An AGV yarn hanging device

Abstract

The present invention relates to an AGV yarn hanging device, which includes an AGV trolley and a frame, the frame is installed on the AGV trolley, a yarn upper component is arranged on the frame, the yarn upper component includes a rotating column, a push plate, a fixed rod, a limiting head and a first lifting platform, the first lifting platform is vertically slidably matched with a plurality of the first lifting platform on the frame, a lifting component for driving the first lifting platform to move is arranged on the frame, the rotating column is rotatably connected to the first lifting platform, a swinging member is arranged on the first lifting platform, one end of the fixed rod is connected to the first lifting platform, and the other end is located in the rotating column, the limiting head is connected to the other end of the fixed rod, a first avoidance groove is opened on the rotating column, in the initial state, the rotating column is horizontally arranged, the top end of the limiting head is flush with the surface of the rotating column, the push plate slides horizontally and is matched with the first lifting platform, a second avoidance groove for the rotating column to pass through is opened on the push plate, and a first pusher driving the push plate to move is arranged on the first lifting platform. The present invention has the effect of improving the working efficiency of the yarn hanging device.

Description

Technical Field

[0001] The invention relates to the technical field of yarn processing, and in particular to an AGV yarn hanging device. Background Art

[0002] An automatic guided vehicle is an industrial vehicle that loads goods automatically or manually, drives automatically along a set route or tows a cargo trolley to a designated location, and then loads and unloads goods automatically or manually.

[0003] The Chinese patent with the announcement number CN110077789A discloses an AGV diamond-shaped automatic yarn hanging device, which includes an AGV body and a diamond-shaped automatic yarn hanging device at the upper end of the body. The navigation mode of the AGV body is magnetic strip navigation, a magnetic strip is arranged on the ground of the walking route of the AGV body, a magnetic sensor corresponding to the magnetic strip is arranged at the bottom of the AGV body, a diamond-shaped automatic yarn hanging device is arranged at the upper end of the AGV body, the diamond-shaped automatic yarn hanging device is distributed in columns, and each column of the diamond-shaped automatic yarn hanging device is provided with a yarn hanging rod assembly and a yarn pushing plate assembly, the yarn hanging rod assembly is provided with a fixed rod, an extension rod, an extension rod driving motor, a screw slide 1, and a slide rail; the yarn pushing plate assembly is provided with a yarn pushing plate, a two-section telescopic guide rail, a yarn pushing plate driving motor, a screw slide 2, and a double diamond connecting rod mechanism. The present invention realizes the automatic transportation of the yarn tube by combining the AGV body and the diamond-shaped automatic yarn hanging device, realizes the automatic yarn feeding by means of motor drive, screw transmission, etc., greatly improves the yarn feeding efficiency and is suitable for promotion.

[0004] With regard to the above-mentioned related technologies, in the prior art, the staff utilizes the cooperation of a fixed rod, an extension rod and an extension rod driving motor to achieve the yarn-loading effect on the yarn bobbin. However, in the prior art, there is no technical means to limit the yarn bobbin on the fixed rod or the extension rod, resulting in the yarn bobbin swinging due to inertia when the AGV body starts, moves or stops, and there is a possibility that the yarn bobbin will fall. In this case, the staff needs to reinstall the yarn bobbin, and the yarn bobbin falls to the ground, and there is a possibility that the yarn is contaminated, and a new yarn bobbin needs to be replaced, which prolongs the working time of the yarn hanging device and reduces the working efficiency of the yarn hanging device. Summary of the invention

[0005] In order to improve the working efficiency of the yarn hanging device, the present application provides an AGV yarn hanging device.

[0006] The present application provides an AGV yarn hanging device adopting the following technical solution:

[0007] An AGV yarn hanging device comprises an AGV trolley and a frame, wherein the frame is installed on the AGV trolley, and a plurality of yarn upper components are arranged on the frame, wherein the yarn upper components comprise a rotating column, a push plate, a fixed rod, a limiting head and a first lifting platform, wherein the first lifting platform vertically slides and cooperates with a plurality of the first lifting platform on the frame, and a lifting component driving the first lifting platform to move is arranged on the frame, one end of the rotating column is rotatably connected to the first lifting platform, and a swinging member driving the rotating column to swing is arranged on the first lifting platform, and an end of the rotating column is opened, and one end of the fixed rod is connected to the The first lifting platform has the other end located inside the rotating column, the limiting head is connected to the other end of the fixed rod, and a first avoidance groove is opened at the position of the rotating column corresponding to the limiting head. In the initial state, the rotating column is horizontally arranged, and the top of the limiting head is flush with the surface of the rotating column. The push plate slides horizontally on the first lifting platform, and a second avoidance groove is opened on the push plate. The rotating column passes through the second avoidance groove. The first lifting platform is provided with a first pushing member that drives the push plate to move. During transportation, the rotating column is tilted, and the yarn tube is located between the limiting head and the rotating column.

