A large cloth roll loom automatic loading and unloading shaft transfer robot

Abstract

The present invention relates to the technical field of robotic production lines for large-diameter packaged cloth looms, and specifically to an automatic loading and unloading shaft transfer robot for large-diameter cloth looms. The robot is provided with a vehicle body and a frame, which is fixed to the vehicle body. The robot is characterized in that a loading and unloading shaft mechanism, a full shaft storage mechanism, and an empty shaft temporary storage mechanism are respectively provided on the vehicle body, thereby realizing automatic dropping, automatic shaft changing, automatic transfer, and automatic unloading of large-diameter cloth rolls. The robot has excellent adaptability to full shafts with the same diameter of the extended shafts at both ends but different cloth roll diameters, thereby eliminating the waiting time for the empty shaft after the loom drops the shaft, effectively improving production efficiency, and facilitating the allocation of transfer robot resources by the control center.

Description

Technical Field

[0001] The present invention relates to the technical field of robotic production lines for large-diameter packaged cloth looms, and in particular to an automatic shaft loading and unloading transfer robot for large cloth roll looms capable of realizing the entire process of cloth dropping, shaft changing, and transfer. Background Art

[0002] As is well known, the loading and unloading of rolls on large-roll looms is typically done manually. Patent No. CN108773713A discloses a single-sided automatic multi-load cloth unloading trolley. This trolley, coupled with a chain, open guide rails, and movable hooks, pulls full rolls of cloth from the loom and deposits them on the trolley, potentially improving loom production efficiency. However, existing automatic cloth unloading trolleys can only handle the unloading and transfer processes of the loom, requiring manual labor to load empty rolls onto the loom. This increases loom downtime and is detrimental to improving textile production efficiency. Summary of the Invention

[0003] The purpose of the present invention is to solve the deficiencies of the above-mentioned prior art and to provide a large cloth roll loom automatic loading and unloading shaft transfer robot that can realize the whole process of loom cloth dropping, shaft changing and transfer.

[0004] The technical solution adopted by the present invention to solve its technical problem is:

[0005] The lifting mechanism is a kind of automatic lifting and lowering shaft transfer robot for a large cloth rolling loom, which is provided with a vehicle body and a frame, and the frame is fixed on the vehicle body, and is characterized in that the vehicle body is respectively provided with a lifting and lowering shaft mechanism, a full shaft storage mechanism and an empty shaft temporary storage mechanism, the empty shaft temporary storage mechanism is arranged on the frame above the lifting and lowering shaft mechanism, and the full shaft storage mechanism is arranged on the inner side of the lifting and lowering shaft mechanism, the lifting and lowering shaft mechanism, the full shaft storage mechanism and the empty shaft temporary storage mechanism are respectively fixed on the vehicle body, the lifting and lowering shaft mechanism is a mechanism that can realize the lifting and lowering shaft actions of the loom, the full shaft storage mechanism is a mechanism that can catch the reel full of cloth dropped by the lifting and lowering shaft mechanism through the lifting and lowering shaft action, and move the reel to the rear side for avoidance, the empty shaft temporary storage mechanism is a mechanism for temporarily storing the empty shaft and placing the empty shaft on the lifting and lowering shaft mechanism after the lifting and lowering shaft mechanism drops the shaft, and then realizes the lifting and lowering action of the empty shaft through the lifting and lowering shaft mechanism.

[0006] The axle up and down groove at two ends embeds respectively in two guide rails up and down of being made up of the groove on the attachment piece, and the tooth on the attachment piece is meshed with tooth on upper sprocket wheel, the lower sprocket. The control rod is a pair of ...

[0007] The up-and-down shaft mechanism described in the present invention also includes a pulling auxiliary device, which includes a wire rope, a roller, a roller seat, an auxiliary slider, a linear rail, a tension spring and a spring connecting seat. The roller seat is fixedly connected to the vehicle body, and the roller is rotatably connected to the roller seat. One end of the wire rope is rotatably connected to the upper side of the driven swing arm, and the middle of the wire rope is wound from the upper end of the roller to the lower end. The other end of the wire rope is rotatably connected to one end of the auxiliary slider. The linear rail is fixedly connected to the vehicle body, and both sides of the auxiliary slider are engaged and slid with the linear guide rail. The other end of the auxiliary slider is fixedly connected to one end of the tension spring, one end of the spring connecting seat is fixedly connected to the vehicle body, and the other end of the spring connecting seat is fixedly connected to the other end of the spring. The wire rope is driven to pull the auxiliary slider backward through the forward swing of the driven swing arm, and the driven swing arm is pulled back under the action of the tension spring.

[0008] The clamping jaw described in the present invention is provided with a hook device, which includes a first telescopic electric cylinder, an electric cylinder connecting arm, a rotary swing arm, a clamping shaft and a finger. The first telescopic electric cylinder is arranged on the outside of the straight side of the clamping jaw, one end of the first telescopic electric cylinder is fixedly connected to the clamping jaw, the other end of the first telescopic electric cylinder is rotatably connected to one end of the electric cylinder connecting arm, the other end of the electric cylinder connecting rod is rotatably connected to one end of the rotary swing arm, and the other end of the rotary swing arm is fixedly connected to the extended end of the clamping shaft. An open groove is provided in the middle of one side of the circular arc groove of the straight side of the clamping jaw facing the arc-shaped part, and the clamping shaft and the finger are installed in the open groove, the clamping shaft is rotatably connected to the clamping jaw, and one end of the finger is fixedly connected to the middle of the clamping shaft. The first telescopic electric cylinder drives the electric cylinder connecting arm, the rotary swing arm and the clamping shaft to rotate respectively to realize the finger extending out of the open groove and retracting into the open groove.

[0009] The mechanical arm power device described in the present invention includes a main motor, an auxiliary motor, a first rotating shaft, a main belt, a first driving wheel, a first driven wheel, a second driving wheel, a second driven wheel, a first belt, a second belt, a first reducer, a second reducer, an auxiliary belt, a second driving wheel, a fourth driven wheel, a fifth driven wheel, a sixth driven wheel, a third belt, a second rotating shaft, a lead screw, a nut, a lead screw optical axis, and a lead screw support seat. The main motor and auxiliary motor are respectively fixed to the inner side of the bottom of the vehicle body, the output shaft of the main motor is connected to the first driving wheel via the first reducer, the first driving wheel is connected to the first driven wheel via the main belt, the left and right sides of the first driven wheel are symmetrically connected to the first rotating shaft, the outer ends of the first rotating shaft are symmetrically connected to the second driven wheels, the outer side of the vehicle body above the second driven wheel is connected to the third driven wheel via a bracket, the third driven wheel is connected to the second driven wheel The driven wheels are connected via a second slave belt, the third driven wheel is connected to the main driving arm via the second reducer, the output shaft of the auxiliary motor is connected to the second driving wheel, the second driving wheel is connected to the fourth driven wheel via the third slave belt, the left and right sides of the fourth driven wheel are symmetrically connected to the second rotating shaft, the outer end of the second rotating shaft is symmetrically connected to the fourth driven wheel, the fourth driven wheel is connected to the fifth driven wheel via the first slave belt, the fifth driven wheel is connected to the lead screw via a gear set, the lead screw is connected to the vehicle body via a lead screw support seat, both ends of the lead screw are connected to the lead screw support seat via bearings, a nut is sleeved on the lead screw, the nut is fixedly connected to the nut slider, the nut slider is hinged to the auxiliary driving arm, a lead screw optical axis is provided on the side of the lead screw support seat, the lead screw optical axis is parallel to the lead screw, and both ends of the lead screw optical axis are fixed on the lead screw support seat, and the flipping action of the auxiliary driving arm is driven by the up and down movement of the nut slider.

