1. The utility model provides a equipment of doffing in twisting yarn automation, includes AGV car body (1), its characterized in that: the utility model discloses a AGV car body, including AGV car body (1), the top of AGV car body (1) is fixed mounting has on-vehicle conveying mechanism (2) in the middle part, the equal fixed mounting in top both sides of AGV car body (1) has six manipulators (3), the equal fixed mounting of output of six manipulators (3) has anchor clamps mechanism (4), the top of on-vehicle conveying mechanism (2) is equipped with the frock and places platform mechanism (5), the equal fixed mounting in middle part all around of AGV car body (1) has warning line laser instrument (11), the fixed cover in outside bottom of AGV car body (1) is equipped with mechanical crashproof strip (12), the equal fixed mounting in diagonal angle department of AGV car body (1) has navigation laser (13), the equal fixed mounting in both sides of AGV car body (1) has two sets of three-color lamp (14) that are the symmetric distribution.

2. A twisted yarn automatic doffing apparatus according to claim 1, wherein: on-vehicle conveying mechanism (2) are including mechanism frame (21), mechanism frame (21) are equipped with two sets of that are the symmetric distribution, and are two sets of the opposite side lower extreme fixed mounting of mechanism frame (21) has connecting plate (211), the equal fixed mounting in one side that connecting plate (211) top is close to mechanism frame (21) has guard plate (24), and is two sets of mechanism frame (21) bottom fixed mounting is at the top middle part of AGV car body (1), the equal fixed mounting in one side of mechanism frame (21) has conveying motor (22), the output fixed mounting of conveying motor (22) has belt pulley (23), one side rotation of keeping away from conveying motor (22) in guard plate (24) is installed belt pulley (23), and is two sets of the outside movable sleeve of belt pulley (23) is equipped with driving belt (231).

3. A twisted yarn automatic doffing apparatus according to claim 1, wherein: the AGV car body (1) top of on-vehicle conveying mechanism (2) both sides all forms transition standing groove (101).

4. A twisted yarn automatic doffing apparatus according to claim 1, wherein: the clamp mechanism (4) comprises a mechanism bottom plate (41), the middle of one side of the mechanism bottom plate (41) and the output end of the six-axis manipulator (3) are fixedly installed, an anti-skidding ejector rod (42) is fixedly installed at the upper end of one side, away from the six-axis manipulator (3), of the mechanism bottom plate (41), an outward-extending rod (43) is arranged on the outer wall of the mechanism bottom plate (41) on the same side of the anti-skidding ejector rod (42) in a sliding and clamping mode, and an expansion head assembly (44) is fixedly installed in the middle of the mechanism bottom plate (41);

the expansion head assembly (44) comprises a connecting seat (441), the connecting seat (441) is fixedly installed in the middle of the mechanism bottom plate (41), a driving motor (442) is fixedly installed in the middle of one side of the connecting seat (441), the output end of the driving motor (442) penetrates through the connecting seat (441) and is fixedly installed with a convex rod (443), driving rods (444) are rotatably installed on one sides of the convex rods (443) far away from the output end of the driving motor (442), and one sides of the driving rods (444) far away from the convex rod (443) and the corresponding outward expansion rods (43) are rotatably installed;

the mechanism is characterized in that telescopic rods (45) are fixedly mounted on two sides of the mechanism bottom plate (41), the output end of each telescopic rod (45) penetrates through the mechanism bottom plate (41) and is fixedly provided with a semicircular frame (46), and an intelligent camera (47) is fixedly mounted on one side, close to the anti-skidding ejector rod (42), of the top end of the mechanism bottom plate (41).

5. A twisted yarn automatic doffing apparatus according to claim 4, wherein: two groups of guide rods (461) which are symmetrically distributed are fixedly installed on one side of the semicircular frame (46) close to the mechanism bottom plate (41), and the guide rods (461) are movably inserted on the mechanism bottom plate (41).

6. A twisted yarn automatic doffing apparatus according to claim 4, wherein: the two groups of the external expansion rods (43) and the anti-skid ejector rods (42) are distributed in an annular array.

7. A twisted yarn automatic doffing apparatus according to claim 4, wherein: the top end of the anti-skid ejector rod (42) is fixedly connected with an anti-skid strip.

8. A twisted yarn automatic doffing apparatus according to claim 4, wherein: and a detection switch (421) is fixedly clamped on one side of the anti-skid ejector rod (42) far away from the mechanism bottom plate (41).

