Automatic up-and-down shaft drive mechanism for a large cloth roll loom

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 drive mechanism for large-diameter cloth looms. The mechanism is provided with a vehicle body, and two groups of loading and unloading shaft mechanisms are symmetrically fixed on the left and right sides of the vehicle body. Each group of loading and unloading shaft mechanisms includes a driven swing arm seat, a driven swing arm, an auxiliary triangular plate, a driving arm seat, a main driving arm, a transverse driven connecting rod, a secondary driving arm, a driven pitching arm, a parallelogram upper connecting rod, a parallelogram lower connecting rod and a clamping claw, which can realize the processes of automatic dropping of large-diameter cloth rolls from the loom, automatic transportation of full cloth rolls, automatic shaft changing and automatic unloading of the loom.

Description

Technical Field

[0001] The invention relates to the technical field of robotic production lines for large-diameter packaged cloth looms, and in particular to an automatic shaft-dropping drive mechanism for large-diameter cloth-rolling looms capable of realizing cloth dropping, transporting, and shaft changing. 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 above-mentioned deficiencies in the prior art and to provide an automatic upper and lower shaft drive mechanism for a large cloth roll loom that can realize cloth dropping, transporting and shaft changing of the loom.

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

[0005] 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 top end of the driven pitch arm is rotatably connected to the other end of the lower end of the driven pitch arm, and the other end of the driven pitch arm is rotatably connected to the middle part of the lower link of the parallelogram.

[0006] 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.

[0007] The clamping jaw described in the present invention is provided with a hook device, which includes a telescopic electric cylinder, an electric cylinder connecting arm, a rotary swing arm, a clamping shaft and a finger. The telescopic electric cylinder is arranged on the outside of the straight side of the clamping jaw, one end of the telescopic electric cylinder is fixedly connected to the clamping jaw, and the other end of the 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 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.

[0008] 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 third driven wheel, a second driven belt, a first reducer, a second reducer, an auxiliary belt, a fourth driven wheel, a fifth driven wheel, a sixth driven wheel, a third driven 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, the third driven wheel and the second wheel 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 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 sixth driven wheel, the sixth driven wheel is connected to the fifth driven wheel via the auxiliary belt, the fifth driven wheel is connected to the lead screw via the gear set, the lead screw is connected to the vehicle body via the lead screw support seat, the two 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 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.

[0009] The outer side of the up-and-down shaft mechanism described in the present invention is provided with a frame, which 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 is slidably matched 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 swinging main driving arm.

[0010] The beneficial effects of the present invention are as follows: the present invention can realize the processes of automatic cloth dropping from a loom with a large diameter cloth roll, automatic transport of a full cloth roll, automatic shaft changing and automatic cloth unloading from a loom. Since the diameter of a large diameter cloth roll is much larger than that of a general cloth roll and its weight can reach 300 kilograms, manual shaft dropping, transporting 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 a textile workshop, but also help eliminate safety hazards. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] Figure 1 It is a schematic diagram of the connection structure between the lifting and lowering shaft mechanism and the vehicle body of the present invention.

[0012] Figure 2 yes Figure 1 It is a side view of the middle upper and lower drop shaft mechanism.

[0013] Figure 3 yes Figure 1 Schematic diagram of the structure of the connection part between the middle frame and the upper and lower shaft mechanism.

[0014] Figure 4 yes Figure 2 Mid-pull assist device.

[0015] Figure 5 yes Figure 2 A partial enlarged view of the part with the hook device on the middle clamp.

[0016] Figure 6 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

[0017] The present invention will be further described below in conjunction with the accompanying drawings:

[0018] As shown in the attached figure, the usage process or installation process and working principle.

