An automatic weaving process conveying system

Abstract

The present application relates to the technical field of automatic conveying system, and particularly relates to a weaving process automatic conveying system, which comprises an MES system, a scheduling system, a WMS system and an automatic guided vehicle; the MES system is used for controlling the automatic conveying of the whole weaving process; the scheduling system is used for scheduling tasks of the automatic guided vehicle, realizing automatic feeding and discharging between the automatic guided vehicle and the beam library, the loom and the beaming machine, so that the automatic guided vehicle is efficiently applied to the weaving process; the WMS system is used for helping enterprises to realize efficient warehouse management, including management and control of each link of goods warehousing, delivery, storage, picking, packaging and distribution; the automatic guided vehicle realizes full-automatic feeding and discharging of heald frames, reeds and warp stop motion pieces, realizes full-automatic feeding and discharging of the weaving process in the textile industry, greatly improves the application range of the weaving automation technology, improves the production efficiency and reduces the labor cost.

Description

Technical Field

[0001] This invention relates to the technical field of automatic conveying systems, and in particular to an automatic conveying system for a weaving process. Background Technology

[0002] In recent years, with the rapid development of automation and robotics technologies, more and more industries have begun to apply these technologies to improve production efficiency and product quality. However, despite these technological advancements, the level of automation in the weaving industry remains relatively low, especially in material handling during the weaving process. Therefore, it is necessary to develop an automated conveying system for the weaving process to overcome the shortcomings of existing technologies.

[0003] Currently, warp beams are generally stored on the ground, which is an irregular practice. Furthermore, warp beams are transported manually using warp beam forklifts. When the warp beams are transported to the loom, the warp beams, heald frames, and stop warp pieces are then manually installed onto the loom. This operation is time-consuming, labor-intensive, and poses safety hazards. Traditional solutions require a large number of personnel and manual equipment to complete the loading and unloading, and production arrangements are communicated and executed by personnel, which is prone to errors. Summary of the Invention

[0004] To solve the above-mentioned technical problems, the present invention provides an automatic conveying system for the weaving process that realizes the fully automatic loading and unloading of heald frames, reeds, and warp stops on an automatic guided trolley, thereby achieving fully automatic loading and unloading of materials in the weaving process of the textile industry. This greatly expands the application scope of weaving automation technology, improves production efficiency, and reduces labor costs.

[0005] The present invention provides an automated conveying system for a fabric weaving process, comprising a MES system, a scheduling system, a WMS system, and an automated guided vehicle;

[0006] The MES system is used to control the overall operation of the automatic conveying process in the weaving process. The MES system operates according to the production schedule and the status of the loom. The MES system and the equipment have interface interfaces, which can monitor the status of the equipment in real time.

[0007] The scheduling system is used to assign tasks to the automated guided vehicles (AGVs), enabling automatic loading and unloading of materials between the AGVs and warp beam storage, looms, and warping machines, thus allowing the AGVs to be used efficiently in the weaving process. The MES system and the scheduling and transportation system have also been integrated, eliminating the need for personnel to issue scheduling tasks and realizing intelligent production.

[0008] A WMS system helps enterprises achieve efficient warehouse management, including the management and control of all aspects of goods receiving, outbound, storage, picking, packaging, and distribution. Through a WMS system, enterprises can monitor inventory status in real time, improve warehouse operational efficiency, and reduce inventory costs.

[0009] The automated guided vehicle is used to automatically load and unload materials between the warp beam storage, loom, and warping machine according to instructions from the scheduling system.

[0010] By interacting with the automated guided vehicle (AGV) and warp beam storage, warp beams are automatically stored or fed into the storage. The AGV also interacts with the loom to automatically feed full rolls of warp beams to the loom or unload empty warp beams. Furthermore, the AGV interacts with the warping machine to unload full rolls of warp beams or feed empty warp beams to the warping machine. Through the interaction between the AGV, warp beam storage, loom, and warping machine via the MES, scheduling, and WMS systems, the AGV achieves fully automated loading and unloading of heald frames, reeds, and warp stops. This enables fully automated loading and unloading of materials in the textile weaving process, significantly expanding the application scope of weaving automation technology, increasing production efficiency, and reducing labor costs.

