An automatic yarn winding system for cheese yarn composite robots based on laser navigation

Abstract

The present invention discloses a composite robot automatic yarn collection system for cheese yarn based on laser navigation, comprising a yarn loosening machine, the yarn loosening machine is provided with a yarn discharging belt, and a lifting device, which is arranged at the yarn collection place of the head of the yarn loosening machine; comprising a fixed seat, a plurality of lifting fork arms lifted and arranged on the fixed seat, a yarn rack is provided on the fixed seat, and a plurality of the lifting fork arms are interspersed and arranged between the yarn racks; a clamping position, which is arranged at the yarn collection place of the head of the yarn loosening machine; a hedgehog car is provided on the clamping position; a guide device, comprising a guide support plate, a circular arc plate is fixed on the guide support plate, and the upper end of the circular arc plate is connected to the yarn discharging belt; a non-guide device, comprising a non-guide side plate and a front baffle. The present invention has a high degree of automation, saves time and labor, is suitable for a variety of cheese yarn varieties, and reduces work intensity.

Description

Technical Field

[0001] The invention relates to textile, in particular to a package yarn composite robot automatic yarn collecting system based on laser navigation. Background Art

[0002] Cone dyeing is a major trend in the development of yarn dyeing in yarn-dyed weaving, knitting, thread making and other enterprises. Cone dyeing is a yarn dyeing process that integrates scouring, bleaching, dyeing, soap boiling and other dyeing processes after the raw yarn is put into the cylinder. It has the characteristics of high labor productivity and high degree of automation.

[0003] The basic process flow of bobbin dyeing is: loosening yarn - loading into cages - dyeing - drying - rewinding. The bobbin needs to be loosened before dyeing. The main equipment used for loosening yarn is a loosening winder, that is, a yarn loosening machine. Loosening yarn can reduce the winding density of the bobbin and make the winding density of the inner and outer layers uniform. After loosening the bobbin, it is easier for the dye liquid to penetrate the yarn layer during dyeing, ensuring uniform dyeing inside and outside the bobbin. After loosening the yarn, the yarn loosening machine needs to collect the yarn, that is, collect the bobbin yarn after loosening the yarn, and collect the bobbin yarn on the straight round rod of the creel or the small round rod of the hedgehog car. At present, this yarn collecting work is done manually in most factories. Due to the large number and variety of bobbin yarns, the workload of this yarn collecting is large and the work intensity is high. Summary of the invention

[0004] In order to solve the defects of the above-mentioned prior art, the present invention provides a package yarn composite robot automatic yarn collecting system based on laser navigation. The present invention has a high degree of automation, saves time and labor, is suitable for various types of package yarns, and reduces work intensity.

[0005] To achieve the above technical objectives, the present invention adopts the following technical solutions: a laser-guided package yarn composite robot automatic yarn collection system, comprising a yarn loosening machine, the yarn loosening machine is provided with a yarn delivery belt, and further comprising

[0006] A lifting device is arranged at the yarn receiving part of the head of the yarn loosening machine; it comprises a fixed seat, a plurality of lifting fork arms lifted and arranged on the fixed seat, a yarn frame is arranged on the fixed seat, and a plurality of the lifting fork arms are interspersed between the yarn frames;

[0007] A clamping position is arranged at the yarn receiving position of the head of the yarn loosening machine; a hedgehog car is arranged on the clamping position;

[0008] The guide device comprises a guide support plate, a circular arc plate is fixed on the guide support plate, and the upper end of the circular arc plate is connected to the yarn output belt;

[0009] The non-head guide device comprises a non-head guide side plate and a front baffle.

[0010] Furthermore, it also includes a robot, on which a clamp is provided.

[0011] Further, a vision camera is provided on the fixture.

[0012] Further, the robot further includes a housing, movable doors are provided on four sides of the housing, elastic arc plates are provided at four corners of the housing, and a plurality of panels and a plurality of buttons are installed on the housing.

