CN114715725A

CN114715725A - Yarn roll feeding system

Info

Publication number: CN114715725A
Application number: CN202210465481.8A
Authority: CN
Inventors: 江嗣雄; 袁子良; 赖赠华; 曾凤燕; 林陈鸿; 郭文彬; 叶煌城
Original assignee: Xiamen Aerospace Siert Robot System Co Ltd
Current assignee: Xiamen Aerospace Siert Robot System Co Ltd
Priority date: 2022-04-29
Filing date: 2022-04-29
Publication date: 2022-07-08
Anticipated expiration: 2042-04-29
Also published as: CN114715725B

Abstract

The invention provides a yarn roll feeding system, and relates to the technical field of automatic feeding of yarn rolls. The yarn roll feeding system comprises an AGV trolley, a yarn roll feeding device and a control device. The AGV trolley moves in a yarn roll feeding area. The AGV trolley comprises two distance measuring components and a positioning component. The yarn roll feeding device is arranged on the AGV and used for placing yarn rolls and loading the yarn rolls on a creel. The yarn roll feeding device comprises a first moving assembly, a second moving assembly, a third moving assembly and a feeding assembly, wherein the first moving assembly can move along a first direction and is arranged on an AGV trolley, the second moving assembly can move along a second direction and is arranged on the first moving assembly, the third moving assembly can move along a third direction, and the feeding assembly is arranged on the third moving assembly and is used for placing yarn rolls and loading the yarn rolls onto a creel. The first direction, the second direction and the third direction are perpendicular. The control device is in communication connection with the AGV trolley and the yarn roll feeding device and used for controlling the AGV trolley and the yarn roll feeding device. The automatic feeding device can accurately and automatically feed materials, and has good practical significance.

Description

Yarn roll feeding system

Technical Field

The invention relates to the technical field of automatic yarn roll feeding, in particular to a yarn roll feeding system.

Background

Traditional yarn book material loading is mainly by artifical transport, and yarn book weight is big, and the manual work is packed the creel with the yarn book and if meet the eminence, need use the ladder, and this degree of difficulty that just increases artifical transport.

The existing device for automatically feeding yarn rolls adopts a robot to automatically feed yarn rolls, so that the cost is high and the control difficulty is high. Also there is automatic yarn book dolly of going up of rail mounted, but need just can fix a position at subaerial installation track, and not only the transformation volume is big when the installation, and control accuracy is not high moreover, and difficult accurate carry the yarn book to target in place, has shortcomings such as conveying deviation, has to treat the improvement.

In view of the above, the applicant has specifically proposed the present application after studying the existing technologies.

Disclosure of Invention

The invention provides a yarn roll feeding system, aiming at improving the technical problem.

In order to solve the technical problem, the invention provides a yarn package feeding system which comprises an AGV trolley, a yarn package feeding device and a control device.

The AGV trolley is used for moving in a yarn roll feeding area. The AGV trolley comprises two distance measuring components and a positioning component.

The yarn roll feeding device is arranged on the AGV trolley and used for placing the yarn roll and loading the yarn roll on the creel. The yarn roll feeding device comprises a first moving assembly, a second moving assembly, a third moving assembly and a feeding assembly, wherein the first moving assembly can move along a first direction and is arranged on an AGV trolley, the second moving assembly can move along a second direction and is arranged on the first moving assembly, the third moving assembly can move along a third direction, and the feeding assembly is arranged on the third moving assembly and is used for placing yarn rolls and loading the yarn rolls onto a creel. The first direction, the second direction and the third direction are perpendicular.

In an alternative embodiment, the ranging means is a laser ranging sensor.

In an optional embodiment, the positioning member is a two-dimensional code reader. The two-dimensional code reader can shoot the two-dimensional code of posting up in succession on the creel for acquire the current actual position of AGV dolly in the second direction.

In an optional embodiment, four corners of the AGV trolley are provided with chamfers, and the periphery is provided with protective protrusions.

In an alternative embodiment, the AGV includes two laser sensors diagonally disposed at the corners, two ultrasonic sensors disposed in front of and behind the corners, and four emergency stop buttons and four traffic lights disposed at the four corners, respectively. The two laser sensors arranged diagonally are used for SLAM flyback-free light navigation, and the two ultrasonic sensors arranged in front and at back are used for detecting obstacles.

In an alternative embodiment, the loading assembly includes a loading base disposed on the third moving assembly, and an active loading member coupled to the loading base.

The active feeding component comprises a first yarn roll frame arranged on the feeding base, a first screw rod rotatably arranged on the first yarn roll frame, a fourth motor in transmission connection with the first screw rod, a first driving plate in transmission connection with the first screw rod and capable of moving along the first yarn roll frame, a first push plate in slidable connection with the first driving plate through a first guide rod, and a first elastic piece arranged between the first driving plate and the first push plate.