[0011] Preferably, the automated guided vehicle includes an automated guided vehicle body, an automated warp beam loading and unloading mechanism, a linkage device, two sets of support arms, a lifting frame, two sets of first electric cylinders, two sets of first connecting arms, two sets of second connecting arms, two sets of fixing components, a cross arm, two sets of heald frame manipulators, and two sets of warp beam clamps. The automated warp beam loading and unloading mechanism is mounted on the automated guided vehicle body and is used for loading and unloading warp beams. Both sets of support arms are mounted on the automated warp beam loading and unloading mechanism. The lifting frame is slidably mounted on the two sets of support arms. The fixed ends of the two sets of first electric cylinders are respectively mounted on the outer walls of the two sets of support arms, and the moving ends of the two sets of first electric cylinders are connected to the bottom end of the lifting frame. The rear ends of the two sets of first connecting arms are rotatably mounted on the left and right sides of the outer walls of the lifting frame, respectively. The rear ends of the two sets of second connecting arms are rotatably connected to the front ends of the two sets of first connecting arms, respectively. A linkage device is provided between the two sets of first connecting arms and the two sets of second connecting arms. The linkage device is used to drive the two sets of first connecting arms and the two sets of second connecting arms to move in opposite directions. The components are rotatably mounted on the front ends of two sets of second connecting arms, and the cross arm is mounted on two sets of fixed components. Two sets of heald frame robots and two sets of warp stop clamps are respectively mounted on the left and right sides of the cross arm. The two sets of heald frame robots and two sets of warp stop clamps are moved to the equipment by the automatic guide vehicle. Then, the two sets of first connecting arms are driven to rotate in opposite directions by the linkage device. The two sets of first connecting arms rotate and support the cross arm to move back and forth by cooperating with the two sets of second connecting arms. This causes the cross arm to move the two sets of heald frame robots and two sets of warp stop clamps back and forth. Then, by controlling the extension and retraction length of the moving ends of the two sets of first electric cylinders, the two sets of first electric cylinders drive the lifting frame to move up and down. This causes the lifting frame to move the two sets of heald frame robots and two sets of warp stop clamps to move up and down. By adjusting the movement of the two sets of heald frame robots and two sets of warp stop clamps, the two sets of heald frame robots pick up and transport the heald frames, and the two sets of warp stop clamps clamp and transport the warp stop pieces, improving the convenience of automatic movement and transport of heald frames and warp stop pieces in the weaving process.

[0012] Preferably, the automatic warp beam loading and unloading mechanism includes a base, a bracket, a robotic arm, two sets of warp beam robotic grippers, and two sets of second electric cylinders. The bottom ends of the two sets of support arms are mounted on the outer wall of the base, and the bottom end of the bracket is rotatably mounted on the inner wall of the base. The top of the bracket is provided with a mounting groove, and the middle part of the robotic arm is mounted on the inner wall of the mounting groove. The two sets of warp beam robotic grippers are respectively mounted on the left and right ends of the robotic arm. The fixed ends of the two sets of second electric cylinders are rotatably mounted on the inner wall of the base, and the moving ends of the two sets of second electric cylinders are rotatably connected to the outer wall of the bracket. The automatic guide vehicle moves the base, causing the base to move the two sets of warp beam robotic grippers to the sides below the warp beam that needs to be loaded or unloaded. Then, the moving ends of the two sets of second electric cylinders extend and push the bracket to swing and rotate upward, thereby causing the bracket to move upward through the robotic arm and the two sets of warp beam robotic grippers to lift the warp beam. This improves the convenience of automatic warp beam loading and unloading, reduces the labor intensity of personnel, and improves work efficiency.