9. A twisted yarn automatic doffing apparatus according to claim 2, wherein: the tooling placing table mechanism (5) comprises a placing table bottom plate (51), a U-shaped frame (52) is fixedly mounted in the middle of the top end of the placing table bottom plate (51), a plurality of groups of middle plates (521) distributed equidistantly are fixedly mounted on the U-shaped frame (52), placing frames (53) are fixedly mounted on two sides of each middle plate (521), and rollers (54) are fixedly mounted at the bottom end of the mechanism bottom plate (41).

10. A twisted yarn automatic doffing apparatus according to claim 9, wherein: the placing rack (53) is of an upward inclined structure, the bottom end of the placing platform bottom plate (51) is in contact with the top end of the transmission belt (231), and the rollers (54) are in contact with the top end of the AGV car body (1).

Background

The purpose of strand twisting is to increase the compactness of the yarn, and the purpose of strand twisting is to change the winding form and the linear density of the yarn besides increasing the compactness so as to meet the requirements of post-processing and use; the method mainly comprises the following steps: unwinding the protofilament from the protofilament barrel at a certain speed; twisting the glass strands; winding the twisted glass yarn on a paper tube or a bobbin;

in the prior art, when a raw silk barrel is subjected to precursor twisting, the raw silk barrel is generally manually fed and discharged, the processing technology can increase the labor cost, and the raw silk barrel is slowly fed and discharged, so that the working efficiency of the whole textile processing process is influenced, and therefore, the automatic yarn feeding and dropping equipment for twisting yarns is provided for solving the problems.

Disclosure of Invention

The invention aims to provide automatic twisted yarn feeding and doffing equipment to solve the problems in the background technology.

In order to achieve the purpose, the invention provides the following technical scheme: the utility model provides an automatic equipment of doffing of going up of twisting thread, includes AGV car body, the top middle part fixed mounting of AGV car body has on-vehicle conveying mechanism, the equal fixed mounting in top both sides of AGV car body has six manipulators, the equal fixed mounting of output of six manipulators has anchor clamps mechanism, on-vehicle conveying mechanism's top is equipped with the frock and places a mechanism, the equal fixed mounting in middle part all around of AGV car body has the warning line laser instrument, the fixed cover in outside bottom of AGV car body is equipped with mechanical anticollision strip, the equal fixed mounting in diagonal angle department of AGV car body has navigation laser, the equal fixed mounting in both sides of AGV car body has two sets of three-color lamp that are the symmetric distribution.

Preferably, on-vehicle conveying mechanism includes the mechanism frame, the mechanism frame is equipped with two sets ofly, and is two sets of that is the symmetric distribution the opposite side lower extreme fixed mounting of mechanism frame has the connecting plate, the equal fixed mounting in one side that the connecting plate top is close to the mechanism frame has the guard plate, and is two sets of mechanism frame bottom fixed mounting is at the top middle part of AGV car body, the equal fixed mounting in one side of mechanism frame has the conveying motor, the output fixed mounting of conveying motor has the belt pulley, one side that conveying motor was kept away from to the guard plate rotates and installs the belt pulley, and is two sets of the outside movable sleeve of belt pulley is equipped with driving belt.

Preferably, transition placing grooves are formed in the top ends of the AGV bodies on the two sides of the vehicle-mounted conveying mechanism.

Preferably, the fixture mechanism comprises a mechanism bottom plate, the middle part of one side of the mechanism bottom plate and the output end of the six-axis manipulator are fixedly installed, an anti-skidding ejector rod is fixedly installed at the upper end of one side of the mechanism bottom plate, which is far away from the six-axis manipulator, an outer expanding rod is arranged on the outer wall of the mechanism bottom plate on the same side of the anti-skidding ejector rod in a sliding and clamping manner, and an expansion head assembly is fixedly installed in the middle part of the mechanism bottom plate;

the expansion head assembly comprises a connecting seat, the connecting seat is fixedly arranged in the middle of the mechanism bottom plate, a driving motor is fixedly arranged in the middle of one side of the connecting seat, the output end of the driving motor penetrates through the connecting seat and is fixedly provided with a convex rod, driving rods are rotatably arranged on one sides of the convex rods far away from the output end of the driving motor, and one sides of the driving rods far away from the convex rods and the corresponding outer expansion rods are rotatably arranged;

the mechanism comprises a mechanism bottom plate and is characterized in that telescopic rods are fixedly mounted on two sides of the mechanism bottom plate, the output end of each telescopic rod penetrates through the mechanism bottom plate and is fixedly provided with a semicircular frame, and an intelligent camera is fixedly mounted on one side, close to an anti-skidding ejector rod, of the top end of the mechanism bottom plate.