In an alternative embodiment, the loading assembly further comprises a driven loading member coupled to the loading base, and a connector.

The driven feeding member comprises a second yarn roll frame arranged on the feeding base, a second guide rod arranged on the second yarn roll frame, a second driving plate arranged on the second guide rod in a sliding mode, a second push plate connected to the second driving plate in a sliding mode through a third guide rod, and a second elastic piece arranged between the second driving plate and the second push plate. The connecting member is coupled to the first driving plate and the second driving plate to move the second driving plate and the first driving plate in synchronization.

In an alternative embodiment, the package feeding system further comprises a package handling device including a robot, and a package grasping assembly configured to the robot.

The yarn roll grabbing assembly comprises a grabbing seat jointed with the manipulator, at least two clamping jaws arranged on the grabbing seat in a sliding mode, and an expansion piece arranged on the grabbing seat and used for driving the clamping jaws to slide. The clamping jaw is used for grabbing the yarn roll.

In an alternative embodiment, the feeding assembly comprises one driving feeding member and two driven feeding members.

The yarn roll grabbing component comprises three clamping jaws, two telescopic pieces, a first connecting rod and two second connecting rods. The three clamping jaws are arranged at intervals, and the clamping jaw positioned in the middle is hinged in the middle of the first connecting rod. Two ends of the two second connecting rods are respectively crossed with the end part of the first connecting rod and the clamping jaws at two sides. The two telescopic pieces are respectively in transmission connection with the clamping jaws on the two sides.

In an alternative embodiment, a first travel assembly is configured to transport an AGV via a first rail slide member in a first direction. The second moving assembly is configured on the first moving assembly and can move along the second direction through the second guide rail sliding block component. The third moving assembly is arranged on the second moving assembly and can move along a third direction through a third guide rail sliding block component.

In an alternative embodiment, the first travel assembly and the AGV cart are drivingly connected by a first rack and pinion member, driven by a first motor. The second moving assembly is in transmission connection with the first moving assembly through a second gear rack member and is driven by a second motor. The second moving assembly comprises a screw rod sliding block component, a third motor in transmission connection with the screw rod sliding block component, and a top block configured on the screw rod sliding block component. The third moving assembly is supported on the ejector block, and the screw rod sliding block can drive the ejector block to move up and down under the driving of the third motor, so that the first moving assembly is driven to move up and down.

And the control device is connected with the AGV trolley and the yarn roll feeding device in a communication manner. The control device is used for controlling the AGV trolley and the yarn roll feeding device to realize steps S1 to S8:

and S1, controlling the AGV to move to the yarn winding position.

And S2, acquiring the initial distance between the two distance measuring components and the creel, and controlling the AGV to move according to the initial distance so that the included angle between the AGV and the creel is smaller than a preset angle.

And S3, acquiring the correcting distance from the two distance measuring members to the creel, and calculating a first offset distance of the feeding assembly in the first direction according to the correcting distance.

And S4, controlling the first moving assembly to move along the first direction according to the first offset distance, so that the distance between the feeding assembly and the creel is a preset distance.

And S5, acquiring positioning data of the positioning member, and calculating a second offset distance of the feeding assembly in the second direction according to the positioning data.

And S6, controlling the second moving assembly to move along the second direction according to the second offset distance, so that the feeding assembly and the creel are aligned in the vertical direction.

S7, acquiring the height of the yarn roll placing shaft on the creel, and controlling the third moving assembly to move along the third direction according to the height so that the yarn roll on the feeding assembly and the yarn roll placing shaft on the creel are equal in height.

And S8, controlling the feeding assembly to move the yarn roll on the feeding assembly to the creel.

In an optional embodiment, the step S2 specifically includes the step S21, the step S24:

s21, acquiring a first initial distance from the first distance measuring component to the creel.

And S22, acquiring a second initial distance from the second distance measuring component to the creel.

And S23, calculating the offset angle of the AGV according to the first initial distance and the second initial distance.

And S24, judging whether the offset angle is larger than a preset angle or not, and controlling the AGV to move when the offset angle is larger than the preset angle so that the included angle between the AGV and the creel is smaller than the preset angle. Wherein the predetermined angle is 3 degrees.