[0010] The frame described in the present invention includes a supporting truss, an arc slide rail, a robotic arm supporting slider, and a connecting pin. The lower end of the supporting truss is fixedly connected to the vehicle body, the arc slide rail is fixedly connected to the inner side of the supporting truss, the arc slide rail is coaxial with the arc drawn by the movement of a point on the driving arm, the lower end of the robotic arm supporting slider slides in cooperation with the arc slide rail, the upper end of the robotic arm supporting slider is fixedly connected to one end of the connecting pin, and the other end of the connecting pin is rotatably connected to the middle part of the swing driving arm.

[0011] The empty shaft temporary storage mechanism described in the present invention includes an electric cylinder base plate, an electric cylinder seat, a second telescopic electric cylinder, a guide optical axis, an electric cylinder support seat, an optical axis fixing seat, an optical axis slider, a slider connecting rod, a square shaft rocker, a temporary storage hook, a square shaft, a square shaft sleeve, a square shaft bearing, a blind cover, a transparent cover and an annular bearing fixing seat. The electric cylinder base plate is fixedly connected to the upper end of the frame, and the electric cylinder base plate is arranged parallel to the middle of the upper end of the frame. One end of the electric cylinder seat is fixedly connected to the electric cylinder base plate, and the other end of the electric cylinder seat is fixedly connected to one end of the second telescopic electric cylinder. The middle of the telescopic electric cylinder is slidably connected to the electric cylinder support seat, and the electric cylinder support seat is fixedly connected to the electric cylinder base plate. The two symmetrical sides of the electric cylinder support seat are each fixedly connected to a guide optical axis, one end of the optical axis slider is fixedly connected to the other end of the second telescopic electric cylinder, and the other end of the optical axis slider is rotatably connected to one end of the slider connecting rod. The symmetrical sides of the optical axis slider are each slidably connected to an optical axis, one end of the optical axis fixing seat is fixedly connected to the bottom plate of the electric cylinder, the symmetrical left and right sides of the optical axis fixing seat are each fixedly connected to a guide optical axis, the other end of the slider connecting rod is rotatably connected to one end of the square shaft rocker, the other end of the square shaft rocker is fixedly connected to the middle of the square shaft, the symmetrical sides of the square axis are each fixedly connected to a temporary storage claw, the two ends of the square shaft are each fixedly connected to the inner side of a square shaft sleeve, the outer side of the square shaft sleeve is fixedly connected to the inner ring of the square shaft bearing, the outer ring of the square shaft bearing is fixedly connected to the annular bearing fixing seat, the inner side of the blind cover is fixedly connected to the outer side of the annular bearing fixing seat, the outer circle of the blind cover is coaxial with the square shaft bearing, the inner side of the transparent cover is fixedly connected to the inner side of the annular bearing fixing seat, the outer circle of the transparent cover is coaxial with the square shaft bearing, and the annular bearing fixing seat is fixedly connected to the frame.

[0012] The full-axle storage mechanism described in the present invention is respectively provided with two groups, each group of full-axle storage mechanisms is arranged on the inner side of each group of upper and lower axle mechanisms, and each group of full-axle storage mechanisms includes a long support, a short support, a full-axle slide rail, a full-axle slider, a full-axle end seat, a synchronous belt, a synchronous belt toothed plate, a driving wheel, a driving motor and a driven wheel. The long support includes a long support rod and a long support connecting seat, the lower end of the long support rod is fixedly connected to the vehicle body, and the symmetrical two ends of the square groove at the upper end of the long support are respectively fixedly connected to the two long support connecting seats; the short support includes a short support rod and a short support connecting seat, the lower end of the short support rod is fixedly connected to the vehicle body, and the symmetrical two ends of the square groove at the upper end of the short support rod are respectively fixedly connected to the two short support connecting seats. The symmetrical ends of the full-axis slide are each fixedly connected to the upper end of a long support, the middle part of the full-axis slide is fixedly connected to the short support, one end of the full-axis slide is connected to the driving wheel, the driving wheel is connected by the driving motor, and the other end of the full-axis slide is fixedly connected to the driven wheel, the synchronous belt is sleeved between the driving wheel and the driven wheel, the protrusion on the inner side of the lower end of the full-axis slider slides with the grooves on both sides of the full-axis slide, the synchronous belt toothed plate is arranged parallel to the inner side of the synchronous belt, the toothed side of the synchronous belt toothed plate is fixedly connected to the synchronous belt, the synchronous belt toothed plate is fixedly connected to the full-axis slider, the driving motor drives the synchronous belt to move linearly while driving the full-axis slider to move together, and the full-axis end seat is fixedly connected to the full-axis slider.

[0013] Each full-axis storage mechanism described in the present invention also includes a full-axis slider locking device, and the full-axis slider locking device includes a lock head, a lock head fixing seat, a lock head guide block and an electromagnet telescopic rod, the electromagnet telescopic rod is fixedly connected to the outer side of the upper end of the long support on the driving side, one end of the lock head fixing seat is fixedly connected to the rod head of the electromagnet telescopic rod, and the other end of the lock head fixing seat is fixedly connected to the bottom surface of the lock head, the lock head guide block is fixedly connected to the outer side of the upper end of the long support on the driving side, the lock head guide block is arranged on the upper side of the electromagnet telescopic rod, and the groove of the lock head slides with the guide bar of the lock head guide block, and the full-axis slider is provided with a locking groove that cooperates with the lock head, and the lock head is inserted into the locking groove provided on the full-axis slider through the full-axis slider locking device.

[0014] The present invention provides a synchronous belt tensioning device between the lower side of the full-axis slide rail and the synchronous belt, and the synchronous belt tensioning device includes a retaining roller, a retaining seat, a lever seat, a lever, an idler, a straight slot connecting rod, a seat screw, and a tensioning nut. The two ends of the retaining roller are rotatably connected to a retaining seat, and the bottom end of the retaining seat is fixedly connected to the lower end of the full-axis slide rail. The two retaining rollers are arranged side by side at the lower end of the full-axis slide rail, and the outer side surface of the synchronous belt rolls with the surface of the retaining roller. One end of the lever seat is in contact with the middle of the lower end of the full-axis slide rail. The gear train is fixedly connected to the front of the gear, the other end of the lever seat is rotatably connected to the middle part of the lever, the long arm end of the lever is rotatably connected to the idler wheel, the toothed surface of the synchronous belt is rollingly matched with the idler wheel, the short arm end of the lever is rotatably connected to one end of the straight slot connecting rod, one end of the screw rod with a seat is fixedly connected to the full-axis slide rail, the screw end of the screw rod with a seat is slidingly matched with the straight slot of the straight slot connecting rod, the tensioning nut is threadedly connected to the screw rod with a seat, the upper end of the tensioning nut is fixedly connected to the lower end of the straight slot connecting rod, and the synchronous belt is tensioned by the synchronous belt tensioning device.