Preferably, two groups of guide rods which are symmetrically distributed are fixedly installed on one side, close to the mechanism bottom plate, of the semicircular frame, and the guide rods are movably inserted into the mechanism bottom plate.

Preferably, the two groups of the external expansion rods and the anti-skid ejector rods are distributed in an annular array.

Preferably, the top end of the anti-skid ejector rod is fixedly connected with an anti-skid strip.

Preferably, the anti-skid ejector rod is provided with a detection switch in a fixing clamp at one side far away from the mechanism bottom plate.

Preferably, the tool placing table mechanism comprises a placing table bottom plate, a U-shaped frame is fixedly mounted in the middle of the top end of the placing table bottom plate, a plurality of groups of middle plates distributed equidistantly are fixedly mounted on the U-shaped frame, placing racks are fixedly mounted on two sides of each middle plate, and rollers are fixedly mounted at the bottom end of the mechanism bottom plate.

Preferably, the rack is an upward inclined structure, the bottom end of the bottom plate of the placing table is in contact with the top end of the transmission belt, and the rollers are in contact with the top end of the AGV body.

Compared with the prior art, the invention has the beneficial effects that:

1. according to the automatic feeding mechanism, the clamp mechanism is arranged and the six-shaft mechanical arm is used in a matched mode, the driving motor is started to drive the convex rod to rotate forwards and backwards, so that the driving rod is driven to drive the outer expanding rod to synchronously and obliquely slide on one side of the mechanism bottom plate, the raw silk barrel is effectively clamped, clamped and released in an outer expanding mode, the subsequent automatic flexible transportation of the raw silk barrel is facilitated, the telescopic rod is started to drive the corresponding semicircular frame to horizontally move, and therefore the raw silk barrel is pushed to be automatically placed and discharged through the semicircular frame.

2. Place a mechanism through setting up the frock, all set up the rack in the both sides of medium plate to the cooperation uses two sets of fixture mechanism, can realize that the automatic synchronization of both sides station former silk section of thick bamboo places, thereby improves the efficiency of placing of former silk section of thick bamboo, and then has promoted the work efficiency of whole course of working.

3. Through setting up on-vehicle conveying mechanism, control and start the conveying motor of both sides, the belt pulley that the drive corresponds rotates to the driving belt of synchronous drive both sides carries out the transmission, conveniently places a mechanism and carries out the position removal to the frock of placing on the AGV car body.

Drawings

FIG. 1 is a schematic structural view of the present invention;

FIG. 2 is a schematic view showing a connection of a part of the structure of the present invention;

FIG. 3 is an enlarged view taken at A of FIG. 2 in accordance with the present invention;

FIG. 4 is an enlarged view taken at B of FIG. 2 in accordance with the present invention;

FIG. 5 is an enlarged view taken at C of FIG. A in accordance with the present invention;

fig. 6 is a schematic structural view of the tool placement table mechanism according to the present invention.