[0013] Further, a lead screw is fixed on the vertical surface of the fixed seat, and the lead screw is connected to a motor; a connecting plate is threadedly connected to the lead screw, and a plurality of lifting fork arms are fixed to the connecting plate; linear motors are provided on both sides of the lead screw, and the side surface of the connecting plate is connected to the linear motors; a plurality of guide wheels are provided on the fixed seat.

[0014] Further, the clamping position includes a plurality of columns, symmetrically arranged cross beams are fixed on the columns, and guide bars are fixed on opposite side surfaces of the two cross beams; a stop block and a touch switch are also fixed on the clamping position.

[0015] Further, the guide head device further includes guide head side plates, and the guide head side plates are fixed on both sides of the guide head support plate; two guide plates are also fixed on the guide head support plate, the guide plates are arranged in an arc shape and fixed on both sides of the arc plate, and the other ends of the guide plates are arranged away from each other and fixed on the guide head side plates.

[0016] Further, a yarn blocking plate is fixed at the front end of the guide head support plate.

[0017] Further, a long strip hole is formed in the guide head support plate, an adjusting plate is fixed on the back surface of the arc plate, the adjusting plate is in an arc shape corresponding to the arc plate, and a long arc hole is formed in the adjusting plate; an angle iron is further included, and two side plates of the angle iron are respectively bolted to the long strip hole and the long arc hole.

[0018] Further, the non-guide head device further includes a diversion block, and the diversion block is butted against the yarn outlet belt; the non-guide head device further includes a photoelectric detection switch.

[0019] In summary, the present invention has achieved the following technical effects:

[0020] 1. The present invention sets a robot to complete the yarn winding work of the yarn loosening machine, replacing manual labor, saving time and effort, and reducing the working intensity of people;

[0021] 2. The present invention sets a lifting device, which can uniformly lift or lower the cheese yarn on the yarn rack. The screw rod method is convenient for the lifting and lowering of the fork arms, and is convenient to control and simple to operate;

[0022] 3. The present invention sets a clamping position, which can clamp the hedgehog cart, facilitating the positioning of the hedgehog cart and the quick placement of the hedgehog cart, and is simple to operate;

[0023] 4. The guiding head device and non-guiding head device provided by the present invention can smoothly guide the cheese yarn out of the unwinding machine. The side plates and arc plates provided can position the cheese yarn to prevent the cheese yarn from shifting and improve accuracy.

[0024] 5. The adjusting plate and angle iron provided by the present invention can adjust the left-right position and up-down position of the arc plate, facilitating accurate docking with the belt and improving accuracy.

[0025] 6. The side plates provided by the present invention can be adjusted to adapt to a variety of different cheese yarn varieties, with good adaptability. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 is a schematic diagram of the automatic yarn winding system provided by an embodiment of the present invention;

[0027] Figure 2 is Figure 1 a schematic diagram of part A in

[0028] Figure 3 is a schematic diagram of the robot;

[0029] Figure 4 is a schematic diagram of the lifting device;

[0030] Figure 5 is a schematic diagram of the clamping position;

[0031] Figure 6 is Figure 2 a schematic diagram of part B in

[0032] Figure 7 is a schematic diagram of the guiding head device;

[0033] Figure 8 is Figure 7 a partial schematic diagram from another angle in

[0034] Figure 9 is a schematic diagram of the non-guiding head device;

[0035] In the figure, 1 is a robot, 12 is a six-axis robot, 13 is a fixture, 14 is a vision camera, 15 is a housing, 16 is a movable door, 17 is an elastic arc plate, 18 is a panel, 19 is a button, 2 is a lifting device, 21 is a fixed seat, 22 is a linear motor, 23 is a lead screw, 24 is a lifting fork arm, 25 is a motor, 26 is a guide wheel, 27 is a yarn rack, 28 is a connecting plate, 3 is a clamping position, 31 is a column, 32 is a cross beam, 33 is a guide bar, 34 is a stop block, 35 is a touch switch, 36 is a hedgehog vehicle, 4 is an industrial control cabinet, 5 is a charging pile, 6 is a yarn loosening machine, 61 is a yarn outlet belt, 7 is a yarn guiding head device, 71 is a yarn guiding head side plate, 72 is a yarn guiding head support plate, 73 is a yarn blocking plate, 74 is an arc plate, 75 is a guiding plate, 76 is an adjusting plate, 77 is an angle iron, 78 is a long strip hole, 79 is a long arc hole, 8 is a non-yarn guiding head device, 81 is a non-yarn guiding head side plate, 82 is a front baffle, 83 is a photoelectric detection switch, 84 is a diversion block, 9 is the ground, and 10 is a cheese yarn. Detailed implementation mode