[0015] The beneficial effects of the present invention are as follows: the present invention can realize the entire process of automatic cloth dropping from the loom for large-diameter cloth rolls, automatic transportation of full cloth rolls, automatic shaft changing and automatic cloth unloading from the loom. Since the large-diameter cloth rolls are much larger than the diameter of general cloth rolls and their weight can reach 300 kilograms, manual shaft dropping, transportation and shaft changing are time-consuming and labor-intensive and have certain safety hazards. The device of the present invention can not only improve the production efficiency of the textile workshop, but also help to eliminate safety hazards. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a structural schematic diagram of the present invention.

[0017] Figure 2 yes Figure 1 It is a side view of the middle upper and lower drop shaft mechanism.

[0018] Figure 3 yes Figure 1 Schematic diagram of part of the structure on the side of the mid-full shaft storage mechanism.

[0019] Figure 4 yes Figure 1 Schematic diagram of the structure of the connection part between the middle frame and the upper and lower shaft mechanism.

[0020] Figure 5 yes Figure 1 A partial enlarged view of the upper plate portion of the hollow shaft temporary storage mechanism.

[0021] Figure 6 yes Figure 2 Mid-pull assist device.

[0022] Figure 7 yes Figure 2 A partial enlarged view of the part with the hook device on the middle clamp.

[0023] Figure 8 yes Figure 3 A partial enlarged view of the connection relationship between the synchronous belt tensioning device, the full-axle slider locking device and the full-axle storage mechanism.

[0024] Figure 9 This is a diagram showing the connection between the mechanical arm power device and the ascending and descending shaft mechanism in the present invention. DETAILED DESCRIPTION

[0025] The present invention will be further described below in conjunction with the accompanying drawings:

[0026] As shown in the attached figure, the usage process or installation process and working principle.

[0027] The lifting mechanism 3 is a kind of automatic lifting and lowering shaft transfer robot for a large cloth roll loom, which is provided with a vehicle body 1 and a frame 2. The frame 2 is fixed on the vehicle body 1, and is characterized in that the vehicle body 1 is respectively provided with a lifting and lowering shaft mechanism 3, a full shaft storage mechanism 4 and an empty shaft temporary storage mechanism 5. The empty shaft temporary storage mechanism 5 is arranged on the frame 2 above the lifting and lowering shaft mechanism 3, and the full shaft storage mechanism 4 is arranged on the inner side of the lifting and lowering shaft mechanism 3. The lifting and lowering shaft mechanism 3, the full shaft storage mechanism 4 and the empty shaft temporary storage mechanism 5 are respectively fixed on the vehicle body 1. The lifting and lowering shaft mechanism 3 is a mechanism that can realize the lifting and lowering of the loom shaft. The full shaft storage mechanism 4 is a mechanism that can catch the reel full of cloth dropped by the lifting and lowering shaft mechanism 3 through the lifting and lowering shaft action, and move the reel to the rear side for avoidance. The empty shaft temporary storage mechanism 5 is a mechanism for temporarily storing the empty shaft and placing the empty shaft on the lifting and lowering shaft mechanism 3 after the lifting and lowering shaft mechanism 3 drops the shaft, and then the empty shaft is realized by the lifting and lowering shaft mechanism 3.

[0028] Furthermore, the upper and lower shaft mechanisms 3 are provided with two groups, and the upper and lower shaft mechanisms 3 are symmetrically fixed on the left and right sides of the vehicle body 1. Each group of the upper and lower shaft mechanisms 3 includes a driven swing arm seat 301, a driven swing arm 302, an auxiliary triangle plate 303, a driving arm seat 304, a main driving arm 305, a transverse driven link 306, an auxiliary driving arm 307, a driven pitching arm 308, a parallelogram upper link 309, a parallelogram lower link 310 and a clamp 311. The clamp 311 includes a straight edge portion and an arc portion, and the straight edge portion and the arc portion are integrally formed and connected in a hook shape. The driven swing arm seat 301 is fixedly connected to the vehicle body 1, and the driven swing arm 302 is arranged parallel to the rear side of the main driving arm 305. The two sides of the lower end of the driven swing arm 302 are respectively rotatably connected to a driven swing arm seat 301, and the middle part of the driven swing arm 302 is rotatably connected to the rear bottom angle of the auxiliary triangular plate 303. The driving arm seat 304 is fixedly connected to the vehicle body 1, and the two sides of one end of the main driving arm 305 are respectively rotatably connected to a driving arm seat 304, and the other end of the main driving arm 305 is rotatably connected to the front bottom angle of the auxiliary triangular plate 303. The connecting rod 309 is arranged parallel to the upper side of the parallelogram lower connecting rod 310, one end of the parallelogram lower connecting rod 310 is rotatably connected to the front side of the bottom angle of the auxiliary triangle 303, the other end of the parallelogram lower connecting rod 310 is rotatably connected to the lower side of the straight edge of the clamping claw 311, one end of the parallelogram upper connecting rod 309 is rotatably connected to the top angle of the auxiliary triangle 303, the other end of the parallelogram upper connecting rod 309 is rotatably connected to the upper side of the straight edge of the clamping claw 311, and one end of the auxiliary driving arm 307 is rotatably connected to one side of the lower end of the driven pitching arm 308. Dynamic connection, the transverse driven link 306 is arranged in parallel on the lower side of the parallelogram lower link 310, one end of the transverse driven link 306 is rotatably connected to the driving arm seat 304, and the other end of the transverse driven link 306 is rotatably connected to the other side of the lower end of the driven pitch arm 308, the driven pitch arm 308 is arranged in parallel on the front side of the driving arm, and the upper end of the driven pitch arm 308 is rotatably connected to the middle part of the parallelogram lower link 310, and the main driving arm 305 and the auxiliary driving arm 307 in each group of the upper and lower shaft mechanisms 3 are respectively connected to the mechanical arm power device.

[0029] Furthermore, the up-and-down shaft mechanism 3 also includes a tension auxiliary device 6, which includes a wire rope 312, a roller 313, a roller seat 314, an auxiliary slider 315, a linear track 316, a tension spring 317 and a spring connecting seat 318. The roller seat 314 is fixedly connected to the vehicle body 1, and the roller 313 is rotatably connected to the roller seat 314. One end of the wire rope 312 is rotatably connected to the upper side of the driven swing arm 302. The middle part of the wire rope 312 is wound from the upper end of the roller 313 to the lower end, and the other end of the wire rope 312 is connected to the auxiliary slider 315. One end of the auxiliary slider 315 is rotatably connected, the linear rail 316 is fixedly connected to the vehicle body 1, and both sides of the auxiliary slider 315 are engaged and slid with the linear guide rails. The other end of the auxiliary slider 315 is fixedly connected to one end of the tension spring 317, and one end of the spring connecting seat 318 is fixedly connected to the vehicle body 1, and the other end of the spring connecting seat 318 is fixedly connected to the other end of the spring. The driven swing arm 302 swings forward, thereby driving the wire rope 312 to pull the auxiliary slider 315 backward, and the driven swing arm is pulled back under the action of the tension spring 317.

[0030] The driven swing arm 302 swings forward, thereby driving the steel wire rope 312 to pull the auxiliary slider 315 to move backward.