[0008] By adopting the above technical solution, when transporting yarn, the staff uses the swinging member to drive the rotating column to rotate a certain angle so that the top of the limiting head is exposed. At this time, the yarn tube moves along the rotating column until it hits the limiting head, and the yarn tube is limited between the rotating column and the limiting head; when loading yarn, the AGV trolley stops moving, and the swinging member is used to reversely rotate the rotating column to a horizontal state. At this time, the limiting head is located inside the rotating column, and then the first pushing member is used to push the push plate to move the yarn tube until the yarn tube is pushed onto the equipment, and then the lifting assembly is used to lower the first lifting platform to separate the rotating column from the yarn tube, so as to achieve the effect of loading yarn. The staff uses the yarn loading assembly to limit the movement of the yarn tube, avoiding the possibility of the yarn tube falling due to the swinging when the AGV trolley starts, moves or stops, so that the yarn tube can be smoothly transported to the equipment, and the working efficiency of the yarn hanging device is improved.

[0009] Optionally, a limiting rod is horizontally connected to the first lifting platform, a connecting pipe is connected to the push plate, and the limiting rod passes through the connecting pipe and is slidably matched with the connecting pipe.

[0010] By adopting the above technical solution, the staff uses the cooperation of the connecting tube and the limiting rod to assist in limiting the moving direction of the push plate, reducing the possibility of deflection of the push plate during movement, and enabling the push plate to better push the yarn tube.

[0011] Optionally, the lifting assembly includes a lifting motor, a swing rod, a connecting block and a connecting rod. Several of the first lifting platforms are vertically divided into several rows. The connecting blocks are connected to the first lifting platforms. A third avoidance groove is opened on the frame. The connecting block passes through the third avoidance groove. The connecting rod is connected between several of the connecting blocks in the vertical row. A connecting head is connected to the connecting rod. The lifting motor is installed on the frame. One end of the swing rod is connected to the output shaft of the lifting motor. A swing groove is opened on the swing rod. The connecting head is slidably fitted in the swing groove.

[0012] By adopting the above technical solution, when driving the first lifting platform to rise and fall, the staff starts the lifting motor to swing the swing rod, pushes the connecting head through the swing groove, moves the connecting rod, and drives the vertical connecting blocks to move synchronously, thereby achieving the effect of driving the vertical first lifting platform to move.

[0013] Optionally, the AGV trolley is rotatably connected to a rotating table, the AGV trolley is equipped with a rotating motor for driving the rotating table to rotate, the frame is installed on the rotating table, and a lower frame assembly for removing the empty yarn tube is provided on the side wall of the frame away from the upper yarn assembly.

[0014] By adopting the above technical solution, the staff uses a rotating motor (not shown in the figure) to drive the rotating table to rotate, so that the frame rotates, and first uses the lower frame assembly to retrieve the yarn bobbin above the equipment, and then uses the upper yarn assembly to move the yarn bobbin containing the yarn to the equipment, achieving the effect of taking the yarn bobbin first and then putting the yarn on.

[0015] Optionally, the lower frame assembly includes a second lifting platform, a supporting tube, a moving rod and a toggle block, the second lifting platform vertically slidingly fits on the frame body, the supporting tube is horizontally inserted into the frame body, the supporting tube is a hollow tube, the end of the supporting tube away from the frame body is provided with a guiding bevel, the moving rod horizontally sliding fits on the second lifting platform, one end of the moving rod is located in the supporting tube, the toggle block is connected to one end of the moving rod, the supporting tube is provided with a toggle groove at the position corresponding to the toggle block, the toggle block is located in the toggle groove, and in the initial state, the top end of the toggle block is located in the toggle groove, and a lifting member driving the second lifting platform to move is provided on the frame body, and a second pushing member driving the moving rod to move is also provided on the frame body.