[0036] The present invention will be further described in detail below with reference to the accompanying drawings.

[0037] This specific embodiment is only an interpretation of the present invention and does not limit the present invention. After reading this specification, those skilled in the art can make modifications to this embodiment without creative contributions as needed, but as long as it is within the scope of the claims of the present invention, it is protected by the patent law.

[0038] Embodiment:

[0039] As Figure 1 shown, a cheese yarn composite robot automatic yarn winding system based on laser navigation includes a yarn loosening machine 6, and a yarn outlet belt 61 is provided on the yarn loosening machine 6 ( Figure 7 shown), and further includes:

[0040] A robot 1, as Figure 2-3 shown, a fixture 13 is provided on the robot 1. Specifically, a vision camera 14 is provided on the fixture 13. The robot 1 further includes a housing 15. The middle part of the robot 1 is a housing structure. Movable doors 16 are provided on the four sides of the housing 15. Elastic arc plates 17 are provided at the four corners of the housing 15 for safety anti-collision. A plurality of panels 18 and a plurality of buttons 19 are installed on the housing 15.

[0041] In this embodiment, the composite robot 1 is a wheeled mobile robot, which is a combination of an AGV vehicle body and a six-axis robot. The navigation method of the AGV vehicle body is laser navigation. A six-axis robot 12 is provided at the top of the composite robot 1, and a grasping fixture 13 is provided at the wrist of the six-axis robot 12. The grasping fixture 13 is of a three-jaw inner support structure for grasping cheese yarn 10. The composite robot 1 is powered by an on-vehicle battery. When the remaining power is lower than the set value, the composite robot 1 can move itself to the charging pile 5 for automatic charging.

[0042] The lifting device 2, as Figure 2 and 4 shown, the lifting device 2 is arranged at the yarn winding and collecting position at the head of the yarn loosening machine 6; it includes a fixed seat 21 and a plurality of lifting fork arms 24 arranged to be lifted on the fixed seat 21. A yarn rack 27 is provided on the fixed seat 21, and a plurality of lifting fork arms 24 are inserted between the yarn racks 27; specifically, a lead screw 23 is fixed on the vertical surface of the fixed seat 21, and the lead screw 23 is connected to a motor 25; a connecting plate 28 is threadedly connected to the lead screw 23, and a plurality of lifting fork arms 24 are fixed on the connecting plate 28; linear motors 22 are provided on both sides of the lead screw 23, and the side surface of the connecting plate 28 is connected to the linear motors 22; a plurality of guide wheels 26 are provided on the fixed seat 21. When the motor 25 works, the lead screw 23 rotates, driving the connecting plate 28 to move up and down, thereby driving the lifting fork arms 24 to move up and down.

[0043] The positioning device 3, as Figure 2 and 5 shown, the positioning device 3 is arranged at the yarn winding and collecting position at the head of the yarn loosening machine 6, beside the channel on the other side of the lifting device 2; a hedgehog vehicle 36 is provided on the positioning device 3, and the hedgehog vehicle 36 can be stuck into the positioning device 3; specifically, the positioning device 3 includes a plurality of columns 31, and symmetrically arranged cross beams 32 are fixed on the columns 31; guide bars 33 are fixed on the opposite side surfaces of the two cross beams 32; a stop block 34 and a touch switch 35 are also fixed on the positioning device 3.

