support frame; 42. a fifth gear motor; 43. a first conveying roller mechanism; 431. a first limiting plate; 432. a conveying roller shaft; 5. a reversing device; 51. a third support frame; 52. a second conveying roller mechanism; 520. a sixth gear motor; 521. a second limiting plate; 53. a conveyor belt mechanism; 530. a transmission belt; 531. a belt wheel; 532. a first lifting seat; 533. a second lifting seat; 534. a lifting driving unit; 535. a seventh gear motor; 6. a rotating bearing; 7. a photo gate device; .
Detailed Description
In order that the objects, features and advantages of the invention will be readily understood, a more particular description of the invention will be rendered by reference to specific embodiments thereof which are illustrated in the appended drawings. Several embodiments of the invention are presented in the figures. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein.
In the present invention, unless explicitly specified and limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances. The terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature.
In the present invention, unless expressly stated or limited otherwise, a first feature "above" or "below" a second feature may include both the first and second features being in direct contact, as well as the first and second features not being in direct contact but being in contact with each other through additional features therebetween. Moreover, a first feature being "above," "over" and "on" a second feature includes the first feature being directly above and obliquely above the second feature, or simply indicating that the first feature is higher in level than the second feature. The first feature being "under", "below" and "beneath" the second feature includes the first feature being directly under and obliquely below the second feature, or simply means that the first feature is less level than the second feature. The terms "vertical," "horizontal," "left," "right," "up," "down," and the like are used for descriptive purposes only and are not to indicate or imply that the devices or elements being referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore should not be construed as limiting the invention.
The present invention will be described in detail below with reference to the accompanying drawings and examples.
Referring to fig. 1-8, the present invention provides an intelligent winding and transferring AGV trolley, comprising: the yarn winding device comprises a carrying device 1, a grabbing device 2 for grabbing yarn groups on a winder, a weighing device 3 for weighing the yarn groups grabbed by the grabbing device 2, a conveying device 4 for horizontally conveying the weighed yarn groups, a reversing device 5 for conveying the yarn groups conveyed by the conveying device 4 to the next process, and a control device; the grabbing device 2 is rotatably arranged on the carrying device 1; the weighing device 3, the transmission device 4, the reversing device 5 and the control device are fixedly arranged on the carrying device 1; the carrying device 1, the grabbing device 2, the weighing device 3, the transmission device 4 and the reversing device are all electrically connected with the control device. The carrying device 1 comprises a vehicle chassis, wheels and a driving device for driving the wheels, wherein the driving device is electrically connected with the control device and is used for controlling the travelling direction and distance of the trolley; the control device can be an industrial control device which can record a driving program and perform corresponding execution, such as a singlechip or an industrial control host, and is also used for wireless communication with a remote control end so as to enable people to perform remote control; the control device is used for driving the whole AGV trolley and various automatic devices on the AGV trolley to realize corresponding movement and cooperation.
In this embodiment, the carrying device 1 of the present invention is a wheel and a bottom plate at the bottom of the AGV trolley for carrying the whole structure and a driving device, and when the winding of the winder is completed, the AGV trolley can be driven to move to the winder for the next operation; the grabbing device 2 is used for taking down yarn clusters on the winder and transferring the yarn clusters to the weighing device 3 on the AGC trolley to weigh the yarn clusters; the weight data of the yarn clusters are transmitted to a control device for recording through a weighing device 3; one end of the transmission device 4 is connected with the weighing device 3, the transmission device 4 longitudinally transmits the weighed yarn groups, the other end of the transmission device 4 is connected with the reversing device 5, and the reversing device 5 is used for transmitting the yarn groups to the next working procedure. Specifically, the AGV trolley is provided with a certain length, the grabbing device is arranged at the head position of the AGV trolley, and the weighing device 3, the transmission device 4 and the reversing device 5 are sequentially arranged; when a plurality of spoolers are provided and the spooling is completed or the time interval between the spooling and the spooling is not large, and a plurality of yarn groups need to be removed from the spoolers, the conveying device 4 also has the function of storing the yarn groups, so that the weighing device 3, the conveying device 4 and the reversing device 5 are further provided with a plurality of photoelectric gate devices 7 for detecting the positions of the yarn groups in sequence. The photoelectric gate device 7 is electrically connected with the control system; when the photoelectric gate device 7 detects that the yarn cluster exists in the current station but no yarn cluster exists in the next station, the control system correspondingly controls the yarn cluster on the current station to be transferred to the next station, and the current station is left for temporarily storing the yarn cluster.