[0016] By adopting the above technical solution, when taking the yarn tube, the staff uses the second pushing member to push the moving rod, driving the toggle block to move, until the toggle block is moved to the rear of the empty yarn tube of the equipment, and then uses the lifting member to drive the second lifting platform to rise, driving the toggle block to rise, and then pulling the moving rod in the opposite direction to move the toggle block and drive the empty yarn tube to move. When the empty yarn tube moves, the bevel edge is guided to move to the support tube, thereby achieving the effect of retrieving the empty yarn tube.

[0017] Optionally, several groups of the lower frame components are arranged on the frame body, and the lower frame components correspond to the upper yarn components one by one. The other end of the moving rod is connected to a pushing column, and a moving plate is horizontally slidably matched on the frame body. A pushing groove is opened on the moving plate, and all the pushing columns in a horizontal row pass through the pushing groove, and the output end of the second pushing member is connected to the moving plate.

[0018] By adopting the above technical solution, when pushing the moving rod to move, the staff uses the second pushing member to push the moving plate, and drives the pushing column to move through the pushing groove, thereby achieving the effect of synchronous movement of the horizontal moving rods.

[0019] Optionally, the lifting member is an electric push rod, the lifting member is connected to the frame, a connecting plate is connected between all the second lifting platforms in a horizontal row, and the output end of the lifting member is connected to the connecting plate.

[0020] By adopting the above technical solution, when driving the second lifting platform to move, the staff starts the lifting member to move the connecting plate, thereby achieving the effect of driving the second lifting platform in the horizontal row to move synchronously.

[0021] Optionally, an installation assembly is arranged between the rotating table and the frame, the installation assembly includes a mounting plate, a positioning plate and a locking bolt, four positioning plates are installed on the rotating table, the four positioning plates are divided into two rows, one row of positioning plates is attached to a side wall of the frame, a guiding slope is arranged on the positioning plate, the guiding slopes on the two positioning plates are arranged opposite to each other, and the distance between the two positioning plates gradually increases from the bottom end to the top end of the positioning plate as the reference direction, the mounting plate is connected to the frame and is located between the two positioning plates, the locking bolt passes through the mounting plate and the rotating table, and cooperates with the thread of the rotating table.

[0022] By adopting the above technical solution, when installing the frame, the staff uses the lifting equipment to move the frame and moves the frame above the rotating table, then uses the positioning plate to fit the side wall of the frame, and then places the mounting plate between the two positioning plates, and finally rotates the locking bolt so that the locking bolt thread fits on the rotating table and presses against the mounting plate, thereby limiting the freedom of the frame and realizing the installation of the frame.

[0023] In summary, the present application includes at least one of the following beneficial technical effects:

[0024] 1. When transporting yarn, the staff uses the swinging part to drive the rotating column to rotate a certain angle so that the top of the limiting head is exposed. At this time, the yarn tube moves along the rotating column until it hits the limiting head, and the yarn tube is limited between the rotating column and the limiting head; when loading yarn, the AGV trolley stops moving, and uses the swinging part to reversely rotate the rotating column to a horizontal state. At this time, the limiting head is located inside the rotating column, and then the first pushing member is used to push the push plate to move the yarn tube until the yarn tube is pushed onto the equipment. Then the lifting assembly is used to lower the first lifting platform to separate the rotating column from the yarn tube, achieving the effect of loading yarn. The staff uses the yarn loading assembly to limit the movement of the yarn tube, avoiding the possibility of the yarn tube falling due to the swinging of the yarn tube when the AGV trolley starts, moves or stops, so that the yarn tube can be smoothly transported to the equipment, improving the working efficiency of the yarn hanging device;

[0025] 2. When taking the yarn tube, the staff uses the second pusher to push the moving rod to drive the toggle block to move until the toggle block is moved to the rear of the empty yarn tube on the equipment. Then the lifting member is used to drive the second lifting platform to rise, drive the toggle block to rise, and then pull the moving rod in the opposite direction to move the toggle block and drive the empty yarn tube to move. When the empty yarn tube moves, it moves to the support tube by guiding the bevel edge, thereby achieving the effect of retrieving the empty yarn tube. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 It is a schematic diagram of the overall structure of the AGV yarn hanging device in an embodiment of the present application.