In an optional embodiment, the step S3 specifically includes the step S31 to the step S34:

s31, obtaining a first correction distance Y from the first distance measuring component to the creel₃。

S32, obtaining a second correction distance Y from the second distance measuring component to the creel₄。

S33, acquiring the horizontal distance Y from the yarn roll on the feeding assembly to the creel according to the first correction distance and the second correction distance₅. Wherein, Y₅＝(Y₃+Y₄)÷2。

S34, obtaining the safe distance Y from the yarn roll on the feeding assembly to the creel₀And calculating to obtain a first offset distance delta Y of the feeding assembly in the first direction according to the safe distance and the horizontal distance. Wherein, Δ Y ═ Y₅-Y₀。

In an optional embodiment, the step S5 specifically includes the step S51 to the step S53:

s51, acquiring the actual position X of the AGV in the second direction according to the positioning data₁。

S52, obtaining the theoretical position X of the yarn roll on the AGV₀。

And S53, calculating a second offset distance delta X of the material loading assembly in the second direction according to the actual position and the theoretical position. Wherein Δ X ═ X₁-X₀。

In an optional embodiment, step S8 is specifically:

and controlling the fourth motor to rotate so as to drive the first driving plate to move the yarn feeding distance to push the yarn roll on the yarn roll rack onto the yarn roll placing shaft. Wherein the first driving plate moves a distance greater than the distance from the end of the package to the root of the package placement shaft.

By adopting the technical scheme, the invention can obtain the following technical effects:

by the aid of the yarn roll feeding system, accurate and automatic feeding of yarn rolls can be achieved on the premise that a production field is not greatly modified, and the yarn roll feeding system has good practical significance.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.

FIG. 1 is an isometric view of an AGV cart and a package feeder.

Fig. 2 is an exploded view of an AGV cart and a package feeder.

Fig. 3 is an isometric view of the loading assembly.

Fig. 4 is an isometric view of a package handling device.

Fig. 5 is an isometric view of a package grasping assembly.

The labels in the figure are: 1-a yarn roll feeding device, 2-an AGV trolley, 3-a feeding assembly, 4-a third moving assembly, 5-a second moving assembly, 6-a first moving assembly, 7-an emergency stop button, 8-an ultrasonic sensor, 9-a laser sensor, 10-a running indicator light, 11-a protective bulge, 12-a chamfer, 13-a distance measuring component, 14-a positioning component, 15-a feeding base, 16-a connecting component, 17-a second driving plate, 18-a third guide rod, 19-a second elastic component, 20-a second yarn roll rack, 21-a second guide rod, 22-a second push plate, 23-a first driving plate, 24-a first guide rod, 25-a first elastic component, 26-a first yarn roll rack, 27-a first screw rod, 28-a first push plate, 29-a fourth motor, 30-a manipulator, 31-a reel grabbing component, 32-a telescopic piece, 33-a grabbing seat, 34-a clamping jaw, 35-a second connecting rod and 36-a first connecting rod.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings of the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be obtained by a person skilled in the art without making any creative effort based on the embodiments of the present invention, belong to the protection scope of the present invention. Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention.

In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", and the like, indicate orientations and positional relationships based on those shown in the drawings, and are used only for convenience of description and simplicity of description, and do not indicate or imply that the equipment or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be considered as limiting the present invention.

Furthermore, the terms "first", "second" and "first" 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 defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.

In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

In the present invention, unless otherwise expressly stated or limited, "above" or "below" a first feature means that the first and second features are in direct contact, or that the first and second features are not in direct contact but are in contact with each other via another feature therebetween. Also, the first feature "on," "above" and "over" the second feature may include the first feature being directly above and obliquely above the second feature, or simply indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.

The invention is described in further detail below with reference to the following detailed description and accompanying drawings:

as shown in fig. 1 to 5, the embodiment of the present invention provides a package feeding system, which includes an AGV cart 2, a package feeding device 1 and a control device. The AGV trolley 2 is intended to move in the package feeding area. The AGV cart 2 includes two ranging members 13, a positioning member 14. The yarn roll feeding device 1 is arranged on the AGV trolley 2 and used for placing yarn rolls and loading the yarn rolls on a creel. The yarn roll feeding device 1 comprises a first moving assembly 6 which can move along a first direction and is arranged on an AGV trolley 2, a second moving assembly 5 which can move along a second direction and is arranged on the first moving assembly 6, a third moving assembly 4 which can move along a third direction, and a feeding assembly 3 which is arranged on the third moving assembly 4 and is used for placing yarn rolls and loading the yarn rolls on a creel. The first direction, the second direction and the third direction are perpendicular.

Concretely, can remove the creel the place ahead with the yardage roll on the yardage roll loading attachment 1 through AGV dolly 2, can adjust the position of yardage roll earlier through yardage roll loading attachment 1, make it aim at the yardage roll on the creel and place the axle, push the yardage roll by material loading subassembly 3 again and place the axle to the yardage roll to accomplish the material loading. According to the yarn roll feeding system provided by the embodiment of the invention, the accurate feeding of the yarn roll is completed by the rough positioning of the AGV trolley 2 and the fine positioning of the yarn roll feeding device 1. Particularly, accurate automatic feeding of the yarn roll can be realized on the premise of not carrying out a large amount of reconstruction on the production field, and the automatic feeding device has good practical significance.