Further, the gripping device 2 includes: a horizontal rotation mechanism 21, a vertical turning mechanism 22, and a grasping mechanism 23; the horizontal rotating mechanism 21 is rotatably arranged on the carrying device 1, and the vertical overturning mechanism 22 is arranged on the horizontal rotating mechanism 21; the grabbing mechanism 23 is slidably arranged on the vertical overturning mechanism 22; the horizontal rotation mechanism 21, the vertical turning mechanism 22 and the grabbing mechanism 23 are all electrically connected with the control device.
Further, referring to fig. 3, the method further includes: a rotating bearing 6; the horizontal rotation mechanism 21 includes: a first rotary gear 210, a second rotary gear 211, a rotary disk 212, and a first reduction motor 213; the carrying device 1 is provided with a supporting column 11; the inner ring of the rotary bearing 6 is fixedly connected with the support column 11, the outer ring of the rotary bearing 6 is fixedly connected with the first rotary gear 210, the rotary disk 212 is fixedly connected with the first rotary gear 210 concentrically, the second rotary gear 211 is rotatably arranged on the rotary disk 212 and is meshed and linked with the first rotary gear 210, and the first reducing motor 213 is arranged on the rotary disk 212; the driving end of the first gear motor 213 is in transmission connection with the second rotary gear 211; the vertical tilting mechanism 22 (i.e., the first slide rail 222 of the vertical tilting mechanism 22) is disposed on the rotating disk 212; the first gear motor 213 is electrically connected to the control device.
Further, referring to fig. 4, the vertical turning mechanism 22 includes: the first fixing base 220, the second gear motor 221, and the first sliding rail 222; the first fixing base 220 is fixedly arranged on the horizontal rotation mechanism 21 (that is, the rotating disc 212); one end of the sliding rail is rotatably arranged on the first fixing seat 220, the second speed reducing motor 221 is fixedly arranged on the horizontal rotating mechanism 21, and the driving end of the second speed reducing motor 221 is in transmission connection with the sliding rail; the grabbing mechanism 23 is slidably arranged on the first sliding rail 222; the second gear motor 221 is electrically connected to the control device.
Further, referring to fig. 5, the grabbing mechanism 23 includes: a second fixing base 230, a first clamp 231, a second clamp 232 corresponding to the first clamp 231, a third gear motor 233, and a second slide rail 234; the second fixing base 230 is slidably disposed on the vertical turnover mechanism 22 (i.e. the first sliding rail 222), the second sliding rail 234 is fixedly disposed on the second fixing base 230, and the first clamp 231 and the second clamp 232 are both slidably disposed on the second sliding rail 234; the third gear motor 233 is fixedly arranged on the second fixing base 230, and the first clamp 231 and the second clamp 232 are both in transmission connection with the driving end of the third gear motor 233; the third gear motor 233 is electrically connected to the control device.
Specifically, the horizontal rotation mechanism 21 is located at the lowermost end of the grasping device 2, and functions to achieve the overall rotation of the grasping device 2; when the AGV trolley moves to the position of the winder, the horizontal rotating mechanism 21 controls the grabbing mechanism 23 to horizontally rotate, so that the grabbing mechanism 23 is aligned with the direction of the yarn group on the winder after yarn winding is completed; the first sliding rail 222 on the turnover mechanism can turn over in a vertical plane, and the vertical height of the grabbing mechanism 23 can be adjusted in the process of turning over; the grabbing mechanism 23 can slide on the turnover mechanism to grab yarn groups; when the gripping device 2 grips the yarn ball, the gripping mechanism 23 slides backward, the turning mechanism and the horizontal rotating mechanism 21 interact simultaneously, the first sliding rail 222 is rotated to the direction same as the travelling direction of the trolley, the turning of the vertical turning mechanism 22 is in a vertical state, the gripping mechanism 23 moves above the weighing device 3, the gripping mechanism 23 moves vertically downwards along the first sliding rail 222 in the vertical state, and the yarn ball is placed on the weighing device 3.