[0027] Figure 2 It is a schematic structural diagram of the other side of the yarn hanging device in the embodiment of the present application.

[0028] Figure 3 It is an exploded view used to illustrate the structure of the installation component in the embodiment of the present application.

[0029] Figure 4 It is an exploded diagram used to illustrate the structure of the lifting assembly in the embodiment of the present application.

[0030] Figure 5 It is an exploded view used to illustrate the structure of the upper yarn assembly in the embodiment of the present application.

[0031] Figure 6 It is a state diagram of the upper yarn assembly limiting the yarn tube in the embodiment of the present application.

[0032] Figure 7 It is a structural schematic diagram of the lower frame assembly and the second pushing member in an embodiment of the present application.

[0033] Figure 8 It is a cross-sectional view used to illustrate the structure of the lower frame assembly in the embodiment of the present application.

[0034] Explanation of the accompanying drawings: 1. AGV trolley; 11. rotating platform; 2. frame; 21. controller; 22. lifting member; 23. second pushing member; 231. moving plate; 3. mounting assembly; 31. mounting plate; 32. positioning plate; 33. locking bolt; 4. upper yarn assembly; 41. rotating column; 411. first avoidance groove; 42. push plate; 43. fixing rod; 44. limiting head; 45. first lifting platform; 451. swing member; 452. limiting rod; 453. first pushing member; 5. lower frame assembly; 51. second lifting platform; 52. supporting tube; 53. moving rod; 531. pushing column; 54. toggle block; 6. lifting assembly; 61. lifting motor; 62. swing rod; 63. connecting block; 64. connecting rod; 641. connecting head. DETAILED DESCRIPTION

[0035] The following is combined with Figure 1-Figure 8 This application is described in further detail.

[0036] The present application embodiment discloses an AGV yarn hanging device. Figure 1 and Figure 2 The AGV yarn hanging device includes an AGV trolley 1 and a frame 2. The frame 2 is a rectangular frame, and fixed plates are welded to both side walls of the frame 2. A rotating table 11 is rotatably connected to the AGV trolley 1. The AGV trolley 1 is equipped with a rotating motor for driving the rotating table 11 to rotate. The rotating table 11 is fixedly connected to the output shaft of the rotating motor.

[0037] Reference Figure 1 and Figure 3 , an installation component 3 is arranged between the rotating table 11 and the frame 2, and the installation component 3 includes a mounting plate 31, a positioning plate 32 and a locking bolt 33. Four positioning plates 32 are fixedly connected on the rotating table 11, two of which form a group, and the frame 2 is located between the two groups of positioning plates 32, and the positioning plate 32 fits the fixed plate. A guiding slope is arranged on the positioning plate 32, and the two guiding slopes of a group are arranged opposite to each other, and the distance between the two positioning plates 32 gradually increases from the bottom end to the top end of the positioning plate 32 as the reference direction. The mounting plate 31 is fixedly connected to the fixed plate and is located between the two positioning plates 32. A plurality of locking bolts 33 are passed between the mounting plate 31 and the rotating table 11, and the locking bolts 33 are threadedly matched with the rotating table 11. A controller 21 is installed on the frame 2, and the AGV trolley 1 is electrically connected to the controller 21.

[0038] When installing the frame 2 , the staff places the frame 2 on the rotating table 11 , with the mounting plate 31 located between the two positioning plates 32 , and then rotates the locking bolt 33 so that the locking bolt 33 is threadedly engaged with the rotating table 11 and pressed against the mounting plate 31 , thereby completing the installation of the frame 2 .

[0039] Reference Figure 4 , Figure 5 and Figure 6 , an upper yarn assembly 4 is arranged on one fixed plate, and a lower frame assembly 5 is arranged on the other fixed plate. The upper yarn assembly 4 includes a rotating column 41, a push plate 42, a fixed rod 43, a limiting head 44 and a first lifting platform 45. A plurality of groups of first T-shaped rails are vertically fixedly connected on the fixed plate, and three groups are taken as an example in this embodiment, each group has two first T-shaped rails, and a plurality of first lifting platforms 45 are slidably matched on a group of first T-shaped rails, and five are taken as an example in this embodiment.