As shown in fig. 2, on the basis of the above embodiment, in an optional embodiment of the present invention, the distance measuring component 13 is a laser distance measuring sensor. It is understood that, in other embodiments, the distance measuring component 13 may also be other types of distance measuring sensors such as an ultrasonic distance measuring sensor, a millimeter wave distance measuring sensor, etc., and the present invention is not limited thereto.

As shown in fig. 2, on the basis of the above-mentioned embodiment, in an optional embodiment of the present invention, the positioning member 14 is a two-dimensional code reader. Two-dimensional code reader can shoot the two-dimensional code of posting up in succession on the creel for acquire AGV dolly 2 current actual position in the second direction. In other embodiments, other positioning means used in an AGV cart 2 may be used, as the present invention is not limited in this respect.

In an alternative embodiment of the present invention, as shown in fig. 2, based on the above embodiment, the AGV cart 2 is provided with chamfers 12 at four corners and a protective protrusion 11 around the corner. Specifically, the protection protrusion 11 is provided with an adhesive tape to form a safety contact edge.

Preferably, the AGV cart 2 includes two laser sensors 9 diagonally disposed at the chamfers 12, two ultrasonic sensors 8 disposed in front and behind, and four crash stop buttons 7 and four running lights 10 disposed at the four chamfers 12, respectively. Two laser sensors 9 arranged diagonally are used for SLAM flyback-free light navigation, and two ultrasonic sensors 8 arranged in front and back are used for detecting obstacles.

The obstacles, such as pedestrians, in the production field can be effectively found through the four-corner emergency stop button 7, the driving indicator light 10 and the front and rear ultrasonic sensors 8, and the possibility of collision of the AGV trolley 2 is effectively avoided. And through protection arch 11, when can effectually avoiding bumping, AGV dolly 2 takes place to damage. Preferably, the protective protrusions 11 are provided at the bottom of the AGV car 2.

Specifically, the diagonal region sensor, the fully-enclosed safety contact edge, the front and rear low-position ultrasonic sensors 8 and the vehicle body peripheral emergency stop button 7 are combined for use, so that the AGV equipment can be protected in a 360-degree dead angle-free mode. Can effectively ensure the safety of peripheral personnel and equipment.

Diagonal laser sensor 9 layout reason: because the automobile body is longer and the automobile body needs to move forward, retreat, sideshift, rotate etc. and adopted two laser head techniques, guarantee the precision control in the equipment operation process through the change contrast to the environment before and after to.

As shown in fig. 3, in an alternative embodiment of the present invention, on the basis of the above-mentioned embodiment, the feeding assembly 3 includes a feeding base 15 disposed on the third moving assembly 4, and an active feeding member engaged with the feeding base 15. The active feeding member includes a first bobbin holder 26 disposed on the feeding base 15, a first lead screw 27 rotatably disposed on the first bobbin holder 26, a fourth motor 29 drivingly connected to the first lead screw 27, a first drive plate 23 drivingly connected to the first lead screw 27 and movable along the first bobbin holder 26, a first push plate 28 slidably coupled to the first drive plate 23 via a first guide 24, and a first elastic member 25 disposed between the first drive plate 23 and the first push plate 28.

Specifically, the first creel 26 is configured to support a yarn package, and the first pusher 28 is configured to push the yarn package out along the creel under the driving of the motor. And the yarn roll can be pushed out to the position by the elastic element between the first push plate 28 and the first driving plate 23, and the first elastic element 25 which moves to the root of the yarn roll placing shaft is a wire spring sleeved on the first guide rod 24.

In an alternative embodiment of the present invention, as shown in fig. 3, on the basis of the above-mentioned embodiment, the feeding assembly 3 further comprises a driven feeding member coupled to the feeding base 15, and a connecting member 16. The driven feeding member includes a second reel holder 20 disposed on the feeding base 15, a second guide rod 21 disposed on the second reel holder 20, a second drive plate 17 slidably disposed on the second guide rod 21, a second push plate 22 slidably coupled to the second drive plate 17 via a third guide rod 18, and a second elastic member 19 disposed between the second drive plate 17 and the second push plate 22. The connector 16 is coupled to the first and second drive plates 23 and 17 to move the second and first drive plates 17 and 23 in synchronization.

Specifically, the number of the yarn roll feeding devices 1 to be fed at one time can be increased by providing the driven feeding member. Has good practical significance.