Further, referring to fig. 6, the weighing device 3 includes: the device comprises a first supporting frame 31, a fourth gear motor 32 and a gravity sensor 33, wherein the first supporting frame 31 is arranged on the carrying device 1, the fourth gear motor 32 and the gravity sensor 33 are both arranged on the first supporting frame 31, the gravity sensor 33 is also provided with a plurality of conveying roll shafts 432, and the conveying roll shafts 432 are both rotatably arranged on the first supporting frame 31 and are both in transmission connection with the driving end of the fourth gear motor 32; the gravity sensor 33 and the fourth gear motor 32 are electrically connected to the control device.
Specifically, the weighing device 3 mainly includes a gravity sensor 33 for weighing weight and transmitting weight data to the control device, and a conveying roller 432 for conveying articles, the conveying roller 432 is arranged on the gravity sensor 33, the gravity sensor 33 performs zero calibration treatment, when a yarn cluster is placed on the conveying roller 432, the gravity sensor 33 transmits weight information of the yarn cluster to the control device and records the weight information, and correspondingly judges whether the weight of the yarn cluster is qualified or not, if the weight of the yarn cluster is unqualified, the yarn cluster is rejected and recovered in the subsequent steps; in order to transfer the yarn ball placed on the gravity sensor 33 to the subsequent conveying device 4, a plurality of conveying rollers are arranged on the gravity sensor 33, and the conveying rollers are connected with the subsequent conveying device 4, so that the yarn ball can be smoothly conveyed to the conveying device. Further, the weighing device 3 further comprises a photoelectric gate device 7, and the photoelectric gate device 7 is used for detecting whether a coil is placed on the weighing device 3.
Further, referring to fig. 7, the conveying device 4 includes a second supporting frame 41, a plurality of fifth gear motors 42, and a plurality of first conveying roller mechanisms 43; the second supporting frame 41 is fixedly arranged on the carrying device 1; the fifth gear motors 42 are all arranged on the second supporting frame 41, the first conveying roller mechanisms 43 are arranged on the second supporting frame 41, and the driving ends of the fifth gear motors 42 are in one-to-one corresponding transmission connection with the first conveying roller mechanisms 43; the plurality of fifth gear motors 42 are electrically connected to the control device.
Further, the first conveying roller mechanism 43 includes: a first stopper plate 431 and a plurality of conveying roller shafts 432; the first limiting plate 431 is fixedly disposed on the second supporting frame 41, and the plurality of conveying roller shafts 432 are all rotatably disposed on the first limiting plate 431 and are all in driving connection with the driving end of the fifth gear motor 42.
In the present embodiment, the number of the fifth gear motors 42 is three, the number of the first conveying roller mechanisms 43 is also three, and the fifth gear motors 42 are correspondingly connected with the first conveying roller mechanisms 43; the three first conveying roller mechanisms 43 are sequentially arranged on the second supporting frame 41, and the three first conveying roller mechanisms 43 can be independently driven to rotate, so that when no yarn cluster is placed on one of the first conveying roller mechanisms 43, the first conveying roller mechanisms 43 do not need to rotate, and only the first conveying roller mechanism 43 with the yarn cluster placed thereon needs to be driven. Further, the three conveying roller mechanisms are also respectively provided with a photoelectric gate device 7, and the three photoelectric gate devices 7 can correspondingly identify whether yarn clusters are placed on the three first conveying roller mechanisms 43; and the control device is used for judging as follows: if a yarn cluster is placed on a first conveyor roller mechanism 43 close to the weighing device 3 and no yarn cluster is placed on a first conveyor roller mechanism 43 adjacent to the weighing device 3 and further away from the weighing device 3, the first conveyor roller mechanism 43 is started to transfer the yarn cluster to the empty first conveyor roller mechanism 43 so that the yarn cluster conveyed by the follow-up grabbing device 2 can be placed on the conveyor.