[0031] Furthermore, the clamping jaw 311 is provided with a hook device 7, which includes a first telescopic electric cylinder 319, an electric cylinder connecting arm 320, a rotary swing arm 321, a clamping shaft 322 and a finger 323. The first telescopic electric cylinder 319 is arranged on the outside of the straight edge of the clamping jaw 311, one end of the first telescopic electric cylinder 319 is fixedly connected to the clamping jaw 311, the other end of the first telescopic electric cylinder 319 is rotatably connected to one end of the electric cylinder connecting arm 320, the other end of the electric cylinder connecting rod is rotatably connected to one end of the rotary swing arm 321, and the other end of the rotary swing arm 321 is rotatably connected to the other end of the rotary swing arm 321. The end is fixedly connected to the protruding end of the clamping shaft 322, and an open groove 324 is provided in the middle of the side of the arc groove of the straight edge of the clamping jaw 311 facing the arc portion, and the clamping shaft 322 and the finger 323 are installed in the open groove 324, and the clamping shaft 322 is rotatably connected to the clamping jaw 311, and one end of the finger 323 is fixedly connected to the middle of the clamping shaft 322. The first telescopic electric cylinder 319 drives the electric cylinder connecting arm 320, the rotary swing arm 321, and the clamping shaft 322 to rotate respectively to realize the finger 323 extending out of the opening groove 324 and retracting into the opening groove 324.

[0032] Furthermore, the manipulator power device includes a main motor 325, an auxiliary motor 326, a first rotating shaft 327, a main belt 328, a first driving wheel 329, a first driven wheel 330, a second driving wheel 331, a second driven wheel 332, a first driven belt 333, a second driven belt 334, a first reducer 335, a second reducer 336, an auxiliary belt 337, a fourth driven wheel 338, a fifth driven wheel 339, a sixth driven wheel 340, a third driven belt 341, a second rotating shaft 342, a lead screw 343, a nut 344, a lead screw optical axis 345, and a lead screw support seat 346. The main motor 3 25 and the auxiliary motor 326 are respectively fixed on the inner side of the bottom of the vehicle body 1, the output shaft of the main motor 325 is connected to the first driving wheel 329 via the first reducer 335, the first driving wheel 329 is connected to the first driven wheel 330 via the main belt 328, the left and right sides of the first driven wheel 330 are symmetrically connected to the first rotating shaft 327, the outer ends of the first rotating shaft 327 are symmetrically connected to the second driven wheel 332, the outer side of the vehicle body 1 above the second driven wheel 332 is connected to the third driven wheel 347 via a bracket, the third driven wheel 347 and the second driven wheel 332 are connected via a second driven belt 334, and the third driven wheel 347 is connected to the second driven wheel 332 via the second driven belt 334. The speed reducer 336 is connected to the main drive arm 305, the output shaft of the auxiliary motor 326 is connected to the second driving wheel 331, the second driving wheel 331 is connected to the fourth driven wheel 338 via the third slave belt 341, the left and right sides of the fourth driven wheel 338 are symmetrically connected to the second rotating shaft 342, the outer end of the second rotating shaft 342 is symmetrically connected to the fourth driven wheel 338, the fourth driven wheel 338 is connected to the fifth driven wheel 339 via the first slave belt 333, the fifth driven wheel 339 is connected to the screw 343 via the gear set, the screw 343 is connected to the vehicle body 1 via the screw support seat 346, and both ends of the screw 343 are connected to the screw support seat. The support seat 346 is connected through a bearing, and a nut 344 is mounted on the lead screw 343. The nut 344 is fixedly connected to the nut slider, and the nut slider is hinged to the auxiliary driving arm 307. A screw optical axis 345 is provided on the side of the lead screw support seat 346. The lead screw optical axis 345 is parallel to the lead screw 343. Both ends of the lead screw optical axis 345 are fixed on the lead screw support seat 346. The auxiliary driving arm 307 is driven to flip by the up and down movement of the nut slider. The connection relationship between the above-mentioned nut 344, lead screw 343, lead screw support seat 346 and lead screw optical axis 345 can realize the mechanism of the up and down movement of the nut 344, which is the same as the existing technology and will not be repeated here.

[0033] Furthermore, the frame 2 includes a support truss 201, an arc slide rail 202, a robotic arm support slider 203, and a connecting pin 204. The lower end of the support truss 201 is fixedly connected to the vehicle body 1, the arc slide rail 202 is fixedly connected to the inner side of the support truss 201, the arc slide rail 202 is coaxial with the arc drawn by a point on the main drive arm, the lower end of the robotic arm support slider 203 slides with the arc slide rail 202, the upper end of the robotic arm support slider 203 is fixedly connected to one end of the connecting pin 204, and the other end of the connecting pin 204 is rotatably connected to the middle part of the main drive arm.

[0034] Furthermore, the empty shaft temporary storage mechanism 5 includes an electric cylinder base plate 501, an electric cylinder seat 502, a second telescopic electric cylinder 503, a guide optical axis 504, an electric cylinder support seat 505, an optical axis fixing seat 506, an optical axis slider 507, a slider connecting rod 508, a square shaft rocker 509, a temporary storage claw 510, a square shaft 511, a square shaft sleeve 512, a square shaft bearing 513, a blind cover 514, a transparent cover 515 and an annular bearing fixing seat 516. The electric cylinder base plate 501 is fixedly connected to the upper end of the frame 2, and the electric cylinder base plate 501 is arranged parallel to the frame. In the middle of the upper end, one end of the electric cylinder seat 502 is fixedly connected to the electric cylinder base plate 501, and the other end of the electric cylinder seat 502 is fixedly connected to one end of the second telescopic electric cylinder 503. The middle of the second telescopic electric cylinder 503 is slidably connected to the electric cylinder support seat 505, and the electric cylinder support seat 505 is fixedly connected to the electric cylinder base plate 501. The two symmetrical sides of the electric cylinder support seat 505 are each fixedly connected to a guide optical axis 504. One end of the optical axis slider 507 is fixedly connected to the other end of the second telescopic electric cylinder 503, and the other end of the optical axis slider 507 is fixedly connected to the slider connecting rod. One end of 508 is rotatably connected, and the two symmetrical sides of the optical axis slider 507 are slidably connected to a guide optical axis 504. One end of the optical axis fixing seat 506 is fixedly connected to the electric cylinder bottom plate 501, and the left and right sides of the optical axis fixing seat 506 are symmetrically fixedly connected to a guide optical axis 504. The other end of the slider connecting rod 508 is rotatably connected to one end of the square axis rocker 509, and the other end of the square axis rocker 509 is fixedly connected to the middle of the square axis 511. The two symmetrical sides of the square axis 511 are fixedly connected to a temporary hook 510. The square axis 511 The two ends are respectively fixedly connected to the inner side of a square shaft sleeve 512, the outer side of the square shaft sleeve 512 is fixedly connected to the inner ring of the square shaft bearing 513, the outer ring of the square shaft bearing 513 is fixedly connected to the annular bearing fixing seat 516, the inner side of the blind cover 514 is fixedly connected to the outer side of the annular bearing fixing seat 516, the outer circle of the blind cover 514 is coaxial with the square shaft bearing 513, the inner side of the transparent cover 515 is fixedly connected to the inner side of the annular bearing fixing seat 516, the outer circle of the transparent cover 515 is coaxial with the square shaft bearing 513, and the annular bearing fixing seat 516 is fixedly connected to the frame 2.