[0013] Preferably, the automated guided vehicle body includes a chassis, two sets of first traveling wheels, two sets of support frames, two sets of second traveling wheels, two sets of servo motors, and two sets of third traveling wheels. The chassis is fixedly installed in the middle of the inner side wall of the base. Both sets of first traveling wheels are rotatably mounted on the chassis via drive components. The two sets of support frames are rotatably mounted on the base via power components. The two sets of second traveling wheels are rotatably mounted at the bottom of the two sets of support frames. The two sets of servo motors are respectively mounted on the left and right sides of the inner side wall of the base. The two sets of third traveling wheels are rotatably mounted on the left and right sides of the base, and the output terminals of the two sets of servo motors are respectively connected to the two sets of support frames. The third traveling wheel is connected; the power component drives the two sets of support frames to swing and rotate downwards, causing the two sets of support frames to drive the two sets of second traveling wheels to contact the ground. The two sets of servo motors drive the two sets of third traveling wheels to rotate, so that the two sets of third traveling wheels cooperate with the two sets of second traveling wheels to drive the base forward. When turning is required, the power component drives the two sets of support frames to swing and rotate upwards. At this time, the two sets of second traveling wheels are in a suspended state, and the two sets of first traveling wheels are in contact with the ground. The drive component drives the two sets of first traveling wheels to rotate, so that the two sets of first traveling wheels cooperate with the two sets of third traveling wheels to turn the base.

[0014] Preferably, the linkage device includes a third electric cylinder, four sets of connecting parts, and two sets of rods. The fixed end of the third electric cylinder is rotatably mounted on the outer wall of the lifting frame, and the moving end of the third electric cylinder is rotatably connected to the outer wall of the first connecting arm on one side. The four sets of connecting parts are respectively mounted on the outer walls of the two sets of first connecting arms and the two sets of second connecting arms. The two ends of the two sets of rods are respectively rotatably connected to the four sets of connecting parts. By controlling the extension and retraction length of the moving end of the third electric cylinder, the third electric cylinder drives one set of first connecting arms to rotate and swing, thereby enabling the two sets of first connecting arms to move in opposite directions through the transmission of the connecting parts and rods. At the same time, the two sets of second connecting arms swing and rotate through the connecting parts and rods, thereby improving the convenience of movement and adjustment of the two sets of heald frame manipulators and the two sets of warp stop clamps.

[0015] Preferably, it also includes a vision camera, which is mounted on the outer wall of the chassis; the vision camera performs visual positioning through a CCD lens and uses feedback for interpolation control to improve the positional accuracy of the automatic guide trolley moving up and down the axis and improve the reliability of the system.

[0016] Preferably, it also includes a control handle, which is installed on the outer wall of the base; by setting the control handle, the convenience of manual operation of the automatic guide trolley is improved.

[0017] Preferably, the bottom of the base is provided with a barcode scanning and positioning device; when the automatic guided vehicle moves automatically, the position is confirmed by barcode scanning and positioning, thereby improving the accuracy and reliability of the automatic guided vehicle's positioning.

[0018] Preferably, an automated conveying system for a weaving process includes the following steps:

[0019] Step 1: Fabric weaving demand begins, and the MES system sends production tasks to the looms;

[0020] Step 2: The loom sends the request for a fully loaded warp beam to the MES system, and the loom confirms whether its status meets the conditions for loading the material.

[0021] Step 3: The MES system allocates full warp beams to the loom based on the material preparation status, and the warp beam library WMS system and MES system interact.

[0022] Step 4: The MES system informs the scheduling system of the scheduling requirements, and the MES system and the scheduling system interact.

[0023] Step 5: The dispatching system dispatches the automated guided vehicle (AGV), and the dispatching system and the AGV interact.

[0024] Step Six: The trolley is automatically guided to the warp beam warehouse, and the warp beams are automatically loaded. The scheduling system and the warp beam warehouse MES system interact.

[0025] Step 7: Automatically load the warp beams and perform automated feeding.

[0026] Step 8: Transport the full warp beam to the loom, and the scheduling system directs the automatic guide trolley to travel along the predetermined route;

[0027] Step 9: Automatic feeding of warp beams and automatic loading of warp beams onto the loom; the loom and the automatic guide carriage interact automatically.