In the figure: 1. an AGV body; 2. a vehicle-mounted conveying mechanism; 3. a six-axis manipulator; 4. a clamp mechanism; 5. a tool placing table mechanism; 101. a transitional placing groove; 11. a warning line laser; 12. a mechanical bumper strip; 13. navigating laser; 14. navigating laser; 21. a mechanism outer frame; 211. a connecting plate; 22. a conveying motor; 23. a belt pulley; 231. a drive belt; 24. a protection plate; 41. a mechanism base plate; 42. an anti-skid ejector rod; 421. a detection switch; 43. an outer expanding rod; 44. an expansion head assembly; 441. a connecting seat; 442. a drive motor; 443. a nose bar; 444. a drive rod; 45. a telescopic rod; 46. a semicircular frame; 461. a guide bar; 47. a smart camera; 51. placing a platform bottom plate; 52. a U-shaped frame; 521. a middle plate; 53. placing a rack; 54. and a roller.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Referring to fig. 1-6, the present invention provides a technical solution: an automatic yarn feeding and doffing device for twisted yarns comprises an AGV body 1, wherein a vehicle-mounted conveying mechanism 2 is fixedly installed in the middle of the top end of the AGV body 1, six mechanical hands 3 are fixedly installed on two sides of the top end of the AGV body 1, clamp mechanisms 4 are fixedly installed at output ends of the six mechanical hands 3, the directions of the clamp mechanisms 4 can be flexibly controlled by using the six mechanical hands 3, the clamp mechanisms 4 can clamp and flexibly convey raw silk barrels after twisted yarns conveniently, a tool placing table mechanism 5 is arranged at the top end of the vehicle-mounted conveying mechanism 2 and used for placing the raw silk barrels after twisted yarns so as to facilitate orderly placing and conveying of a plurality of groups of raw silk barrels, warning line lasers 11 are fixedly installed in the middle of the periphery of the AGV body 1, navigation lasers 13 are fixedly installed at opposite corners of the AGV body 1 and facilitate left and right movement of the AGV body 1, a mechanical anti-collision strip 12 is fixedly sleeved at the bottom of the outer side of the AGV body 1, prevent that AGV car body 1 from colliding when removing, the equal fixed mounting in both sides of AGV car body 1 has two sets of three-color lamp 14 that are the symmetric distribution.

On-vehicle conveying mechanism 2 includes mechanism frame 21, mechanism frame 21 is equipped with two sets of that are the symmetric distribution, two sets of mechanism frame 21's opposite side lower extreme fixed mounting has connecting plate 211, the equal fixed mounting in one side that connecting plate 211 top is close to mechanism frame 21 has guard plate 24, two sets of mechanism frame 21 bottom fixed mounting are at the top middle part of AGV car body 1, the equal fixed mounting in one side of mechanism frame 21 has conveying motor 22, conveying motor 22's output fixed mounting has belt pulley 23, one side that conveying motor 22 was kept away from to guard plate 24 is rotated and is installed belt pulley 23, the outside movable sleeve of two sets of belt pulleys 23 is equipped with driving belt 231, through control and start the conveying motor 22 of both sides, the belt pulley 23 that the drive corresponds rotates, thereby the driving belt 231 of synchronous drive both sides carries out the transmission.

Transition placing grooves 101 are formed in the top ends of the AGV car bodies 1 on the two sides of the vehicle-mounted conveying mechanism 2 and used for transitionally placing the twisted raw silk barrels.

The clamp mechanism 4 comprises a mechanism bottom plate 41, the middle part of one side of the mechanism bottom plate 41 and the output end of the six-axis manipulator 3 are fixedly installed, an anti-skidding ejector rod 42 is fixedly installed at the upper end of one side, away from the six-axis manipulator 3, of the mechanism bottom plate 41, and an anti-skidding strip is fixedly connected to the top end of the anti-skidding ejector rod 42 to prevent a clamped raw silk barrel from falling off during transportation; the outer wall of the mechanism bottom plate 41 on the same side of the antiskid mandril 42 is slidably clamped with the outer expanding rods 43, the two groups of the outer expanding rods 43 and the antiskid mandril 42 are distributed in an annular array in the initial state, and the two groups of the outer expanding rods 43 slide obliquely; an expansion head assembly 44 is fixedly arranged in the middle of the mechanism bottom plate 41;

the expansion head assembly 44 comprises a connecting seat 441, the connecting seat 441 is fixedly installed in the middle of the mechanism bottom plate 41, a driving motor 442 is fixedly installed in the middle of one side of the connecting seat 441, the output end of the driving motor 442 passes through the connecting seat 441 and is fixedly installed with a protruding rod 443, the middle of the protruding rod 443 is connected with the output end of the driving motor 442, the middle of the protruding rod 443 is located at the central positions of the two groups of outward-expanding rods 43 and the anti-skid ejector rods 42, a driving rod 444 is rotatably installed on one side of the protruding rod 443 away from the output end of the driving motor 442, the driving rod 444 is rotatably installed with the corresponding outward-expanding rod 43, the driving motor 442 is started to drive the protruding rod 443 to rotate positively and reversely, so that the driving rod 444 drives the outward-expanding rod 43 to synchronously slide obliquely on one side of the mechanism bottom plate 41, the outward-expanding clamping and releasing of the original silk tube are effectively performed, and the transportation of the subsequent original silk tube is facilitated;

the equal fixed mounting in both sides of mechanism bottom plate 41 has telescopic link 45, and the output of telescopic link 45 passes mechanism bottom plate 41 and fixed mounting has semicircle frame 46, through starting the semicircle frame 46 horizontal migration that telescopic link 45 drive corresponds to promote a raw silk section of thick bamboo through semicircle frame 46, one side fixed mounting that the top of mechanism bottom plate 41 is close to anti-skidding ejector pin 42 has intelligent camera 47, observe the position of a raw silk section of thick bamboo behind the centre gripping, so that place a raw silk section of thick bamboo on the platform mechanism 5 is placed to the frock accurately.