[0035] Furthermore, the full-axis storage mechanism 4 is provided with two groups, each group of full-axis storage mechanism 4 is provided on the inner side of each group of up-and-down axis mechanism 3, and each group of full-axis storage mechanism 4 includes a long support 401, a short support 402, a full-axis slide rail 403, a full-axis slider 404, a full-axis end seat 405, a synchronous belt 406, a synchronous belt toothed plate 407, a driving wheel 408, a driving motor 409 and a driven wheel 410, and the long support 401 includes a long support rod, a long support Connecting seat, the lower end of the long support rod is fixedly connected to the car body 1, and the symmetrical ends of the square groove on the upper end of the long support 401 are fixedly connected to the two long support connecting seats; the short support 402 includes a short support rod and a short support connecting seat, the lower end of the short support rod is fixedly connected to the car body 1, and the symmetrical ends of the square groove on the upper end of the short support rod are fixedly connected to the two short support connecting seats, and the symmetrical ends of the full-axle slide rail 403 are fixedly connected to the upper end of a long support 401, and the full-axle slide rail 403 The middle part is fixedly connected to the short support 402, one end of the full-axis slide 403 is connected to the driving wheel 408, the driving wheel 408 is rotatably connected to one end of the full-axis slide 403, the driving wheel 408 is driven by the driving motor 409, the other end of the full-axis slide 403 is fixedly connected to the driven wheel 410, the driven wheel 419 is rotatably connected to the other end of the full-axis slide 403, the synchronous belt 406 is sleeved between the driving wheel 408 and the driven wheel 410, the full-axis slider 40 The protrusions on the inner side of the lower end slide in cooperation with the grooves on both sides of the full-axis slide rail 403. The synchronous belt toothed plate 407 is arranged parallel to the inner side of the synchronous belt 406. The toothed side of the synchronous belt toothed plate 407 is fixedly connected to the synchronous belt 406. The synchronous belt toothed plate 407 is fixedly connected to the full-axis slider 404. The driving motor 409 drives the synchronous belt 406 to move linearly and drives the full-axis slider 404 to move together. The full-axis end seat 405 is fixedly connected to the full-axis slider 404.

[0036] Furthermore, each group of full-axis storage mechanisms 4 also includes a full-axis slider locking device 8, and the full-axis slider locking device 8 includes a lock head 411, a lock head fixing seat 412, a lock head guide block 413 and an electromagnet telescopic rod 414, the electromagnet telescopic rod 414 is fixedly connected to the outer side of the upper end of the long support 401 on the driving side, one end of the lock head fixing seat 412 is fixedly connected to the rod head of the electromagnet telescopic rod 414, the other end of the lock head fixing seat 412 is fixedly connected to the bottom surface of the lock head 411, the lock head guide block 413 is fixedly connected to the outer side of the upper end of the long support 401 on the driving side, the lock head guide block 413 is arranged on the upper side of the electromagnet telescopic rod 414, the groove of the lock head 411 is slidably matched with the guide bar of the lock head guide block 413, and the full-axis slider 404 is provided with a locking groove that cooperates with the lock head 411, and the lock head 411 is inserted into the locking groove provided on the full-axis slider 404 through the full-axis slider locking device 8.

[0037] Furthermore, a synchronous belt tensioning device 9 is provided between the lower side of the full-axis slide rail 403 and the synchronous belt 406, and the synchronous belt tensioning device 9 includes a retaining roller 412, a retaining seat 413, a lever seat 414, a lever 415, an idler wheel 416, a straight slot connecting rod 417, a seat screw 418, and a tensioning nut 419. The two ends of the retaining roller 412 are rotatably connected to a retaining seat 413, and the bottom end of the retaining seat 413 is fixedly connected to the lower end of the full-axis slide rail 403. The two retaining rollers 412 are arranged side by side at the lower end of the full-axis slide rail 403, and the outer side surface of the synchronous belt 406 is in rolling cooperation with the surface of the retaining roller 412. One end of the lever seat 414 is in rolling cooperation with the full-axis slide rail 4 03 is fixedly connected to the middle part of the lower end, the other end of the lever seat 414 is rotatably connected to the middle part of the lever 415, the long arm end of the lever 415 is rotatably connected to the idler wheel 416, the toothed surface of the synchronous belt 406 is rollingly matched with the idler wheel 416, the short arm end of the lever 415 is rotatably connected to one end of the straight slot connecting rod 417, one end of the seat screw 418 is fixedly connected to the full-axis slide rail 403, the screw end of the seat screw 418 is slidingly matched with the straight slot of the straight slot connecting rod 417, the tensioning nut 419 is threadedly connected to the seat screw 418, the upper end of the tensioning nut 419 is fixedly connected to the lower end of the straight slot connecting rod 417, and the synchronous belt 406 is tensioned by the synchronous belt tensioning device 9.

[0038] The present invention can realize the entire process of automatic cloth dropping from the loom, automatic transport of full cloth rolls, automatic emptying of the loom and automatic cloth unloading of large-diameter cloth rolls. Since large-diameter cloth rolls are much larger than the diameter of general cloth rolls and their weight can reach 300 kilograms, manual cloth dropping, transporting and changing are time-consuming and labor-intensive and have certain safety hazards. The device of the present invention can not only improve the production efficiency of the textile workshop, but also help to eliminate safety hazards.

[0039] The operating process of the present invention is:

[0040] The above-mentioned large cloth roll loom automatic loading and unloading shaft transfer robot controls the action of each mechanism through the control system respectively. The control system controls the action of each part of the mechanism using existing technology, which will not be described in detail. After the large cloth roll loom automatic loading and unloading shaft transfer robot is powered on, it automatically initializes the control system, and the control system resets various parameters to initial values. The controller in the control system queries the remaining battery power, and at the same time resets the shaft drop mechanism, the full shaft storage mechanism 4 and the empty shaft temporary storage mechanism 5 to their initial states. After the initialization of the trolley is completed, if the remaining power is higher than the working allowable value, the wireless communication controller in the control system sends an online request to the main control center. When the wireless communication controller receives the permission command sent by the main control center, the robot successfully goes online. The specific actions are as follows:

[0041] Cloth dropping, storage, and shaft changing: When the central control center receives a signal indicating that a loom is nearing completion, it sends a cloth dropping command to the automatic shaft loading and unloading robot for the nearest large cloth roll loom, which has an empty shaft and is not fully loaded with cloth rolls. This command includes the loom type and the location of the loom to be dropped. Upon receiving the cloth dropping command, the robot calculates the most appropriate route based on its own position and the location of the loom to be dropped, and drives its body 1 along the route. When body 1 reaches the front of the loom, it decelerates and activates the relative position sensor between body 1 and the loom, guiding body 1 to align and move directly in front of the loom. When the automatic loading and unloading shaft transfer robot of the large cloth roll loom moves to the expected position, the wireless communication controller queries the expected movement trajectory and the drop or loading point of the clamping claw 311 of the loading and unloading shaft mechanism 3 of the loom type through the loom type, and the wireless communication controller controls the loading and unloading shaft mechanism 3 to move along the expected drop trajectory to the drop point. At this time, the clamping claw 311 hooks the end of the full cloth roll. After hooking the end of the full cloth roll, the first telescopic electric cylinder 319 drives the finger 323 to rotate, and the outer side of the finger 323 contacts and clamps the full shaft.