As shown in fig. 4 and 5, on the basis of the above-mentioned embodiments, in an alternative embodiment of the present invention, the package feeding system further comprises a package handling device, and the package handling device comprises a manipulator 30 and a package grasping assembly 31 disposed on the manipulator 30. The package grasping assembly 31 includes a grasping base 33 coupled to the robot 30, at least two jaws 34 slidably disposed on the grasping base 33, and a retractable member 32 disposed on the grasping base 33 for driving the jaws 34 to slide. The jaws 34 are used to grasp the package. Preferably, the feeding assembly 3 comprises one driving feeding member and two driven feeding members. The package gripper assembly 31 comprises three jaws 34 and two telescopic members 32, as well as a first link 36 and two second links 35. Three clamping jaws 34 are arranged at intervals, and the clamping jaw 34 positioned in the middle is hinged to the middle of the first connecting rod 36. Both ends of the two second links 35 are respectively crossed to the end of the first link 36 and the jaws 34 on both sides. The two telescopic members 32 are respectively connected with the clamping jaws 34 on two sides in a transmission manner.

Specifically, the yarn rolls are stacked through the partition plates, the yarn rolls are integrally in a middle-shaped mode, the middle shaft of each yarn roll is longer than the yarn roll by a certain length, through holes are formed in the middle of the partition plates, the middle shafts of the yarn rolls are embedded into the through holes, and therefore the stacked arrangement is completed, and one layer of the yarn rolls is 3x 3.

Through the first connecting rod 36 and the second connecting rod 35, the distance between the three clamping jaws 34 can be ensured, so that the yarn roll can be accurately clamped. The clamping jaw 34 can be installed in a sliding mode, so that the yarn roll carrying device can be suitable for various types of yarn rolls, and the yarn roll carrying device has good practical significance.

In an alternative embodiment of the present invention, based on the above embodiment, as shown in FIG. 2, the first moving assembly 6 is configured to move in a first direction on the AGV car 2 via a first track slider member. The second moving member 5 is disposed on the first moving member 6 movably in the second direction by a second rail slider member. The third moving unit 4 is disposed on the second moving unit 5 so as to be movable in the third direction by a third rail slider member. Preferably, the first movable assembly 6 is drivingly connected to the AGV car 2 by a first rack and pinion member, driven by a first motor. The second moving assembly 5 is in transmission connection with the first moving assembly 6 through a second gear rack member and is driven by a second motor. The second moving assembly 5 includes a screw slider member, a third motor drivingly connected to the screw slider member, and a top block disposed on the screw slider member. The third moving assembly 4 is supported on the ejector block, and the lead screw sliding block can drive the ejector block to move up and down under the driving of a third motor, so that the first moving assembly 6 is driven to move up and down.

In this embodiment, the control device is connected in communication with the AGV cart 2 and the package feeder 1. The control device comprises a processor and a memory; the processor is configured to execute a computer program in the memory to control the AGV trolley 2 and the reel feeding device 1 to implement steps S1 to S8:

and S1, controlling the AGV trolley 2 to move to the yarn winding position.

And S2, acquiring the initial distance between the two distance measuring components 13 and the creel, and controlling the AGV trolley 2 to move according to the initial distance so that the included angle between the AGV trolley 2 and the creel is smaller than a preset angle.

s21, a first initial distance from the first distance measuring member 13 to the creel is acquired.

S22, obtaining a second initial distance from the second distance measuring member 13 to the creel.

And S23, calculating the offset angle of the AGV trolley 2 according to the first initial distance and the second initial distance.

And S24, judging whether the offset angle is larger than a preset angle or not, and controlling the AGV trolley 2 to move when the offset angle is larger than the preset angle so that the included angle between the AGV trolley 2 and the creel is smaller than the preset angle. Wherein the predetermined angle is 3 degrees.

S3, acquiring the correcting distance from the two distance measuring members 13 to the creel, and calculating a first offset distance of the upper material assembly 3 in the first direction according to the correcting distance.

In an optional embodiment, the step S3 specifically includes steps S31 to S34:

s31, obtaining the first correcting distance Y from the first distance measuring component 13 to the creel₃。

S32, obtaining a second correcting distance Y from the second distance measuring component 13 to the creel₄。

S33, acquiring the horizontal distance Y from the yarn roll on the feeding assembly 3 to the creel according to the first correction distance and the second correction distance₅. Wherein Y is₅＝(Y₃+Y₄)÷2。

S34, obtaining the safe distance Y from the yarn roll on the feeding assembly 3 to the creel₀And calculating a first offset distance delta Y of the feeding assembly 3 in the first direction according to the safe distance and the horizontal distance. Wherein, Δ Y ═ Y₅-Y₀。

And S4, controlling the first moving assembly 6 to move along the first direction according to the first offset distance, so that the distance between the feeding assembly 3 and the creel is a preset distance.