[0019] An automatic upper and lower shaft drive mechanism for a large cloth roll loom is provided with a vehicle body 1, characterized in that the vehicle body 1 is provided with an upper and lower shaft mechanism 2, the upper and lower shaft mechanism 2 is provided with two groups, the upper and lower shaft mechanisms 2 are symmetrically fixed on the left and right sides of the vehicle body 1, each group of the upper and lower shaft mechanisms 2 includes a driven swing arm seat 3, a driven swing arm 4, an auxiliary triangle plate 5, a driving arm seat 6, a main driving arm 7, a transverse driven link 8, an auxiliary driving arm 9, a driven pitching arm 10, a parallelogram upper link 11, a parallelogram lower link 12 and a clamping claw 13, the clamping claw The claw 13 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 3 is fixedly connected to the vehicle body 1, the driven swing arm 4 is arranged parallel to the rear side of the main driving arm 7, the two sides of the lower end of the driven swing arm 4 are respectively rotatably connected to a driven swing arm seat 3, the middle part of the driven swing arm 4 is rotatably connected to the rear bottom angle of the auxiliary triangle 5, the driving arm seat 6 is fixedly connected to the vehicle body 1, the two sides of one end of the main driving arm 7 are respectively rotatably connected to a driving arm seat 6, and the other end of the main driving arm 7 is rotatably connected to the front bottom angle of the auxiliary triangle 5 The parallelogram upper link 11 is parallel to the upper side of the parallelogram lower link 12, one end of the parallelogram lower link 12 is rotatably connected to the front side of the bottom angle of the auxiliary triangle plate 5, the other end of the parallelogram lower link 12 is rotatably connected to the lower side of the straight edge of the clamp 13, one end of the parallelogram upper link 11 is rotatably connected to the top angle of the auxiliary triangle plate 5, the other end of the parallelogram upper link 11 is rotatably connected to the upper side of the straight edge of the clamp 13, and one end of the auxiliary driving arm 9 is connected to the driven pitch arm 1 0 is rotatably connected to one side of the lower end of the parallelogram, the transverse driven link 8 is arranged in parallel at the lower side of the parallelogram lower link 12, one end of the transverse driven link 8 is rotatably connected to the driving arm seat 6, the other end of the transverse driven link 8 is rotatably connected to the other side of the lower end of the driven pitch arm 10, the driven pitch arm 10 is arranged parallel to the front side of the driving arm, and the upper end of the driven pitch arm 10 is rotatably connected to the middle part of the parallelogram lower link 12, the main driving arm 7 and the auxiliary driving arm 9 in each group of the up-and-down shaft mechanisms 2 are respectively connected to the mechanical arm power device 15.

[0020] Furthermore, the upper and lower shaft mechanism 2 also includes a tension auxiliary device 14, which includes a wire rope 17, a roller 18, a roller seat 19, an auxiliary slider 20, a linear track 21, a tension spring 22 and a spring connecting seat 23. The roller seat 19 is fixedly connected to the vehicle body 1, and the roller 18 is rotatably connected to the roller seat 19. One end of the wire rope 17 is rotatably connected to the upper side of the driven swing arm 4. The middle part of the wire rope 17 is wound from the upper end of the roller 18 to the lower end, and the other end of the wire rope 17 is connected to the auxiliary One end of the slider 20 is rotatably connected, the linear rail 21 is fixedly connected to the vehicle body 1, and both sides of the auxiliary slider 20 are engaged and slide with the linear guide rails. The other end of the auxiliary slider 20 is fixedly connected to one end of the tension spring 22, and one end of the spring connecting seat 23 is fixedly connected to the vehicle body 1, and the other end of the spring connecting seat 23 is fixedly connected to the other end of the spring. The driven swing arm 4 swings forward, thereby driving the wire rope 17 to pull the auxiliary slider 20 backward, and the driven swing arm is pulled back under the action of the tension spring 22.

[0021] Furthermore, the clamping jaw 13 is provided with a hook device 16, which includes a telescopic electric cylinder 24, an electric cylinder connecting arm 25, a rotary swing arm 26, a clamping shaft 27 and a finger 28. The telescopic electric cylinder 24 is arranged on the outside of the straight edge of the clamping jaw 13, one end of the telescopic electric cylinder 24 is fixedly connected to the clamping jaw 13, the other end of the telescopic electric cylinder 24 is rotatably connected to one end of the electric cylinder connecting arm 25, the other end of the electric cylinder connecting rod is rotatably connected to one end of the rotary swing arm 26, and the other end of the rotary swing arm 26 is rotatably connected to the other end of the rotary swing arm 26. The end is fixedly connected to the protruding end of the clamping shaft 27, and an open groove 29 is provided in the middle of one side of the straight edge of the clamping jaw 13 facing the arc groove of the arc-shaped part. The clamping shaft 27 and the finger 28 are installed in the open groove 29, and the clamping shaft 27 is rotatably connected to the clamping jaw 13. One end of the finger 28 is fixedly connected to the middle part of the clamping shaft 27. The telescopic electric cylinder 24 drives the electric cylinder connecting arm 25, the rotary swing arm 26, and the clamping shaft 27 to rotate respectively to realize the finger 28 extending out of the opening groove 29 and retracting into the opening groove 29.