[0040] Reference Figure 2 and Figure 4 , a lifting assembly 6 for driving the first lifting platform 45 to move is provided on the fixed plate, and a group of lifting assemblies 6 corresponds to a group of first T-rails. The lifting assembly 6 includes a lifting motor 61, a swing rod 62, a connecting block 63 and a connecting rod 64. The lifting motor 61 is installed on the fixed plate, and the lifting motor 61 is electrically connected to the controller 21. One end of the swing rod 62 is fixedly connected to the output shaft of the lifting motor 61, and a swing groove is provided on the swing rod 62. The connecting block 63 is fixedly connected to the first lifting platform 45, and a third avoidance groove is provided at a position of the fixed plate corresponding to the connecting block 63, and the connecting block 63 passes through the third avoidance groove. The connecting rod 64 is fixedly connected between the five connecting blocks 63, and a connecting head 641 is fixedly connected to the connecting rod 64, and the connecting head 641 slides in the swing groove.

[0041] Reference Figure 5 and Figure 6 , one end of the rotating column 41 is hinged on the first lifting platform 45, and one end of the rotating column 41 is opened. A swinging member 451 is provided on the first lifting platform 45, and the swinging member 451 is a swinging motor. The swinging member 451 is electrically connected to the controller 21, and the swinging member 451 is installed on the first lifting platform 45 and is coaxially arranged with the hinged end of the rotating column 41. One end of the fixed rod 43 is connected to the first lifting platform 45 by bolts, and the other end is located in the rotating column 41, and the fixed rod 43 is arranged horizontally. The limiting head 44 is fixedly connected to the other end of the fixed rod 43, and a first avoidance groove 411 is opened at the position of the rotating column 41 corresponding to the limiting head 44. In the initial state, the top of the limiting head 44 is flush with the horizontal surface of the rotating column 41.

[0042] Reference Figure 2 , Figure 5 and Figure 6 The first lifting platform 45 is fixedly connected with a limiting rod 452, which is parallel to the fixing rod 43. The push plate 42 is fixedly connected with a connecting pipe, through which the limiting rod 452 passes, and is slidably matched with the connecting pipe. The first lifting platform 45 is provided with a first pusher 453, which is an electric pusher, which is electrically connected to the controller 21, and the output end of the first pusher 453 is fixedly connected to the push plate 42. The push plate 42 is provided with a second avoidance groove, through which the rotating column 41 passes.

[0043] During transportation, the staff starts the swing member 451 to swing the rotating column 41, exposing the limiting head 44, and causing the yarn tube to move along the rotating column 41 and contact the limiting head 44 to limit the yarn tube; when loading yarn, the staff starts the swing member 451 in the reverse direction to make the rotating column 41 horizontal, and then starts the first pushing member 453 to move the push plate 42, which pushes the yarn tube to move onto the equipment, and then starts the lifting motor 61 to swing the swing rod 62, and drives the connecting rod 64 to move through the connecting head 641, thereby synchronously driving the vertical first lifting platform 45 to move synchronously, so that the rotating column 41 is separated from the yarn tube, thereby achieving the effect of automatic yarn loading.

[0044] Reference Figure 2 , Figure 7 and Figure 8 The lower frame assembly 5 includes a second lifting platform 51, a support tube 52, a moving rod 53 and a toggle block 54. A set of second T-shaped rails is fixedly connected to the position corresponding to the first lifting platform 45 on the fixed plate. Two second T-shaped rails are arranged in a set. The second T-shaped rails are arranged vertically. The second lifting platform 51 is slidably fitted on the second T-shaped rails. The second lifting platform 51 corresponds to the first lifting platform 45 one by one. A lifting member 22 is arranged at the position corresponding to the horizontal row of second lifting platforms 51 on the fixed plate. The lifting member 22 is an electric push rod. The lifting member 22 is electrically connected to the controller 21. The lifting member 22 is installed on the fixed plate. A connecting plate is fixedly connected between the horizontal row of second lifting platforms 51. The output end of the lifting member 22 is fixedly connected to the connecting plate.

[0045] Reference Figure 7 and Figure 8 The support tube 52 is inserted through the fixed plate at a position corresponding to the second lifting platform 51. The support tube 52 is horizontally arranged and is a hollow tube. A guiding bevel is arranged at one end of the support tube 52 away from the fixed plate. The moving rod 53 is horizontally slidably fitted on the second lifting platform 51. One end of the moving rod 53 is located in the support tube 52, and the toggle block 54 is fixedly connected to one end of the moving rod 53. A toggle groove is opened on the support tube 52 at a position corresponding to the toggle block 54. In the initial state, the top end of the toggle block 54 is located in the toggle groove.