[0044] The yarn guiding device 7, as Figure 2 、 6 -8 shown, includes a yarn guiding support plate 72, and an arc plate 74 is fixed on the yarn guiding support plate 72. The upper end of the arc plate 74 is butted against the yarn output belt 61; specifically, as Figure 7 shown, the yarn guiding device 7 further includes yarn guiding side plates 71, and the yarn guiding side plates 71 are fixed on both sides of the yarn guiding support plate 72; two guiding plates 75 are also fixed on the yarn guiding support plate 72. The guiding plates 75 are arranged in an arc shape and fixed on both sides of the arc plate 74, and the other ends of the guiding plates 75 are arranged to be away from each other and fixed on the yarn guiding side plates 71; a yarn blocking plate 73 is fixed at the front end of the yarn guiding support plate 72. As Figure 8As shown in the figure, a long strip hole 78 is formed in the guide head support plate 72. An adjusting plate 76 is fixed to the back surface of the arc plate 74. The adjusting plate 76 is in an arc shape corresponding to the arc plate 74, and a long arc hole 79 is formed in the adjusting plate 76. It further includes an angle iron 77. The two side plates of the angle iron 77 are respectively bolted to the long strip hole 78 and the long arc hole 79, and the up-and-down position and left-and-right position of the arc plate 74 can be adjusted to facilitate alignment with the belt.

[0045] Further, as Figure 7 shown in the figure, the bottom end of the guide plate 75 is adjustably fixed to the guide head support plate 72. A waist-shaped hole is formed in the guide head support plate 72. An angle iron is connected to the guide plate 75, and the angle iron is connected to the waist-shaped hole, which is convenient for adjusting the left-and-right position of the guide plate 75 and can adapt to different specifications of cheese yarn.

[0046] The non-guide head device 8, as Figure 9 shown in the figure, includes a non-guide head side plate 81 and a front baffle 82. The non-guide head device 8 further includes a diversion block 84, and the diversion block 84 is docked with the yarn output belt 61. The non-guide head device 8 further includes a photoelectric detection switch 83. A waist-shaped hole is formed in the front baffle 82, and the non-guide head side plate 81 is connected to the waist-shaped hole by bolts, and the relative position of the non-guide head side plate 81 can be adjusted to adapt to a variety of different specifications of cheese yarn.

[0047] As Figure 1 shown in the figure, the present invention further includes an industrial control cabinet 4 and a charging pile 5. Among multiple yarn loosening machines 6, one (or more) composite robots 1 are provided to complete the yarn winding work of the yarn loosening machines 6. The moving range of the composite robot 1 covers all the yarn winding position points of the yarn loosening machines. The composite robot 1 is a wheeled mobile composite robot that can freely walk on the ground 9, and its chassis is an AGV vehicle body, and the navigation method of the AGV vehicle body is laser navigation. The industrial control cabinet 4 and the charging pile 5 are provided in the activity area of the composite robot 1. A lifting device 2 and a hedgehog vehicle position 3 are provided at the yarn winding position of the yarn loosening machine 6. A guide head device 7 and a non-guide head device 8 are provided at the position of the yarn output belt 61 at the head of the yarn loosening machine 6. When performing the yarn winding task, the composite robot 1 grabs the cheese yarn 10 on the guide head device 7 or the non-guide head device 8, and then places the cheese yarn 10 on the lifting device 2 or the hedgehog vehicle position 3 to complete the yarn winding and stacking. By integrating a variety of intelligent automation components into one to form the composite robot 1, and at the same time setting other functional devices around the yarn loosening machine 6, the present invention constitutes an independent automatic yarn winding system, which greatly improves the intelligent automation degree and working efficiency of yarn winding.

[0048] In addition, an AGV is a transport vehicle equipped with automatic guiding devices such as electromagnetic or optical devices, capable of traveling along a specified guiding path, and having safety protection and various transfer functions. The AGV navigation method adopts SLAM laser navigation. The activity area of the AGV does not require the laying of fixed devices such as tracks and support frames. The AGV can complete the construction of the environmental map and high-precision positioning through the SLAM algorithm, and thus complete the task of accurately driving the AGV to the designated point.