S5, obtaining the positioning data of the positioning member 14, and calculating a second offset distance of the upper material assembly 3 in the second direction according to the positioning data.

s51, acquiring the actual position X of the AGV 2 in the second direction according to the positioning data₁。

S52, obtaining the theoretical position X of the yarn roll on the AGV trolley 2₀。

S53, calculating a second offset distance Δ X of the feeding block 3 in the second direction according to the actual position and the theoretical position. Wherein Δ X ═ X₁-X₀。

And S6, controlling the second moving assembly 5 to move along the second direction according to the second offset distance, so that the feeding assembly 3 and the creel are aligned in the vertical direction.

And S7, acquiring the height of a yarn roll placing shaft on the creel, and controlling the third moving assembly 4 to move along the third direction according to the height so that the yarn rolls on the feeding assembly 3 and the yarn roll placing shaft on the creel are equal in height.

And S8, controlling the feeding assembly 3 to move the yarn roll on the feeding assembly 3 to the creel.

In an optional embodiment, step S8 is specifically:

the fourth motor 29 is controlled to rotate, so that the first driving plate 23 is driven to move the yarn feeding distance to push the yarn roll on the yarn roll rack to the yarn roll placing shaft. Wherein the first driving plate 23 is moved a distance greater than the distance from the end of the package to the root of the package placement shaft.

Specifically, the steps S1 to S8 can be divided into steps a1 to a 4.

A1: correction deviation in Y-axis direction:

two laser ranging sensors (one is arranged right opposite to the head and the tail of the creel respectively) are arranged at the bottom of the AGV, measured values Y1 and Y2 can be obtained through the laser ranging sensors, the current offset angle theta 1 of the vehicle body can be calculated by combining the installation distance of the two sensors, when the theta 1 is larger than the debugging experience angle theta, the steering wheel needs to be restarted to adjust the offset angle of the vehicle body, so that the offset angle of the vehicle body is smaller than the theta, the AGV vehicle body is adjusted to be in a state close to parallel with the creel,

after the offset position is adjusted, the deviation Y3 and Y4 of the Y axis position of the current AGV is sensed by the laser ranging sensor, the average Y5 of Y3 and Y4 is taken, Y5 is subtracted by Y0 (the safe distance between the yarn roll and the yarn rack shaft after the platform moves forwards) to obtain the distance delta Y required to move in the Y direction of the platform, a motor for controlling the Y axial movement is started, the motor drives a rack, the adjustment delta Y in the Y axis direction of the moving platform is controlled, and the distance between the yarn roll of the moving platform and the yarn rack shaft is enabled to be a fixed value Y0.

A2 correction deviation in X-axis direction:

AGV bottom is equipped with two-dimensional code reader (facing to the creel), continuous two-dimensional code (not shown in the figure) is posted to creel bottom level setting, reach appointed position when the AGV passes through well accuse instruction, two-dimensional code reader reads the X axle position X1 at current AGV's place on the AGV, feed back the position to central control system, central control system reads numerical value X1 with this position theoretical position numerical value X with this position and carries out data comparison, calculate the numerical value delta X (having the direction) that will remove the adjustment, start control X axial motion's motor, motor drive rack, the adjustment of control moving platform X axle direction, make the vertical direction row of the yardage roll on the AGV dolly 2 align in X axle direction with the row of the vertical direction of the creel that corresponds.

A3: correction deviation in the Z-axis direction:

and in the aspect of the Z axis, the screw rod mechanism is driven by a servo motor to carry out fine adjustment according to different station heights (measured and recorded into a system during debugging) (the stations can be defined by themselves, and the center of a yarn roll on the AGV is as high as the height of a yarn rack shaft on a creel by taking 3 vertical yarn rolls as a unit, namely a station).

A4: pushing out the yarn roll:

the push-out mechanism drives the screw rod nut to push forwards through the servo motor, the screw rod nut and the push-out plate are fixedly installed, and the push-out plate is guided through 2 guide rods. 3 spring devices are arranged on one push-out plate, each spring device corresponds to one yarn roll, and the three yarn rolls are used as a unit and are vertically placed. The yarn rolls are forwards sent by the pushing-out plate for a fixed distance Y10, the Y10 value is larger than the distances Y11, Y12 and Y13 between the three yarn rolls and the tail ends of the creel shafts, and at the moment, the error is made up by the shrinkage of the springs, so that the end faces of the yarn rolls are flat with the tail ends of the creel shafts after the yarn rolls are pushed into the creel shafts.