[0046] Reference Figure 7 The fixed plate is provided with a second pusher 23, which is an electric push rod and is electrically connected to the controller 21. The output end of the second pusher 23 is fixedly connected to a moving plate 231, which is horizontally arranged. The frame 2 is horizontally fixedly connected to a sliding rail, and the moving plate 231 is slidably matched on the sliding rail. A pushing groove is provided on the moving plate 231. The other end of the moving rod 53 is fixedly connected to a pushing column 531, which passes through the pushing groove.

[0047] When taking the empty yarn tube, the staff starts the second pushing member 23 to move the movable plate 231, and then moves the pushing column 531, driving the horizontal moving rod 53 to move synchronously, so that the toggle block 54 moves to the rear of the empty yarn tube, and then starts the lifting member 22 to drive the horizontal second lifting platform 51 to rise, so that the moving rod 53 rises, and starts the second pushing member 23 in the reverse direction, so that the toggle block 54 rises and pushes the empty yarn tube to move, and the empty yarn tube moves to the supporting tube 52 by guiding the bevel edge, thereby achieving the effect of taking the empty yarn tube.

[0048] The implementation principle of an AGV yarn hanging device in the embodiment of the present application is as follows: the staff controls the movement of the AGV trolley 1 through the controller 21. During this process, the swinging member 451 is started to make the rotating column 41 swing downward, the limiting head 44 is exposed, the yarn tube moves along the rotating column 41, and contacts the limiting head 44 to limit the yarn tube. After the AGV trolley 1 moves to the specified position, the second pushing member 23 is started to move the moving plate 231, the pushing column 531 moves, and the horizontal moving rod 53 is driven to move synchronously, so that the toggle block 54 moves to the rear of the empty yarn tube. Then, the lifting member 22 is started to drive the horizontal second lifting platform 51 to rise, so that the moving rod 53 rises, and the second pushing member 23 is reset. The toggle block 54 rises and pushes the empty yarn bobbin to move. The empty yarn bobbin moves to the support tube 52 through the guiding bevel to take the empty yarn bobbin. Then the rotating motor drives the rotating table 11 to rotate 180 degrees. The staff starts the swing member 451 in reverse to make the rotating column 41 horizontal. Then the first pushing member 453 is started to move the push plate 42. The push plate 42 pushes the yarn bobbin to move the yarn bobbin to the equipment. Then the lifting motor 61 is started to make the swing rod 62 swing. Through the connecting head 641, the connecting rod 64 is driven to move, thereby synchronously driving the vertical first lifting platform 45 to move synchronously, so that the rotating column 41 is separated from the yarn bobbin and the yarn bobbin is put on the rack, thereby realizing the effect of automatically taking and putting the yarn bobbin on the rack.

[0049] The staff uses the yarn upper assembly 4 to limit the movement of the yarn bobbin, avoiding the possibility of the yarn bobbin falling due to swinging when the AGV trolley 1 starts, moves or stops, so that the yarn bobbin can be smoothly transported to the equipment, improving the working efficiency of the yarn hanging device.

[0050] The above are all preferred embodiments of the present application, and the protection scope of the present application is not limited thereto. Therefore, any equivalent changes made according to the structure, shape, and principle of the present application should be included in the protection scope of the present application.

Claims

1. An AGV yarn hanging device, characterized in that: The invention comprises an AGV trolley (1) and a frame (2), wherein the frame (2) is installed on the AGV trolley (1), and a plurality of yarn upper components (4) are arranged on the frame (2), wherein the yarn upper components (4) comprise a rotating column (41), a push plate (42), a fixing rod (43), a limiting head (44) and a first lifting platform (45), wherein the first lifting platform (45) is vertically slidably matched with a plurality of the rotating columns (41), and a lifting component (6) for driving the first lifting platform (45) to move is arranged on the frame (2), one end of the rotating column (41) is rotatably connected to the first lifting platform (45), and the first lifting platform (45) is provided with a swinging member (451) for driving the rotating column (41) to swing, and the end of the rotating column (41) is opened, and one end of the fixing rod (43) is connected to the first lifting platform (45). The limiting head (44) is connected to the other end of the fixing rod (43); the first avoidance groove (411) is provided on the rotating column (41) at the position corresponding to the limiting head (44); in the initial state, the rotating column (41) is horizontally arranged; the top end of the limiting head (44) is flush with the surface of the rotating column (41); the push plate (42) is horizontally slidably fitted on the first lifting platform (45); a second avoidance groove is provided on the push plate (42); the rotating column (41) passes through the second avoidance groove; the first lifting platform (45) is provided with a first pushing member (453) for driving the push plate (42) to move; during transportation, the rotating column (41) is tilted, and the yarn tube is located between the limiting head (44) and the rotating column (41).