[0042] After the upper and lower shaft mechanism 3 completes the shaft dropping action, the wireless communication controller controls the upper and lower shaft mechanism 3 to perform the storage action, and places the extended shaft end of the full cloth roll onto the full shaft seat of the full shaft storage mechanism 4. After the upper and lower shaft mechanism 3 completes the storage action, the wireless communication controller controls the driving arm to continue to swing backward, so that the upper and lower shaft mechanism 3 performs the full shaft avoidance action. After the upper and lower shaft mechanism 3 is in the avoidance position, the wireless communication controller controls the full shaft storage mechanism 4 to start, dragging the full cloth roll from the initial position to the rear side of the vehicle body 1 to the full shaft storage position. In the process of reaching the full shaft storage position, the lock head 411 of the full shaft slider locking device 8 pops into the locking groove on the side of the full shaft slider 404, fixing the full shaft slider 404 longitudinally. A limit sensor is installed on the side of the full shaft slide rail 403 to prevent the full shaft slider 404 from overtravel. After the full-shaft slider 404 is fixed, the wireless communication controller controls the clamping claw 311 in the upper and lower shaft mechanism 3 to move to the empty shaft grabbing position, and then the wireless communication controller controls the temporary storage claw 510 of the empty shaft temporary storage mechanism 5 to release the empty shaft. The clamping claw 311 clamps the empty shaft and fixes it on the claw, and the upper and lower shaft mechanism 3 completes the grabbing of the empty shaft. Subsequently, the wireless communication controller controls the clamping claw 311 of the upper and lower shaft mechanism 3 carrying the empty shaft to move to the upper shaft point and makes the clamping claw 311 release the empty shaft. The empty shaft is connected to the loom, and the upper and lower shaft mechanism 3 completes the shaft changing action. After completing the shaft changing operation, the wireless communication controller controls the clamping claw 311 of the upper and lower shaft mechanism 3 and the temporary storage claw 510 in the empty shaft temporary storage mechanism 5 to return to the initial position. The wireless communication device sends the robot's motion status to the main control center in real time.

[0043] Transfer action: After the cloth dropping, cloth storage and shaft changing actions are completed, the loom automatically puts the shaft transfer robot on and off and drives the full cloth roll to the front of the cloth inspection rack. The relative position sensor guides the trolley to align with the cloth inspection rack. The trolley reaches the cloth unloading position and is ready to unload the cloth.

[0044] Cloth unloading action: the wireless communication controller controls the clamping claw 311 in the upper and lower shaft mechanism 3 to move back to the avoidance position, and then the electromagnet telescopic rod 414 of the full-shaft slider locking device 8 is energized, and the lock head 411 pops out from the locking groove to release the locking state of the full-shaft slider 404, and then the driving motor 409 is started to move the full-shaft slider 404 back to the initial position, and then the wireless communication controller controls the clamping claw 311 in the upper and lower shaft mechanism 3 to hook the full cloth roll, and the clamping claw 311 clamps the two ends of the outward extension shaft of the full cloth roll, and then the upper and lower shaft mechanism 3 unloads the full cloth roll to the cloth inspection cache rack, and the loom automatic upper and lower shaft transfer trolley reverses out of the cloth unloading position, and the upper and lower shaft mechanism 3 returns to the initial position.

[0045] Loading empty shaft action: After the cloth unloading action is completed, the loom automatic loading and unloading shaft transfer robot moves to the front of the empty shaft rack, and guides the trolley to align with the empty shaft rack through the relative position sensor. The loading and unloading shaft mechanism 3 hooks and clamps the shaft ends on both sides of the empty shaft through the clamping claws 311. The loading and unloading shaft mechanism 3 moves with the empty shaft to the front of the temporary storage hook claw 510 of the empty shaft temporary storage mechanism 5. The telescopic rod of the second telescopic electric cylinder 503 contracts to rotate the temporary storage hook claw 510 upward, and the empty shaft is hooked from the clamping claw 311 of the loading and unloading shaft mechanism 3 and locked in position. After the loading of the empty shaft is completed, the loading and unloading shaft mechanism 3 hook returns to the initial position, and then the wireless communication controller sends a standby signal to the main control center to wait for the next instruction from the main control center.

[0046] The hook device 7 is provided on the clamping claw 311 of the hook of the upper and lower shaft mechanism 3 of the present invention, and the finger 323 is driven by the first telescopic electric cylinder 319 to rotate the clamping shaft 322 end, thereby ensuring the good stability of the full shaft and the empty shaft during the movement of the upper and lower shaft mechanism 3; the driven swing arm 302 of the upper and lower shaft mechanism 3 is installed with a pulling force auxiliary device 6, which provides a gradually increasing reverse force to the driving arm as the driving arm rotates during the extension of the clamping claw 311, thereby reducing the maximum driving torque required by the driving arm during the drop process, thereby reducing the power of the main motor 325 of the driving arm, which is beneficial to extending the working time of the robot; the frame 2 is installed with an arc The slide rail 202 and the slider on the arc slide rail 202 are connected to the driving arm in the upper and lower shaft mechanism 3 through the connecting pin 204, thereby improving the lateral stability of the upper and lower shaft mechanism 3 during movement; the synchronous belt tensioning device 9 adds retaining wheels at the front and rear ends of the idler wheel 416 to ensure that the lower end synchronous belt 406 remains parallel to the upper end synchronous belt 406 after passing through the synchronous belt tensioning device 9 and does not interfere with the support; the synchronous belt tensioning device 9 tensions the synchronous belt 406 by adjusting the tensioning nut 419 of the lever 415 mechanism, which requires a smaller volume than that of a general tensioning mechanism; the power device of the empty shaft temporary storage mechanism 5 is placed on the frame 2 The ends are placed in the middle. This arrangement can lengthen the square shaft rocker 509 and reduce the power required by the second telescopic electric cylinder 503; a tensioning device is provided at the lower end of the full-axle storage mechanism 4. After dragging the cloth roll for a long time, the synchronous belt 406 may be loose to a certain extent. By adjusting the tensioning nut 419, the synchronous belt 406 is always tensioned to ensure the reliability of the transmission of the synchronous belt 406; a locking groove is provided on the outer side of the full-axle slider 404. In the process of the full-axle slider 404 moving toward the rear side of the vehicle body 1 to the desired storage position, the lock head 411 contacts the locking groove and gradually moves along the guide strip of the lock head guide block 413 as the full-axle slider 404 moves. The spring of the electromagnet telescopic rod 414 is compressed downward. When the full-shaft slider 404 moves to the desired storage position, the spring is released, and the lock 411 springs into the locking groove to complete the locking of the full-shaft slider 404, reducing the full-shaft impact load borne by the synchronous belt 406 during the acceleration and deceleration of the transportation process, ensuring the fixation of the full-shaft position during the acceleration and deceleration process, and improving the safety of the full-shaft transportation; the movement process of the present invention can be divided into three parts: the upper and lower shaft mechanism 3 part, the full-shaft storage mechanism 4 part, and the empty shaft temporary storage mechanism 5 part. Under the premise of realizing the functions of automatic cloth dropping, automatic shaft changing and automatic cloth unloading, the control complexity of the robot is reduced. The present invention can realize the automatic cloth dropping, automatic shaft changing, automatic transportation and automatic cloth unloading of large-diameter cloth rolls, has excellent adaptability to full-shafts with the same diameter of the extended shafts at both ends but different cloth roll diameters, eliminates the waiting time of the empty shaft after the loom drops the shaft, can effectively improve production efficiency, and facilitate the control center to allocate the resources of the transportation robot.