It should be noted that: the number of the upper yarn rolls can be adjusted adaptively according to actual conditions, is not limited to a plurality of groups as a unit, and can be simultaneously 9, and the number of the motors can be controlled through a central control system.

The above description is only a preferred embodiment of the present invention, and is not intended to limit the present invention, and various modifications and changes may be made to the present invention by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A package feeding system, comprising:

the AGV comprises an AGV trolley (2) which is used for moving in a yarn roll feeding area; the AGV trolley (2) comprises two distance measuring components (13) and a positioning component (14);

the automatic loading device comprises a yarn roll feeding device (1) which is configured on the AGV trolley (2) and used for placing yarn rolls and loading the yarn rolls on a creel; the yarn roll feeding device (1) comprises a first moving assembly (6) which can move along a first direction and is arranged on the AGV trolley (2), a second moving assembly (5) which can move along a second direction and is arranged on the first moving assembly (6), a third moving assembly (4) which can move along a third direction, and a feeding assembly (3) which is arranged on the third moving assembly (4) and is used for placing yarn rolls and loading the yarn rolls on a creel; the first direction, the second direction and the third direction are perpendicular;

the control device is connected with the AGV trolley (2) and the yarn roll feeding device (1) in a communication manner; the control device is used for:

controlling the AGV trolley (2) to move to a yarn winding position;

acquiring initial distances from the two distance measuring components (13) to a creel, and controlling the AGV trolley (2) to move according to the initial distances so that an included angle between the AGV trolley (2) and the creel is smaller than a preset angle;

acquiring the correcting distance from the two distance measuring components (13) to a creel, and calculating a first offset distance of the feeding assembly (3) in a first direction according to the correcting distance;

controlling the first moving assembly (6) to move along a first direction according to the first offset distance, so that the distance between the feeding assembly (3) and the creel is a preset distance;

acquiring positioning data of the positioning component (14), and calculating a second offset distance of the feeding assembly (3) in a second direction according to the positioning data;

controlling the second moving assembly (5) to move along a second direction according to the second offset distance, so that the feeding assembly (3) and the creel are aligned in the vertical direction;

the height of a yarn roll placing shaft on a creel is obtained, the third moving assembly (4) is controlled to move along the third direction according to the height, and the yarn roll on the feeding assembly (3) and the yarn roll placing shaft on the creel are made to be equal in height;

and controlling the feeding assembly (3) to move the yarn roll on the feeding assembly (3) to a creel.

2. A reel feeding system according to claim 1, characterized in that it obtains the initial distance from said two distance measuring members (13) to the creel and controls the AGV trolley (2) to move according to said initial distance so that the angle between the AGV trolley (2) and the creel is smaller than a predetermined angle, in particular comprising:

acquiring a first initial distance from a first distance measuring component to a creel;

obtaining a second initial distance from a second distance measuring component to the creel;

calculating an offset angle of the AGV trolley (2) according to the first initial distance and the second initial distance;

judging whether the deviation angle is larger than a preset angle or not, and controlling the AGV trolley (2) to move when the deviation angle is larger than the preset angle so that the included angle between the AGV trolley (2) and the creel is smaller than the preset angle; wherein the predetermined angle is 3 degrees.

Acquiring the correcting distance from the two distance measuring components (13) to the creel, and calculating a first offset distance of the feeding assembly (3) in a first direction according to the correcting distance, wherein the correcting distance specifically comprises the following steps:

obtaining a first correcting distance Y from a first distance-measuring member to the creel₃；

Obtaining a second correcting distance Y from the second distance-measuring member to the creel₄；

According to the first correction distance and the second correction distance, the horizontal distance Y from a yarn roll on the feeding assembly (3) to a creel is obtained₅(ii) a Wherein, Y₅＝(Y₃+Y₄)÷2；

Obtaining a safe distance Y from a package on the loading assembly (3) to a creel₀Calculating a first offset distance delta Y of the feeding assembly (3) in a first direction according to the safe distance and the horizontal distance; wherein, Δ Y ═ Y₅-Y₀。

3. A yarn package feeding system according to claim 1, wherein positioning data of the positioning member (14) are acquired and a second offset distance of the feeding assembly (3) in a second direction is calculated based on the positioning data, in particular comprising:

according to the positioning data, acquiring the actual position X of the AGV trolley (2) in the second direction₁；

Obtaining the theoretical position X of the yarn roll on the AGV trolley (2)₀；

Calculating a second offset distance DeltaX of the feeding assembly (3) in a second direction according to the actual position and the theoretical position; wherein Δ X ═ X₁-X₀。

4. A reel feeding system according to any one of claims 1 to 3, characterized in that said distance measuring means (13) is a laser distance measuring sensor;

the positioning component (14) is a two-dimensional code reader; two-dimensional code reader can shoot the two-dimensional code of posting up in succession on the creel, is used for acquireing AGV dolly (2) is current at the ascending actual position of second direction.