Further, referring to fig. 8, the reversing device 5 includes: a third support frame 51, a second conveying roller mechanism 52, and a conveying belt mechanism 53; the third support frame 51 is provided on the carrier 1; the second conveying roller mechanism 52 and the conveying belt mechanism 53 are both provided on the third support frame 51; the second conveyor roller mechanism 52 and the conveyor belt mechanism 53 are electrically connected to the control device.
Specifically, the method comprises the steps of; the reversing device 5 comprises: a second conveying roller mechanism 52 for connecting with the first conveying roller mechanism 43 and having the same conveying direction, and a conveying belt mechanism 53 for conveying the yarn groups conveyed onto the second conveying roller mechanism 52 in a vertical direction; the belt mechanism 53 is in a lifting structure, and when the belt mechanism 53 is lowered to the lowest end, the belt mechanism 53 is lower than the second conveying roller mechanism 52; the yarn groups can be freely transported on said second transport roller mechanism 52; when the conveyor belt 53 is lifted up to the top, the upper surface of the conveyor belt 53 is higher than the upper surface of the second conveyor roller 52, and the conveyor belt 53 lifts up the yarn groups and conveys the yarn groups along the conveying direction of the conveyor belt 53.
Further, the second conveying roller mechanism 52 includes: a sixth gear motor 520, a second limiting plate 521 and a plurality of conveying roller shafts 432; the sixth gear motor 520 and the second limiting plate 521 are disposed on the third support frame 51; the conveying roller shafts 432 are all rotatably arranged on the second limiting plate 521 and are all in transmission connection with the driving end of the sixth gear motor 520;
the conveyor belt mechanism 53 includes a plurality of conveyor belts 530, a plurality of pulleys 531, a first elevating seat 532, a second elevating seat 533, an elevating driving unit 534, and a seventh reduction motor 535; the first lifting base 532 and the lifting driving unit 534 are all fixedly disposed on the third supporting frame 51; the second lifting seat 533 is slidably disposed on the first lifting seat 532, and an output end of the lifting driving unit 534 is in transmission connection with the second lifting seat 533; the seventh gear motor 535 is fixedly disposed on the second lifting seat 533; the pulleys 531 are all in transmission connection with the driving end of the seventh gear motor 535 and are all rotatably arranged on the second lifting seat 533; the transmission belts 530 are correspondingly sleeved on the pulleys 531;
the conveying belts 530 and the conveying roller shafts 432 are sequentially arranged at intervals; the sixth gear motor 520, the seventh gear motor 535, and the elevation driving unit 534 are all electrically connected to the control device.
Specifically, the conveying direction of the second conveying roller mechanism 52 is the same as the conveying direction of the first conveying roller, but in order to ensure that the conveying belt mechanism 53 can be lifted and lowered smoothly, the spacing between the conveying roller shafts 432 in the second conveying roller mechanism 52 is larger than the spacing between the conveying roller shafts 432 in the first conveying roller mechanism 43; the conveyor belt 530 and the conveying roller shaft 432 of the second conveying roller mechanism 52 are sequentially arranged at intervals, so that the distance between the conveyor belt and the conveying roller can be kept consistent, and the yarn group cannot be inclined in the lifting process of the conveyor belt mechanism 53.
Further, the belt conveying mechanism 53 includes a first lifting seat 532 for positioning and a second lifting seat 533 slidably disposed on the first lifting seat 532, in this embodiment, a linear bearing is disposed on the second lifting seat 533, a positioning column is disposed on the first lifting seat 532, and the linear bearing is sleeved on the positioning column to realize up-and-down sliding; in order to realize automatic up-down sliding which can be controlled by the control device, the lifting driving unit 534 uses a hydraulic cylinder, an air cylinder or an electric cylinder as a power device, and further uses a right-angle transmission arm as a connection, one end of the right-angle transmission arm is connected with the driving end of the lifting driving unit 534, the other end of the right-angle transmission arm is provided with a roller, the roller is abutted against the bottom surface of the second lifting seat 533, and the right-angle end of the right-angle transmission arm is fixed on the first lifting seat 532 through a rotating bearing 6; therefore, when the lifting driving unit 534 horizontally drives, the right angle driving arm converts the horizontal power into the vertical lifting power through the fixed bearing, so as to lift the second lifting seat 533.