[0028] Compared with the prior art, the beneficial effects of the present invention are as follows: through the interaction between the MES system, scheduling system and WMS system and the automatic guided trolley, warp beam library, loom and warping machine, the automatic guided trolley realizes the fully automatic loading and unloading of heald frames, reeds and warp stops, realizing the fully automatic loading and unloading function of the weaving process in the textile industry, greatly improving the application scope of weaving automation technology, improving production efficiency and reducing labor costs. Attached Figure Description

[0029] Figure 1 This is a schematic diagram of the system structure of the present invention;

[0030] Figure 2 This is a schematic diagram of the system working steps of the present invention;

[0031] Figure 3 This is a schematic diagram of the system working steps of the present invention;

[0032] Figure 4 This is a schematic diagram of the system working steps of the present invention;

[0033] Figure 5 This is an isometric structural diagram of the connection between the first connecting arm and the second connecting arm;

[0034] Figure 6 This is a partial isometric structural diagram of the connection between the lifting frame and the third electric cylinder, etc.

[0035] Figure 7 This is a partial isometric structural diagram showing the connection between the robotic arm's upper arm and the robotic gripper, etc.

[0036] Figure 8 This is a side view of the structure connecting the support arm and the base, etc.

[0037] Figure 9 This is a side view diagram of the connection between the servo motor and the third traveling wheel, etc.

[0038] Figure 10 This is a side view of the connection between the chassis and the first traveling wheel, etc.

[0039] Figure 11 This is a partial side view of the structure connecting the support frame and the second traveling wheel, etc.

[0040] Figure 12This is a side view schematic diagram of the connection between the horizontal arm and the manipulator frame.

[0041] The attached diagram is labeled as follows: 101, support arm; 102, lifting frame; 103, first electric cylinder; 104, first connecting arm; 105, second connecting arm; 106, fixing component; 107, horizontal arm; 108, heald frame robot; 109, warp stop clamp; 201, base; 202, bracket; 203, robot arm upper arm; 204, warp beam robot clamp; 205, second electric cylinder; 301, chassis; 302, first traveling wheel; 303, force support frame; 304, second traveling wheel; 305, servo motor; 306, third traveling wheel; 401, third electric cylinder; 402, connecting component; 403, rod body; 501, vision camera; 601, control handle. Detailed Implementation

[0042] To facilitate understanding of the present invention, a more complete description will be given below with reference to the accompanying drawings. The present invention can be implemented in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.

[0043] Example 1

[0044] The present invention provides an automated conveying system for a fabric weaving process, comprising a MES system, a scheduling system, a WMS system, and an automated guided vehicle;

[0045] The MES system is used to control the overall operation of the automated conveying system in the fabric weaving process;

[0046] The scheduling system is used to assign tasks to the automated guided vehicles (AGVs), enabling them to automatically load and unload materials between the AGVs and warp beams, looms, and warping machines, thus allowing the AGVs to be used efficiently in the weaving process.

[0047] WMS systems are used to help enterprises achieve efficient warehouse management, including the management and control of all aspects of goods receiving, outbound, storage, picking, packaging and distribution;

[0048] The automated guided vehicle is used to automatically load and unload materials between the warp beam storage, loom, and warping machine according to instructions from the scheduling system.

[0049] The automated guided vehicle includes an automated guided vehicle body, an automated warp beam loading and unloading mechanism, a linkage device, two sets of support arms 101, a lifting frame 102, two sets of first electric cylinders 103, two sets of first connecting arms 104, two sets of second connecting arms 105, two sets of fixing parts 106, a cross arm 107, two sets of heald frame manipulators 108, and two sets of warp beam clamps 109. The automated warp beam loading and unloading mechanism is mounted on the automated guided vehicle body and is used for loading and unloading warp beams. Both sets of support arms 101 are mounted on the automated warp beam loading and unloading mechanism. The lifting frame 102 is slidably mounted on the two sets of support arms 101. The fixed ends of the two sets of first electric cylinders 103 are respectively mounted on the outer walls of the two sets of support arms 101. The moving ends of the electric cylinder 103 are all connected to the bottom end of the lifting frame 102. The rear ends of the two sets of first connecting arms 104 are rotatably installed on the left and right sides of the outer side wall of the lifting frame 102, respectively. The rear ends of the two sets of second connecting arms 105 are rotatably connected to the front ends of the two sets of first connecting arms 104, respectively. A linkage device is provided between the two sets of first connecting arms 104 and the two sets of second connecting arms 105. The linkage device is used to drive the two sets of first connecting arms 104 and the two sets of second connecting arms 105 to move in opposite directions. The two sets of fixing parts 106 are rotatably installed on the front ends of the two sets of second connecting arms 105, and the horizontal arm 107 is installed on the two sets of fixing parts 106. The two sets of heald frame manipulators 108 and the two sets of stop-warp plate clamps 109 are installed on the left and right sides of the horizontal arm 107, respectively.