Two groups of guide rods 461 which are symmetrically distributed are fixedly installed on one side of the semicircular frame 46 close to the mechanism bottom plate 41, and the guide rods 461 are movably inserted on the mechanism bottom plate 41, so that the stability of the semicircular frame 46 during horizontal movement is improved.

The side of the anti-skid post rod 42 far away from the mechanism bottom plate 41 is fixedly clamped with a detection switch 421.

Platform mechanism 5 is placed including placing platform bottom plate 51 to the frock, the top middle part fixed mounting who places platform bottom plate 51 has U type frame 52, fixed mounting has multiunit medium plate 521 that is the equidistance and distributes on U type frame 52, the equal fixed mounting in both sides of medium plate 521 has rack 53, through setting up rack 53 in the both sides of medium plate 521, and cooperate and use two sets of fixture mechanism 4, can realize the automatic synchronization of both sides station raw silk section of thick bamboo and place, thereby improve the efficiency of placing of raw silk section of thick bamboo, and then the work efficiency of whole course of working has been promoted, rack 53 is ascending inclined structure, prevent to place dropping of back raw silk section of thick bamboo, thereby the stability of raw silk section of thick bamboo has been improved, the bottom fixed mounting of mechanism bottom plate 41 has gyro wheel 54, the position that platform mechanism 5 was placed to the frock of being convenient for moves.

The bottom end of the placing platform bottom plate 51 is in contact with the top end of the transmission belt 231, so that the position of the tool placing platform mechanism 5 arranged on the AGV car body 1 can be conveniently moved through transmission of the transmission belt 231, and the roller 54 is in contact with the top end of the AGV car body 1.

The working principle is as follows: the invention relates to automatic twisting and doffing equipment, which is characterized in that when in use, a tool placing platform mechanism 5 is moved to the position of an AGV car body 1, the tool placing platform mechanism 5 is lifted and placed on a transmission belt 231 through an external lifting conveyor, then, the transmission motors 22 on two sides are controlled and started to drive the corresponding belt pulleys 23 to rotate, so that the transmission belts 231 on two sides are synchronously driven to transmit, the tool placing platform mechanism 5 is driven to move until the tool placing platform mechanism 5 moves to a proper position, then, the six-axis mechanical arms 3 on two sides are synchronously used to flexibly control the corresponding clamp mechanisms 4, the twisted original silk cylinders are positioned through an intelligent camera 47, an anti-skidding ejector rod 42 and two groups of externally-expanded rods 43 are inserted into the original silk cylinders, then, the driving motor 442 is started to drive a convex rod 443 to rotate, so that a driving rod 444 drives the externally-expanded rods 43 to synchronously slide obliquely and reversely on one side of a mechanism bottom plate 41, effectively expanding and clamping the raw silk tube, then conveying the clamped raw silk tube to the position corresponding to the idle placing frame 53, sleeving the raw silk tube outside the placing frame 53, reversely driving the motor 442 to release the raw silk tube, synchronously opening the telescopic rod 45 to drive the corresponding semicircular frame 46 to horizontally move, thereby pushing the raw silk tube through the semicircular frame 46, pushing the raw silk tube onto the placing frame 53 for orderly placing, after the placing of a plurality of groups of placing frames 53 is finished, driving the transmission belt 231 again for transmission, moving the tool placing platform mechanism 5 to an external lifting conveyor, moving the tool placing platform mechanism 5 out of the AGV car body 1, realizing the automatic synchronous placing of the raw silk tubes at two stations by arranging the placing frames 53 at two sides of the middle plate 521 and using two groups of clamp mechanisms 4 in a matching way, thereby improving the placing efficiency of the raw silk tube and further improving the working efficiency of the whole processing process, wherein, also can place the multiunit crude fiber section of thick bamboo on platform mechanism 5 through using this equipment to the frock and take off fast.

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.