Further, the second conveying roller mechanism 52 is further provided with a photoelectric gate device 7 for detecting whether a yarn cluster is placed or not; and in a direction matching with the previous photo gate devices 7 arranged on the weighing device 3 and the plurality of photo gate devices 7 arranged on the first conveying roller mechanism 43, if no yarn cluster is detected to be placed on the next station, the yarn cluster conveying device 4 is started to convey the yarn cluster to the rear, if all the positions of the yarn clusters placed on the trolley are fully arranged, the control device drives the trolley to convey the yarn cluster to the position of the next process, and the yarn cluster is conveyed to the next station through the reversing device 5. And the lifting height of the reversing device 5 can distinguish unqualified yarn groups from qualified yarn groups according to whether the yarn groups are qualified or not to be lifted to different heights.
In summary, the intelligent yarn winding and transferring AGV trolley can automatically take down yarn groups on a winder, weigh and record the yarn groups and then transfer the yarn groups to the next process.
The above description is only a preferred embodiment of the present invention, and the protection scope of the present invention is not limited to the above examples, and all technical solutions belonging to the concept of the present invention belong to the protection scope of the present invention. It should be noted that modifications and adaptations to the present invention may occur to one skilled in the art without departing from the principles of the present invention and are intended to be within the scope of the present invention.
Claims (6)
1. An intelligent winding moves AGV dolly, its characterized in that includes: the yarn winding device comprises a carrying device, a grabbing device for grabbing yarn groups on a winder after yarn winding is completed, a weighing device for weighing the yarn groups grabbed by the grabbing device, a transmission device for horizontally transmitting the weighed yarn groups, a reversing device for transmitting the yarn groups transmitted by the transmission device to the next procedure and a control device; the grabbing device is rotatably arranged on the carrying device; the weighing device, the transmission device, the reversing device and the control device are fixedly arranged on the carrying device; the carrying device, the grabbing device, the weighing device, the transmission device and the reversing device are all electrically connected with the control device;
the grabbing device includes: the device comprises a horizontal rotating mechanism, a vertical overturning mechanism and a grabbing mechanism; the horizontal rotating mechanism is rotatably arranged on the carrying device, and the vertical overturning mechanism is arranged on the horizontal rotating mechanism; the grabbing mechanism is arranged on the vertical overturning mechanism in a sliding manner; the horizontal rotating mechanism, the vertical overturning mechanism and the grabbing mechanism are electrically connected with the control device;
the vertical tilting mechanism includes: the first fixing seat, the second gear motor and the first sliding rail; the first fixing seat is fixedly arranged on the horizontal rotating mechanism; one end of the sliding rail is rotatably arranged on the first fixing seat, the second speed reduction motor is fixedly arranged on the horizontal rotating mechanism, and the driving end of the second speed reduction motor is in transmission connection with the sliding rail; the grabbing mechanism is arranged on the first sliding rail in a sliding manner; the second gear motor is electrically connected with the control device;
the grabbing mechanism comprises: the device comprises a second fixing seat, a first clamp, a second clamp corresponding to the first clamp, a third gear motor and a second sliding rail; the second fixing seat is arranged on the vertical overturning mechanism in a sliding manner, the second sliding rail is fixedly arranged on the second fixing seat, and the first clamp and the second clamp are both arranged on the second sliding rail in a sliding manner; the third gear motor is fixedly arranged on the second fixing seat, and the first clamp and the second clamp are in transmission connection with the driving end of the third gear motor; the third gear motor is electrically connected with the control device;
further comprises: a swivel bearing and support post; the horizontal rotation mechanism includes: the first rotary gear, the second rotary gear, the rotary disk and the first gear motor; the support column is fixedly arranged on the carrying device; the inner ring of the rotary bearing is fixedly connected with the support column, the outer ring of the rotary bearing is fixedly connected with the first rotary gear, the rotary disk is concentrically and fixedly connected with the first rotary gear, the second rotary gear is rotatably arranged on the rotary disk and is meshed with the first rotary gear, and the first gear motor is arranged on the rotary disk; the driving end of the first speed reduction motor is in transmission connection with the second rotary gear; the first gear motor is electrically connected with the control device.