[0050] In this embodiment, through the interaction between the MES system, scheduling system, and WMS system with the automated guided vehicle, warp beam storage, loom, and warping machine, the automated guided vehicle can automatically load and unload heald frames, reeds, and warp stops. This realizes the fully automated loading and unloading function of the textile weaving process, greatly expanding the application scope of weaving automation technology, improving production efficiency, and reducing labor costs.

[0051] Example 2

[0052] Based on Embodiment 1, the present invention provides an automatic conveying system for a weaving process. The automatic warp beam loading and unloading mechanism includes a base 201, a bracket 202, a robotic arm 203, two sets of warp beam robotic grippers 204, and two sets of second electric cylinders 205. The bottom ends of the two sets of support arms 101 are mounted on the outer side wall of the base 201, the bottom end of the bracket 202 is rotatably mounted on the inner side wall of the base 201, and the top end of the bracket 202 is provided with an installation groove. The middle part of the robotic arm 203 is mounted on the inner side wall of the installation groove. The two sets of warp beam robotic grippers 204 are respectively mounted on the left and right ends of the robotic arm 203. The fixed ends of the two sets of second electric cylinders 205 are rotatably mounted on the inner side wall of the base 201, and the moving ends of the two sets of second electric cylinders 205 are rotatably connected to the outer side wall of the bracket 202.

[0053] The automated guided vehicle body includes a housing 301, two sets of first traveling wheels 302, two sets of support frames 303, two sets of second traveling wheels 304, two sets of servo motors 305, and two sets of third traveling wheels 306. The housing 301 is fixedly installed in the middle of the inner side wall of the base 201. The two sets of first traveling wheels 302 are rotatably installed on the housing 301 through a drive assembly. The two sets of support frames 303 are rotatably installed on the base 201 through a power assembly. The two sets of second traveling wheels 304 are rotatably installed at the bottom of the two sets of support frames 303. The two sets of servo motors 305 are respectively installed on the left and right sides of the inner side wall of the base 201. The two sets of third traveling wheels 306 are rotatably installed on the left and right sides of the base 201, and the output ends of the two sets of servo motors 305 are respectively connected to the two sets of third traveling wheels 306.

[0054] The linkage device includes a third electric cylinder 401, four sets of connecting parts 402, and two sets of rods 403. The fixed end of the third electric cylinder 401 is rotatably mounted on the outer wall of the lifting frame 102, and the moving end of the third electric cylinder 401 is rotatably connected to the outer wall of the first connecting arm 104 on one side. The four sets of connecting parts 402 are respectively mounted on the outer walls of the two sets of first connecting arms 104 and the two sets of second connecting arms 105. The two ends of the two sets of rods 403 are rotatably connected to the four sets of connecting parts 402 respectively.

[0055] It also includes a vision camera 501, which is mounted on the outer wall of the chassis 301;

[0056] It also includes a control grip 601, which is mounted on the outer wall of the base 201;

[0057] The bottom of the base 201 is equipped with a barcode scanning and positioning device;

[0058] An automated conveying system for a fabric weaving process includes the following steps:

[0059] Step 1: Fabric weaving demand begins, and the MES system sends production tasks to the looms;

[0060] Step 2: The loom sends the request for a fully loaded warp beam to the MES system, and the loom confirms whether its status meets the conditions for loading the material.

[0061] Step 3: The MES system allocates full warp beams to the loom based on the material preparation status, and the warp beam library WMS system and MES system interact.

[0062] Step 4: The MES system informs the scheduling system of the scheduling requirements, and the MES system and the scheduling system interact.

[0063] Step 5: The dispatching system dispatches the automated guided vehicle (AGV), and the dispatching system and the AGV interact.

[0064] Step Six: The trolley is automatically guided to the warp beam warehouse, and the warp beams are automatically loaded. The scheduling system and the warp beam warehouse MES system interact.