[0022] Furthermore, the manipulator power device 15 includes a main motor 30, an auxiliary motor 31, a first rotating shaft 32, a main belt 33, a first driving wheel 34, a first driven wheel 35, a second driving wheel 36, a second driven wheel 37, a third driven wheel 56, a second driven belt 39, a first reducer 40, a second reducer 41, an auxiliary belt 42, a fourth driven wheel 43, a fifth driven wheel 44, a sixth driven wheel 57, a third driven belt 46, a second rotating shaft 47, a lead screw 48, a nut 49, a lead screw optical axis 50, and a lead screw support seat 51. The main motor 30 The output shaft of the main motor 30 is connected to the first driving wheel 34 via the first reducer 40, and the first driving wheel 34 is connected to the first driven wheel 35 via the main belt 33. The left and right sides of the first driven wheel 35 are symmetrically connected to the first rotating shaft 32. The outer ends of the first rotating shaft 32 are symmetrically connected to the second driven wheels 37. The outer side of the vehicle body 1 above the second driven wheel 37 is connected to the third driven wheel 56 via a bracket. The third driven wheel 56 is connected to the second driven wheel 37 via a second belt 39. The third driven wheel 56 is connected to the second driven wheel 37 via the second belt 39. The second reducer 41 is connected to the main drive arm 7, the output shaft of the auxiliary motor 31 is connected to the second driving wheel 36, the second driving wheel 36 is connected to the fourth driven wheel 43 via the third slave belt 46, the left and right sides of the fourth driven wheel 43 are symmetrically connected to the second rotating shaft 47, the outer end of the second rotating shaft 47 is symmetrically connected to the sixth driven wheel 57, the sixth driven wheel 57 is connected to the fifth driven wheel 44 via the auxiliary belt 42, the fifth driven wheel 44 is connected to the screw 48 via the gear set, the screw 48 is connected to the vehicle body 1 via the screw support seat 51, and both ends of the screw 48 are connected to the screw support seat 51. The seat 51 is connected via a bearing, a nut 49 is sleeved on the lead screw 48, the nut 49 is fixedly connected to the nut slider, the nut slider is hinged to the auxiliary driving arm 9, a screw optical axis 50 is provided on the side of the lead screw support seat 51, the lead screw optical axis 50 is parallel to the lead screw 48, and both ends of the lead screw optical axis 50 are fixed on the lead screw support seat 51, and the auxiliary driving arm 9 is driven to flip by the up and down movement of the nut slider. The connection method between the above-mentioned nut 49, lead screw 48, lead screw support seat 51 and lead screw optical axis 50 is a mechanism that can realize the up and down movement of the nut, which is the same as the existing technology and will not be repeated here.

[0023] Furthermore, a frame is provided on the outer side of the up-and-down shaft mechanism, and the frame includes a support truss 52, an arc slide rail 53, a robotic arm support slider 54, and a connecting pin 55. The lower end of the support truss 52 is fixedly connected to the vehicle body, the arc slide rail 53 is fixedly connected to the inner side of the support truss 52, the arc slide rail 53 is coaxial with the arc drawn by the movement of a point on the main driving arm, the lower end of the robotic arm support slider 54 is slidably matched with the arc slide rail 53, the upper end of the robotic arm support slider 54 is fixedly connected to one end of the connecting pin 55, and the other end of the connecting pin 55 is rotatably connected to the middle part of the swinging main driving arm.

[0024] The present invention can realize the processes of automatic cloth dropping from a loom with a large diameter cloth roll, automatic transport of a full cloth roll, automatic shaft changing and automatic cloth unloading from a loom. Since the diameter of a large diameter cloth roll is much larger than that of a general cloth roll and its weight can reach 300 kilograms, manual shaft dropping, transporting 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 a textile workshop, but also help eliminate safety hazards.