Claims

1. A large cloth roll loom automatic loading and unloading shaft transfer robot, comprising a vehicle body and a frame, the frame being fixed to the vehicle body, characterized in that The vehicle body is respectively provided with an upper and lower shaft mechanism, a full shaft storage mechanism and an empty shaft temporary storage mechanism. The empty shaft temporary storage mechanism is arranged on the frame above the upper and lower shaft mechanism, and the full shaft storage mechanism is arranged on the inner side of the upper and lower shaft mechanism. The upper and lower shaft mechanism, the full shaft storage mechanism and the empty shaft temporary storage mechanism are respectively fixed on the vehicle body. The upper and lower shaft mechanism is a mechanism that can realize the upper and lower shaft actions of the loom. The full shaft storage mechanism is a mechanism that can catch the reel full of cloth dropped by the upper and lower shaft mechanism through the dropping action, and move the reel to the rear side to avoid it. The empty shaft temporary storage mechanism is a mechanism that temporarily stores the empty shaft and places the empty shaft on the upper and lower shaft mechanism after the upper and lower shaft mechanism drops the shaft, and then Afterwards, the empty shaft is realized by the upper and lower shaft mechanism to realize the upper shaft action of the empty shaft. The upper and lower shaft mechanism is provided with two groups, and the upper and lower shaft mechanisms are symmetrically fixed on the left and right sides of the vehicle body. Each group of the upper and lower shaft mechanism includes a driven swing arm seat, a driven swing arm, an auxiliary triangle plate, a driving arm seat, a main driving arm, a transverse driven connecting rod, a screw, a screw nut, a screw nut slider, a screw optical axis, a secondary driving arm, a driven pitching arm, a parallelogram upper connecting rod, a parallelogram lower connecting rod and a clamping claw. The clamping claw includes a straight edge portion and an arc portion. The straight edge portion and the arc portion are integrally formed and connected in a hook shape. The driven swing arm seat is fixedly connected to the vehicle body, and the driven swing arm is arranged parallel to the main driving arm. At the rear side, both sides of the lower end of the driven swing arm are rotatably connected to a driven swing arm seat respectively, the middle of the driven swing arm is rotatably connected to the rear bottom angle of the auxiliary triangular plate, the driving arm seat is fixedly connected to the vehicle body, both sides of one end of the main driving arm are rotatably connected to a driving arm seat respectively, the other end of the main driving arm is rotatably connected to the front bottom angle of the auxiliary triangular plate, the upper connecting rod of the parallelogram is arranged in parallel on the upper side of the lower connecting rod of the parallelogram, one end of the lower connecting rod of the parallelogram is rotatably connected to the front bottom angle of the auxiliary triangular plate, the other end of the lower connecting rod of the parallelogram is rotatably connected to the lower side of the straight edge of the clamping claw, and one end of the upper connecting rod of the parallelogram is rotatably connected to the auxiliary The top angle of the triangle plate is rotatably connected, the other end of the upper connecting rod of the parallelogram is rotatably connected to the upper side of the straight side of the clamp, one end of the auxiliary driving arm is rotatably connected to one side of the lower end of the driven pitching arm, the transverse driven connecting rod is arranged in parallel on the lower side of the parallelogram lower connecting rod, one end of the transverse driven connecting rod is rotatably connected to the driving arm seat, the other end of the transverse driven connecting rod is rotatably connected to the other side of the lower end of the driven pitching arm, the driven pitching arm is arranged in parallel on the front side of the main driving arm, the upper end of the driven pitching arm is rotatably connected to the middle part of the lower connecting rod of the parallelogram, and the main driving arm and the auxiliary driving arm in each group of the upper and lower shaft mechanisms are respectively connected to the mechanical arm power device.

2. The automatic loading and unloading shaft transfer robot for a large cloth roll loom according to claim 1 is characterized in that The up-and-down shaft mechanism also includes a pulling auxiliary device, which includes a wire rope, a roller, a roller seat, an auxiliary slider, a linear rail, a tension spring and a spring connecting seat. The roller seat is fixedly connected to the vehicle body, and the roller is rotatably connected to the roller seat. One end of the wire rope is rotatably connected to the upper side of the driven swing arm, and the middle of the wire rope is wound from the upper end of the roller to the lower end. The other end of the wire rope is rotatably connected to one end of the auxiliary slider. The linear rail is fixedly connected to the vehicle body, and the two sides of the auxiliary slider are engaged and slid with the linear rail. The other end of the auxiliary slider is fixedly connected to one end of the tension spring, one end of the spring connecting seat is fixedly connected to the vehicle body, and the other end of the spring connecting seat is fixedly connected to the other end of the spring. The wire rope is driven to pull the auxiliary slider backward through the forward swing of the driven swing arm, and the driven swing arm is pulled back under the action of the tension spring.

3. The automatic loading and unloading shaft transfer robot for a large cloth roll loom according to claim 1 is characterized in that The clamping jaw is provided with a hook device, which includes a first telescopic electric cylinder, an electric cylinder connecting arm, a rotary swing arm, a clamping shaft and a finger. The first telescopic electric cylinder is arranged on the outside of the straight side of the clamping jaw, one end of the first telescopic electric cylinder is fixedly connected to the clamping jaw, the other end of the first telescopic electric cylinder is rotatably connected to one end of the electric cylinder connecting arm, the other end of the electric cylinder connecting arm is rotatably connected to one end of the rotary swing arm, and the other end of the rotary swing arm is fixedly connected to the extended end of the clamping shaft. An open groove is provided in the middle of one side of the circular arc groove of the straight side of the clamping jaw facing the arc-shaped part, and the clamping shaft and the finger are installed in the open groove, the clamping shaft is rotatably connected to the clamping jaw, and one end of the finger is fixedly connected to the middle of the clamping shaft. The first telescopic electric cylinder drives the electric cylinder connecting arm, the rotary swing arm and the clamping shaft to rotate respectively to realize the finger extending out of the open groove and retracting into the open groove.

4. The automatic loading and unloading shaft transfer robot for a large cloth roll loom according to claim 1 is characterized in that The mechanical arm power device includes a main motor, an auxiliary motor, a first rotating shaft, a main belt, a first driving wheel, a first driven wheel, a second driving wheel, a second driven wheel, a first belt, a second belt, a first reducer, a second reducer, an auxiliary belt, a fourth driven wheel, a fifth driven wheel, a sixth driven wheel, a third belt, a second rotating shaft, a lead screw, a nut, a lead screw optical axis, and a lead screw support seat. The main motor and auxiliary motor are respectively fixed on the inner side of the bottom of the vehicle body, the output shaft of the main motor is connected to the first driving wheel via the first reducer, the first driving wheel is connected to the first driven wheel via the main belt, the left and right sides of the first driven wheel are symmetrically connected to the first rotating shaft, the outer ends of the first rotating shaft are symmetrically connected to the second driven wheels, the outer side of the vehicle body above the second driven wheel is connected to the third driven wheel via a bracket, and the third driven wheel and the second driven wheel are connected. The third driven wheel is connected to the main driving arm through the second slave belt, the third driven wheel is connected to the main driving arm through the second reducer, the output shaft of the auxiliary motor is connected to the second driving wheel, the second driving wheel is connected to the fourth driven wheel through the third slave belt, the left and right sides of the fourth driven wheel are symmetrically connected to the second rotating shaft, the outer end of the second rotating shaft is symmetrically connected to the fourth driven wheel, the fourth driven wheel is connected to the fifth driven wheel through the first slave belt, the fifth driven wheel is connected to the lead screw through the gear set, the lead screw is connected to the vehicle body through the lead screw support seat, the two ends of the lead screw are connected to the lead screw support seat through bearings, a nut is sleeved on the lead screw, the nut is fixedly connected to the nut slider, the nut slider is hinged to the auxiliary driving arm, a lead screw optical axis is provided on the side of the lead screw support seat, the lead screw optical axis is parallel to the lead screw, and the two ends of the lead screw optical axis are fixed on the lead screw support seat, and the flipping action of the auxiliary driving arm is driven by the up and down movement of the nut slider.