[0065] Step 7: Automatically load the warp beams and perform automated feeding.

[0066] Step 8: Transport the full warp beam to the loom, and the scheduling system directs the automatic guide trolley to travel along the predetermined route;

[0067] Step 9: Automatic feeding of warp beams and automatic loading of warp beams onto the loom; the loom and the automatic guide carriage interact automatically.

[0068] In this embodiment, an automated guided vehicle moves two sets of heald frame manipulators 108 and two sets of warp stop clamps 109 to the equipment. Then, a linkage device drives two sets of first connecting arms 104 to rotate in opposite directions. These first connecting arms 104, in conjunction with two sets of second connecting arms 105, rotate to support the horizontal arm 107, causing it to move back and forth. This, in turn, causes the horizontal arm 107 to move the two sets of heald frame manipulators 108 and the two sets of warp stop clamps 109 back and forth. Next, by controlling the extension and retraction of the moving ends of two sets of first electric cylinders 103, the two sets of first electric cylinders 103 drive the lifting frame 102 to move up and down. This, in turn, causes the lifting frame 102 to move the two sets of heald frame manipulators 108 and the two sets of warp stop clamps 109 up and down. This process, through the movement of the two sets of heald frame manipulators 108... The two sets of warp stop clamps 109 are moved and adjusted, so that the two sets of heald frame robots 108 pick up and transport the heald frames, and the two sets of warp stop clamps 109 clamp and transport the warp stop pieces, improving the convenience of automatic movement and transport of heald frames and warp stop pieces in the weaving process. The automatic guide car body drives the base 201 to move, so that the base 201 drives the two sets of warp beam robot clamps 204 to move to the sides below the warp beams that need to be loaded or unloaded. Then, the moving ends of the two sets of second electric cylinders 205 extend and push the bracket 202 to swing and rotate upward, so that the bracket 202 drives the two sets of warp beam robot clamps 204 to move upward through the robot arm 203 to lift the warp beams, improving the convenience of automatic loading and unloading of warp beams, reducing the labor intensity of personnel, and improving work efficiency.

[0069] like Figures 1 to 12 As shown, the present invention discloses an automatic conveying system for the weaving process. During operation, it achieves fully automatic loading and unloading of heald frames, reeds, and warp stops through the interaction between the MES system, scheduling system, and WMS system with the automatic guide trolley, warp beam storage, loom, and warp straightening machine, thus realizing the fully automatic loading and unloading function of the weaving process in the textile industry.

[0070] The main function achieved by this invention is to realize the fully automatic loading and unloading of heald frames, reeds, and warp stops by interacting with the MES system, scheduling system, and WMS system with the automatic guide trolley, warp beam storage, loom, and warping machine, thereby realizing the fully automatic loading and unloading function of the weaving process in the textile industry.

[0071] The first electric cylinder 103, heald frame robot 108, warp stop clamp 109, warp beam robot clamp 204, second electric cylinder 205, servo motor 305, third electric cylinder 401, vision camera 501 and control handle 601 of the automatic conveying system for the weaving process of the present invention are commercially available. Technicians in the industry only need to install and operate them according to the accompanying instruction manual, without requiring any creative work from those skilled in the art.