[0025] The operating process of the present invention is:

[0026] The automatic up-and-down shaft drive mechanism of the large cloth roll loom is controlled by the control system to control the action of each mechanism 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 automatic up-and-down shaft drive mechanism of the large cloth roll loom is powered on, the control system is automatically initialized. The control system resets various parameters to initial values. The controller in the control system queries the remaining battery power and resets the up-and-down shaft drive mechanism to its initial state. After the initialization 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 instruction sent by the main control center, it successfully goes online. The specific actions are as follows:

[0027] Automatic cloth dropping, automatic transfer of full cloth rolls, automatic cloth unloading and automatic loom shaft change,

[0028] Automatic Cloth Dropping: When the central control center receives a signal indicating a loom is nearing completion, it sends a cloth drop command to the automatic loading and unloading shaft drive mechanism of the nearest large cloth roll loom, which has an empty shaft and is not fully loaded with cloth rolls. The cloth drop command includes the loom type and the location of the loom to be dropped. Upon receiving the cloth drop command, the vehicle 1 calculates the most appropriate route based on its own position and the location of the loom to be dropped, and moves along the route. When the vehicle 1 reaches the front of the loom, it decelerates and activates the relative position sensor between the vehicle 1 and the loom, guiding the vehicle 1 to align and move directly in front of the loom. When the automatic upper and lower shaft drive mechanism of the large cloth roll loom moves to the expected position, the wireless communication controller queries the expected movement trajectory and the lowering or upper shaft point of the clamping claw 13 of the upper and lower shaft mechanism 2 of the loom type through the loom type, and the wireless communication controller controls the upper and lower shaft mechanism 2 to move along the expected lowering shaft trajectory to the lowering shaft point. At this time, the clamping claw 13 hooks the end of the full cloth roll. After hooking the end of the full cloth roll, the telescopic electric cylinder 24 drives the finger 28 to rotate, and the outer side of the finger 28 contacts and clamps the full shaft.

[0029] After the upper and lower shaft mechanism 2 completes the shaft dropping action, the wireless communication controller controls the driving arm to continue to swing backward.

[0030] Automatic transfer of full cloth rolls: The automatic up-and-down shaft drive mechanism of the loom 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 car body 1 reaches the cloth unloading position and is ready to unload the cloth.

[0031] Automatic cloth unloading action: The wireless communication controller controls the clamping claws 13 in the upper and lower shaft mechanism 2 to hook the full cloth roll, and the clamping claws 13 clamp the two ends of the extended shaft of the full cloth roll. Then the upper and lower shaft mechanism 2 unloads the full cloth roll to the cloth inspection buffer rack, and the loom automatically reverses the upper and lower shaft transfer vehicle 1 to the cloth unloading position, and the upper and lower shaft mechanism 2 returns to the initial position.

[0032] Automatic shaft changing of the loom: The wireless communication controller controls the clamping claw 13 in the upper and lower shaft mechanism 2 to hook the empty shaft. After hooking the empty shaft, the vehicle body 1 is moved to the shaft changing position. The empty shaft is connected to the loom through the arc-shaped moving trajectory of the clamping claw 13 in the upper and lower shaft mechanism 2, and the upper and lower shaft mechanism 2 completes the shaft changing action.

[0033] The present invention provides a hook device 16 on the clamping claw 13 of the hook of the upper and lower shaft mechanism 2, which drives the finger 28 to rotate the end of the clamping shaft 27 through the telescopic electric cylinder 24, ensuring the good stability of the full shaft and the empty shaft during the movement of the upper and lower shaft mechanism 2; the upper and lower shaft mechanism 2 is equipped with a pulling auxiliary device 14 on the driven swing arm 4, which provides a gradually increasing reverse force to the driving arm as the driving arm rotates during the extension of the clamping claw 13, thereby reducing the maximum driving torque required by the driving arm during the drop process, thereby reducing the power of the main motor 30 for the driving arm. , which is beneficial to prolonging the working time of the robot; the frame is installed with an arc slide rail 53, and the slider on the arc slide rail 53 is connected to the driving arm in the upper and lower shaft mechanism 2 through a connecting pin 55, which improves the lateral stability of the upper and lower shaft mechanism 2 during movement, and reduces the control complexity of the robot while realizing the functions of automatic cloth dropping, automatic cloth unloading, and automatic shaft changing. The present invention can realize the automatic cloth dropping, automatic transportation, automatic cloth unloading, and automatic shaft changing of large-diameter cloth rolls, and has excellent adaptability to full shafts with the same diameter of the extended shafts at both ends but different cloth roll diameters.