5. A yarn package feeding system according to claim 1, characterized in that four corners of the AGV trolley (2) are provided with chamfers (12) and the periphery is provided with protective protrusions (11);

the AGV trolley (2) comprises two laser sensors (9) arranged at the positions of the chamfers (12) in opposite angles, two ultrasonic sensors (8) arranged in front of and behind the chamfers, four emergency stop buttons (7) and four driving indicator lamps (10) respectively arranged at the positions of the four chamfers (12); the two laser sensors (9) arranged diagonally are used for SLAM non-flyback light navigation, and the two ultrasonic sensors (8) arranged in front and back are used for detecting obstacles.

6. A package feeding system according to claim 1, wherein said feeding assembly (3) comprises a feeding base (15) arranged on said third moving assembly (4), active feeding members engaged with said feeding base (15);

the active feeding component comprises a first yarn winding frame (26) arranged on the feeding base (15), a first screw rod (27) rotatably arranged on the first yarn winding frame (26), a fourth motor (29) in transmission connection with the first screw rod (27), a first driving plate (23) in transmission connection with the first screw rod (27) and capable of moving along the first yarn winding frame (26), a first push plate (28) in slidable connection with the first driving plate (23) through a first guide rod (24), and a first elastic piece (25) arranged between the first driving plate (23) and the first push plate (28);

control material loading subassembly (3), with the yardage roll on the material loading subassembly (3) removes on the creel, specifically include:

controlling the fourth motor (29) to rotate, thereby driving the first driving plate (23) to move a yarn feeding distance to push the yarn roll on the yarn roll rack onto the yarn roll placing shaft; wherein the first driving plate (23) moves a distance greater than the distance from the end of the package to the root of the package placement shaft.

7. A package feeding system according to claim 6, wherein the feeding assembly (3) further comprises a driven feeding member engaged to the feeding base (15), and a connecting member (16);

the driven feeding member comprises a second yarn roll frame (20) arranged on the feeding base (15), a second guide rod (21) arranged on the second yarn roll frame (20), a second driving plate (17) arranged on the second guide rod (21) in a sliding way, a second push plate (22) jointed to the second driving plate (17) in a sliding way through a third guide rod (18), and a second elastic piece (19) arranged between the second driving plate (17) and the second push plate (22); the connector (16) is engaged with the first drive plate (23) and the second drive plate (17) to move the second drive plate (17) and the first drive plate (23) in synchronism.

8. A package feeding system according to claim 7, further comprising a package handling device comprising a robot (30), and a package catching assembly (31) arranged to said robot (30);

the yarn coil grabbing assembly (31) comprises a grabbing seat (33) jointed with the mechanical arm (30), at least two clamping jaws (34) arranged on the grabbing seat (33) in a sliding mode, and a telescopic piece (32) arranged on the grabbing seat (33) and used for driving the clamping jaws (34) to slide; the clamping jaw (34) is used for grabbing the yarn roll.

9. A package feeding system according to claim 8, wherein said feeding assembly (3) comprises a driving feeding member and two driven feeding members;

the reel grasping assembly (31) comprises three said jaws (34) and two said telescopic members (32), and a first link (36) and two second links (35); the three clamping jaws (34) are arranged at intervals, and the clamping jaw (34) positioned in the middle is hinged to the middle of the first connecting rod (36); two ends of the two second connecting rods (35) are respectively connected with the end part of the first connecting rod (36) and the clamping jaws (34) on two sides; the two telescopic parts (32) are respectively connected with the clamping jaws (34) at two sides in a transmission way.

10. A package feeding system according to any of claims 5 to 9,

the first moving assembly (6) is configured on the AGV car (2) and can move along a first direction through a first guide rail sliding block component; the second moving assembly (5) is movably arranged on the first moving assembly (6) along a second direction through a second guide rail sliding block component; the third moving assembly (4) is movably arranged on the second moving assembly (5) along a third direction through a third guide rail sliding block component;

the first moving assembly (6) is in transmission connection with the AGV trolley (2) through a first gear and rack component and is driven by a first motor; the second moving assembly (5) is in transmission connection with the first moving assembly (6) through a second gear rack component and is driven by a second motor; the second moving assembly (5) comprises a screw rod sliding block component, a third motor in transmission connection with the screw rod sliding block component, and a top block configured on the screw rod sliding block component; the third moving assembly (4) is supported on the ejector block, and the screw rod sliding block can drive the ejector block to move up and down under the driving of the third motor, so that the first moving assembly (6) is driven to move up and down.