[0049] The above description is only a preferred embodiment of the present invention, and does not impose any form of limitation on the present invention. Any simple modification, equivalent change and modification made to the above embodiments based on the technical essence of the present invention shall fall within the scope of the technical solution of the present invention.

Claims

1. A bobbin yarn composite robot automatic yarn winding system based on laser navigation, including a yarn loosening machine (6), and an outlet yarn belt (61) is arranged on the yarn loosening machine (6), characterized in that: It also includes a lifting device (2) provided at the yarn collecting position of the head of the loose yarn machine (6); it includes a fixed seat (21) and a plurality of lifting fork arms (24) arranged to lift on the fixed seat (21). A yarn rack (27) is provided on the fixed seat (21), and the plurality of lifting fork arms (24) are inserted between the yarn racks (27); a clamping position (3) provided at the yarn collecting position of the head of the loose yarn machine (6); a hedgehog vehicle (36) is provided on the clamping position (3); a guide head device (7), which includes a guide head support plate (72), and an arc plate (74) is fixed on the guide head support plate (72). The upper end of the arc plate (74) is butted against the yarn output belt (61); a non-guide head device (8), which includes a non-guide head side plate (81) and a front baffle (82); The guide head device (7) further includes guide head side plates (71) fixed on both sides of the guide head support plate (72); two guide plates (75) are also fixed on the guide head support plate (72). The guide plates (75) are arranged in an arc shape and fixed on both sides of the arc plate (74). The other ends of the guide plates (75) are arranged to be away from each other and fixed on the guide head side plates (71); a yarn blocking plate (73) is fixed at the front end of the guide head support plate (72); a long slot (78) is opened on the guide head support plate (72), and an adjusting plate (76) is fixed on the back of the arc plate (74). The adjusting plate (76) is in an arc shape corresponding to the arc plate (74), and a long arc hole (79) is opened on the adjusting plate (76); it also includes an angle iron (77), and the two side plates of the angle iron (77) are respectively bolted to the long slot (78) and the long arc hole (79); The non-guide head device (8) further includes a diversion block (84) butted against the yarn output belt (61); the non-guide head device (8) further includes a photoelectric detection switch (83).

2. The automatic yarn winding system of a cheese yarn composite robot based on laser navigation according to claim 1, wherein: It also includes a robot (1), and a fixture (13) is provided on the robot (1).

3. The automatic yarn winding system of a cheese yarn composite robot based on laser navigation according to claim 2, characterized in that: A vision camera (14) is provided on the fixture (13).

4. The automatic yarn winding system of a cheese yarn composite robot based on laser navigation according to claim 2 or 3, characterized in that: The robot (1) further includes a housing (15), and movable doors (16) are provided on the four side surfaces of the housing (15). Elastic arc plates (17) are provided at the four corners of the housing (15), and a plurality of panels (18) and a plurality of buttons (19) are installed on the housing (15).

5. The automatic yarn winding system of a cheese yarn composite robot based on laser navigation according to claim 1, characterized in that: A lead screw (23) is fixed on the vertical surface of the fixed seat (21), and the lead screw (23) is connected to a motor (25); a connecting plate (28) is threadedly connected to the lead screw (23), and the plurality of lifting fork arms (24) are fixed on the connecting plate (28); linear motors (22) are provided on both sides of the lead screw (23), and the side surface of the connecting plate (28) is connected to the linear motors (22); a plurality of guide wheels (26) are provided on the fixed seat (21).

6. The automatic yarn winding system of a cheese yarn composite robot based on laser navigation according to claim 1, characterized in that: The clamping position (3) includes a plurality of upright columns (31), on which symmetrically arranged cross beams (32) are fixed, and guide strips (33) are fixed on the opposite side surfaces of the two cross beams (32); a stop block (34) and a touch switch (35) are also fixed on the clamping position (3).

Images