Claims

1. An automatic up-and-down shaft drive mechanism for a large cloth roll loom, provided with a vehicle body, characterized in that The upper and lower shaft drive mechanisms are provided with two groups, and the upper and lower shaft drive mechanisms are symmetrically fixed on the left and right sides of the vehicle body. Each group of the upper and lower shaft drive mechanisms 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 link, an auxiliary driving arm, a driven pitch arm, a parallelogram upper link, a parallelogram lower link and a clamping claw. The clamping claw includes a straight edge and an arc portion, and the straight edge 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 rear side of the main driving arm. The two sides of the lower end of the driven swing arm are respectively rotatably connected to a driven swing arm seat, and the middle part of the driven swing arm is rotatably connected to the rear bottom angle of the auxiliary triangle plate. The driving arm seat is fixedly connected to the vehicle body, and the two sides of one end of the main driving arm are respectively The cam is pivotally connected to the front bottom angle of the auxiliary triangle plate, the upper parallelogram link is parallel to the upper side of the lower parallelogram link, one end of the lower parallelogram link is pivotally connected to the front bottom angle of the auxiliary triangle plate, the other end of the lower parallelogram link is pivotally connected to the lower straight side of the clamp, one end of the upper parallelogram link is pivotally connected to the top angle of the auxiliary triangle plate, the other end of the upper parallelogram link is pivotally connected to the upper straight side of the clamp, one end of the auxiliary driving arm is pivotally connected to one side of the lower end of the driven pitching arm, the transverse driven link is parallel to the lower side of the lower parallelogram link, one end of the transverse driven link is pivotally connected to the driving arm seat, and the other end of the transverse driven link is pivotally connected to the driven arm seat. The other side of the lower end of the pitch arm is rotatably connected, and the driven pitch arm is arranged parallel to the front side of the main driving arm, and the upper end of the driven pitch arm is rotatably connected to the middle of the lower side connecting rod of the parallelogram. The main driving arm and the auxiliary driving arm in each group of the upper and lower shaft driving mechanisms are respectively connected to the mechanical arm power device. The upper and lower shaft driving mechanisms also include 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 connected to The linear track is engaged and slides, and 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, and the driven swing arm is swung forward to drive the wire rope to pull the auxiliary slider backward, and the driven swing arm is pulled back under the action of the tension spring. A hook device is provided on the clamping jaw, and the hook device includes a telescopic electric cylinder, an electric cylinder connecting arm, a rotary swing arm, a clamping shaft and fingers. The telescopic electric cylinder is arranged on the outside of the straight edge of the clamping jaw, one end of the telescopic electric cylinder is fixedly connected to the clamping jaw, and the other end of the telescopic electric cylinder is rotatably connected to one end of the electric cylinder connecting arm, and 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 slot is provided in the middle of the side of the straight edge of the clamping jaw that faces the arc groove of the arc-shaped portion. The clamping shaft and the finger are installed in the open slot. The clamping shaft and the clamping jaw are rotatably connected, and one end of the finger is fixedly connected to the middle of the clamping shaft. The telescopic electric cylinder drives the electric cylinder connecting arm, the rotary swing arm, and the clamping shaft to rotate respectively, so that the finger can extend out of the open slot and retract into the open slot.

2. The automatic up-and-down shaft drive mechanism 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 third driven wheel, a second driven belt, a first reducer, a second reducer, an auxiliary belt, a fourth driven wheel, a fifth driven wheel, a sixth driven wheel, a third driven belt, a second rotating shaft, a lead screw, a nut, a lead screw optical axis, a lead screw support seat and a nut slider. 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, 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 a 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 sixth driven wheel, the sixth driven wheel is connected to the fifth driven wheel via a secondary 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.

3. The automatic loading and unloading shaft driving mechanism of a large cloth roll loom according to claim 1 is characterized in that A frame is provided on the outside of the up-and-down shaft driving mechanism, and 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 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.

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