2. The intelligent winding transfer AGV cart of claim 1, wherein the weighing device comprises: the device comprises a first supporting frame, a fourth gear motor and a gravity sensor, wherein the first supporting frame is arranged on a carrying device, the fourth gear motor and the gravity sensor are both arranged on the first supporting frame, a plurality of conveying roll shafts are further arranged on the gravity sensor, and the conveying roll shafts are both rotatably arranged on the first supporting frame and are both in transmission connection with the driving end of the fourth gear motor; and the gravity sensor and the fourth gear motor are electrically connected with the control device.
3. The intelligent winding transfer AGV according to claim 1 wherein said transport comprises a second support frame, a plurality of fifth gear motors and a plurality of first conveyor roller mechanisms; the second supporting frame is fixedly arranged on the carrying device; the plurality of fifth gear motors are arranged on the second supporting frame, the plurality of first conveying roller mechanisms are arranged on the second supporting frame, and driving ends of the plurality of fifth gear motors are in one-to-one corresponding transmission connection with the plurality of first conveying roller mechanisms; and a plurality of fifth gear motors are electrically connected with the control device.
4. An intelligent winding transfer AGV cart according to claim 3, wherein said first conveyor roller mechanism comprises: the first limiting plate and the plurality of conveying roll shafts; the first limiting plates are fixedly arranged on the second supporting frames, and the conveying roller shafts are all rotatably arranged on the first limiting plates and are all in transmission connection with the driving ends of the fifth gear motor.
5. The intelligent winding transfer AGV cart of claim 1, wherein the reversing device comprises: a third support frame, a second conveyor roller mechanism, and a conveyor belt mechanism; the third support frame is arranged on the carrying device; the second conveying roller mechanism and the conveying belt mechanism are arranged on the third supporting frame; the second conveying roller mechanism and the conveying belt mechanism are electrically connected with the control device.
6. The intelligent winding transfer AGV cart of claim 5, wherein said second conveyor roller mechanism comprises: the device comprises a sixth gear motor, a second limiting plate and a plurality of conveying roll shafts; the sixth gear motor and the second limiting plate are arranged on the third supporting frame; the conveying roller shafts are all rotatably arranged on the second limiting plate and are all in transmission connection with the driving end of the sixth gear motor;
the conveying belt mechanism comprises a plurality of conveying belts, a plurality of belt pulleys, a first lifting seat, a second lifting seat, a lifting driving unit and a seventh gear motor; the first lifting seat and the lifting driving unit are fixedly arranged on the third supporting frame; the second lifting seat is arranged on the first lifting seat in a sliding manner, and the output end of the lifting driving unit is in transmission connection with the second lifting seat; the seventh gear motor is fixedly arranged on the second lifting seat; the pulleys are in transmission connection with the driving end of the seventh gear motor and are all rotatably arranged on the second lifting seat; the transmission belts are correspondingly sleeved on the belt wheels;
the conveying belts and the conveying roll shafts are sequentially arranged at intervals; and the sixth speed reducing motor, the seventh speed reducing motor and the lifting driving unit are electrically connected with the control device.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110978910.7A CN113636417B (en) | 2021-08-25 | 2021-08-25 | Intelligent winding moves and carries AGV dolly |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110978910.7A CN113636417B (en) | 2021-08-25 | 2021-08-25 | Intelligent winding moves and carries AGV dolly |
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| CN113636417A CN113636417A (en) | 2021-11-12 |
| CN113636417B true CN113636417B (en) | 2023-05-09 |
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