5. The automatic loading and unloading shaft transfer robot for a large cloth roll loom according to claim 1 is characterized in that The frame includes a supporting truss, an arc slide rail, a robotic arm supporting slider, and a connecting pin. The lower end of the supporting truss is fixedly connected to the vehicle body, the arc slide rail is fixedly connected to the inner side of the supporting truss, the arc slide rail is coaxial with the arc drawn by the movement of a point on the main driving arm, the lower end of the robotic arm supporting slider slides in cooperation with the arc slide rail, the upper end of the robotic arm supporting slider is fixedly connected to one end of the connecting pin, and the other end of the connecting pin is rotatably connected to the middle part of the main driving arm.

6. The automatic loading and unloading shaft transfer robot for a large cloth roll loom according to claim 1 is characterized in that The empty shaft temporary storage mechanism includes an electric cylinder bottom plate, an electric cylinder seat, a second telescopic electric cylinder, a guide optical axis, an electric cylinder support seat, an optical axis fixing seat, an optical axis slider, a slider connecting rod, a square shaft rocker, a temporary storage hook, a square shaft, a square shaft sleeve, a square shaft bearing, a blind cover, a transparent cover and an annular bearing fixing seat. The electric cylinder bottom plate is fixedly connected to the upper end of the frame, and the electric cylinder bottom plate is arranged parallel to the middle of the upper end of the frame. One end of the electric cylinder seat is fixedly connected to the electric cylinder bottom plate, and the other end of the electric cylinder seat is fixedly connected to one end of the second telescopic electric cylinder. The middle part of the second telescopic electric cylinder is slidably connected to the electric cylinder support seat, and the electric cylinder support seat is fixedly connected to the electric cylinder bottom plate. The two symmetrical sides of the electric cylinder support seat are each fixedly connected to a guide optical axis. One end of the optical axis slider is fixedly connected to the other end of the second telescopic electric cylinder, and the other end of the optical axis slider is rotatably connected to one end of the slider connecting rod. The symmetrical sides of the optical axis slider are each slidably connected to a guide optical axis, one end of the optical axis fixing seat is fixedly connected to the electric cylinder bottom plate, the symmetrical left and right sides of the optical axis fixing seat are each fixedly connected to a guide optical axis, the other end of the slider connecting rod is rotatably connected to one end of the square shaft rocker, the other end of the square shaft rocker is fixedly connected to the middle of the square shaft, the symmetrical sides of the square axis are each fixedly connected to a temporary storage claw, the two ends of the square shaft are each fixedly connected to the inner side of a square shaft sleeve, the outer side of the square shaft sleeve is fixedly connected to the inner ring of the square shaft bearing, the outer ring of the square shaft bearing is fixedly connected to the annular bearing fixing seat, the inner side of the blind cover is fixedly connected to the outer side of the annular bearing fixing seat, the outer circle of the blind cover is coaxial with the square shaft bearing, the inner side of the transparent cover is fixedly connected to the inner side of the annular bearing fixing seat, the outer circle of the transparent cover is coaxial with the square shaft bearing, and the annular bearing fixing seat is fixedly connected to the frame.

7. The automatic loading and unloading shaft transfer robot for a large cloth roll loom according to claim 1 is characterized in that The full-axle storage mechanism is respectively provided with two groups, and each group of full-axle storage mechanism is arranged on the inner side of each group of upper and lower axle mechanisms, and each group of full-axle storage mechanism includes a long support, a short support, a full-axle slide rail, a full-axle slider, a full-axle end seat, a synchronous belt, a synchronous belt toothed plate, a driving wheel, a driving motor and a driven wheel. The long support includes a long support rod and a long support connecting seat, the lower end of the long support rod is fixedly connected to the vehicle body, and the symmetrical two ends of the square groove on the upper end of the long support are respectively fixedly connected to the two long support connecting seats; the short support includes a short support rod and a short support connecting seat, the lower end of the short support rod is fixedly connected to the vehicle body, and the symmetrical two ends of the square groove on the upper end of the short support rod are respectively fixedly connected to the two short support connecting seats, The symmetrical ends of the full-axis slide are each fixedly connected to the upper end of a long support, the middle of the full-axis slide is fixedly connected to the short support, one end of the full-axis slide is connected to the driving wheel, and the driving wheel is connected by the driving motor. The other end of the full-axis slide is fixedly connected to the driven wheel, and the synchronous belt is sleeved between the driving wheel and the driven wheel. The protrusion on the inner side of the lower end of the full-axis slider slides with the grooves on both sides of the full-axis slide, and the synchronous belt toothed plate is arranged parallel to the inner side of the synchronous belt, and the toothed side of the synchronous belt toothed plate is fixedly connected to the synchronous belt, and the synchronous belt toothed plate is fixedly connected to the full-axis slider. The driving motor drives the synchronous belt to move linearly while driving the full-axis slider to move together, and the full-axis end seat is fixedly connected to the full-axis slider.

8. The automatic loading and unloading shaft transfer robot for a large cloth roll loom according to claim 7 is characterized in that Each full-axis storage mechanism also includes a full-axis slider locking device, wherein the full-axis slider locking device includes a lock head, a lock head fixing seat, a lock head guide block and an electromagnet telescopic rod, the electromagnet telescopic rod is fixedly connected to the outer side of the upper end of the long support on the driving side, one end of the lock head fixing seat is fixedly connected to the rod head of the electromagnet telescopic rod, and the other end of the lock head fixing seat is fixedly connected to the bottom surface of the lock head, the lock head guide block is fixedly connected to the outer side of the upper end of the long support on the driving side, the lock head guide block is arranged on the upper side of the electromagnet telescopic rod, the groove of the lock head is slidably matched with the guide bar of the lock head guide block, and the full-axis slider is provided with a locking groove that cooperates with the lock head, and the lock head is inserted into the locking groove provided on the full-axis slider through the full-axis slider locking device.

9. The automatic loading and unloading shaft transfer robot for a large cloth roll loom according to claim 7, characterized in that A synchronous belt tensioning device is provided between the lower side of the full-axis slide rail and the synchronous belt, and the synchronous belt tensioning device includes a retaining roller, a retaining seat, a lever seat, a lever, an idler, a straight slot connecting rod, a seat screw, and a tensioning nut. The two ends of the retaining roller are rotatably connected to a retaining seat, and the bottom end of the retaining seat is fixedly connected to the lower end of the full-axis slide rail. The two retaining rollers are arranged side by side at the lower end of the full-axis slide rail, and the outer side surface of the synchronous belt rolls with the surface of the retaining roller. One end of the lever seat is connected to the middle of the lower end of the full-axis slide rail. The cam is fixedly connected, and the other end of the lever seat is rotatably connected to the middle part of the lever. The long arm end of the lever is rotatably connected to the idler wheel. The toothed surface of the synchronous belt rolls with the idler wheel. The short arm end of the lever is rotatably connected to one end of the straight slot connecting rod. One end of the screw rod with a seat is fixedly connected to the full-axis slide rail. The screw end of the screw rod with a seat slides with the straight slot of the straight slot connecting rod. The tensioning nut is threadedly connected to the screw rod with a seat. The upper end of the tensioning nut is fixedly connected to the lower end of the straight slot connecting rod. The synchronous belt is tensioned by the synchronous belt tensioning device.

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