[0072] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the technical principles of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. An automatic conveying system for a fabric weaving process, characterized in that, This includes MES system, scheduling system, WMS system, and automated guided vehicles; The MES system is used to control the overall operation of the automated conveying system in the fabric weaving process; The scheduling system is used to assign tasks to the automated guided vehicles (AGVs), enabling them to automatically load and unload materials between the AGVs and warp beams, looms, and warping machines, thus allowing the AGVs to be used efficiently in the weaving process. WMS systems are used to help enterprises achieve efficient warehouse management, and to manage and control all aspects of goods receiving, outbound, storage, picking, packaging and distribution. The automated guided vehicle is used to automatically load and unload materials between the warp beam storage, loom, and warping machine according to instructions from the scheduling system. The automated guided vehicle includes an automated guided vehicle body, an automated warp beam loading and unloading mechanism, a linkage device, two sets of support arms (101), a lifting frame (102), two sets of first electric cylinders (103), two sets of first connecting arms (104), two sets of second connecting arms (105), two sets of fixing parts (106), a cross arm (107), two sets of heald frame manipulators (108), and two sets of warp beam clamps (109). The automated warp beam loading and unloading mechanism is mounted on the automated guided vehicle body and is used for loading and unloading warp beams. Both sets of support arms (101) are mounted on the automated warp beam loading and unloading mechanism. The lifting frame (102) is slidably mounted on the two sets of support arms (101). The fixed ends of the two sets of first electric cylinders (103) are respectively mounted on the outer walls of the two sets of support arms (101). The moving ends of 103) are all connected to the bottom end of the lifting frame (102). The rear ends of the two sets of first connecting arms (104) are respectively rotatably installed on the left and right sides of the outer wall of the lifting frame (102). The rear ends of the two sets of second connecting arms (105) are respectively rotatably connected to the front ends of the two sets of first connecting arms (104). A linkage device is provided between the two sets of first connecting arms (104) and the two sets of second connecting arms (105). The linkage device is used to drive the two sets of first connecting arms (104) and the two sets of second connecting arms (105) to move in opposite directions. Two sets of fixing parts (106) are respectively rotatably installed on the front ends of the two sets of second connecting arms (105). The horizontal arm (107) is installed on the two sets of fixing parts (106). Two sets of heald frame manipulators (108) and two sets of stop-warp clamps (109) are respectively installed on the left and right sides of the horizontal arm (107). The automatic warp beam lifting mechanism includes a base (201), a bracket (202), a robotic arm (203), two sets of warp beam robotic grippers (204), and two sets of second electric cylinders (205). The bottom ends of the two sets of support arms (101) are installed on the outer side wall of the base (201), and the bottom end of the bracket (202) is rotatably installed on the inner side wall of the base (201). The top end of the bracket (202) is provided with an installation groove. The middle part of the robotic arm (203) is installed on the inner side wall of the installation groove. The two sets of warp beam robotic grippers (204) are respectively installed on the left and right ends of the robotic arm (203). The fixed ends of the two sets of second electric cylinders (205) are rotatably installed on the inner side wall of the base (201), and the moving ends of the two sets of second electric cylinders (205) are rotatably connected to the outer side wall of the bracket (202).

2. The automatic conveying system for a weaving process as described in claim 1, characterized in that, The automated guided vehicle body includes a chassis (301), two sets of first traveling wheels (302), two sets of support frames (303), two sets of second traveling wheels (304), two sets of servo motors (305), and two sets of third traveling wheels (306). The chassis (301) is fixedly installed in the middle of the inner side wall of the base (201). The two sets of first traveling wheels (302) are rotatably installed on the chassis (301) through drive components. The two sets of support frames (303) are rotatably installed on the base (201) through power components. The two sets of second traveling wheels (304) are rotatably installed at the bottom of the two sets of support frames (303). The two sets of servo motors (305) are installed on the left and right sides of the inner side wall of the base (201). The two sets of third traveling wheels (306) are rotatably installed on the left and right sides of the base (201). The output ends of the two sets of servo motors (305) are connected to the two sets of third traveling wheels (306).

3. The automatic conveying system for a weaving process as described in claim 1, characterized in that, The linkage device includes a third electric cylinder (401), four sets of connecting parts (402) and two sets of rods (403). The fixed end of the third electric cylinder (401) is rotatably mounted on the outer wall of the lifting frame (102). The moving end of the third electric cylinder (401) is rotatably connected to the outer wall of the first connecting arm (104) on one side. The four sets of connecting parts (402) are respectively mounted on the outer walls of the two sets of first connecting arms (104) and the two sets of second connecting arms (105). The two ends of the two sets of rods (403) are rotatably connected to the four sets of connecting parts (402) respectively.

4. The automatic conveying system for a weaving process as described in claim 2, characterized in that, It also includes a vision camera (501), which is mounted on the outer wall of the chassis (301).

5. The automatic conveying system for a weaving process as described in claim 1, characterized in that, It also includes a control grip (601), which is mounted on the outer wall of the base (201).

6. The automatic conveying system for a weaving process as described in claim 1, characterized in that, The base (201) is equipped with a barcode scanning and positioning device at its bottom.

Images