2. The AGV yarn hanging device according to claim 1 is characterized in that: The first lifting platform (45) is horizontally connected with a limiting rod (452), the push plate (42) is connected with a connecting pipe, and the limiting rod (452) passes through the connecting pipe and is slidably matched with the connecting pipe.

3. The AGV yarn hanging device according to claim 1 is characterized in that: The lifting assembly (6) comprises a lifting motor (61), a swing rod (62), a connecting block (63) and a connecting rod (64); a plurality of the first lifting platforms (45) are vertically divided into a plurality of rows; the connecting block (63) is connected to the first lifting platforms (45); a third avoidance groove is provided on the frame (2); the connecting block (63) passes through the third avoidance groove; the connecting rod (64) is connected between a plurality of the connecting blocks (63) in the vertical row; a connecting head (641) is connected to the connecting rod (64); the lifting motor (61) is mounted on the frame (2); one end of the swing rod (62) is connected to the output shaft of the lifting motor (61); a swing groove is provided on the swing rod (62); the connecting head (641) is slidably fitted in the swing groove.

4. The AGV yarn hanging device according to claim 1 is characterized in that: The AGV trolley (1) is rotatably connected to a rotating table (11), and the AGV trolley (1) is equipped with a rotating motor for driving the rotating table (11) to rotate. The frame (2) is installed on the rotating table (11), and a lower frame assembly (5) for removing empty yarn tubes is arranged on the side wall of the frame (2) away from the upper yarn assembly (4).

5. The AGV yarn hanging device according to claim 4 is characterized in that: The lower frame assembly (5) comprises a second lifting platform (51), a support tube (52), a moving rod (53) and a toggle block (54); the second lifting platform (51) is vertically slidably fitted on the frame body (2); the support tube (52) is horizontally inserted into the frame body (2); the support tube (52) is a hollow tube; one end of the support tube (52) away from the frame body (2) is provided with a guiding bevel; the moving rod (53) is horizontally slidably fitted on the second lifting platform (51); one end of the moving rod (53) is located at the The toggle block (54) is connected to one end of the moving rod (53) in the support tube (52), and a toggle groove is formed in the support tube (52) at a position corresponding to the toggle block (54). The toggle block (54) is located in the toggle groove, and in an initial state, the top end of the toggle block (54) is located in the toggle groove. A lifting member (22) for driving the second lifting platform (51) to move is provided on the frame (2), and a second pushing member (23) for driving the moving rod (53) to move is also provided on the frame (2).

6. The AGV yarn hanging device according to claim 5 is characterized in that: The lower frame components (5) are arranged in several groups on the frame body (2), and the lower frame components (5) correspond to the upper yarn components (4) one by one. The other end of the moving rod (53) is connected to a pushing column (531), and a moving plate (231) is horizontally slidably matched on the frame body (2). The moving plate (231) is provided with a pushing groove, and all the pushing columns (531) in a horizontal row pass through the pushing groove. The output end of the second pushing member (23) is connected to the moving plate (231).

7. The AGV yarn hanging device according to claim 6, characterized in that: The lifting member (22) is an electric push rod, and the lifting member (22) is connected to the frame (2). A connecting plate is connected between all the second lifting platforms (51) in a horizontal row, and the output end of the lifting member (22) is connected to the connecting plate.

8. The AGV yarn hanging device according to claim 4 is characterized in that: A mounting assembly (3) is provided between the rotating table (11) and the frame (2), and the mounting assembly (3) includes a mounting plate (31), a positioning plate (32) and a locking bolt (33). Four positioning plates (32) are installed on the rotating table (11), and the four positioning plates (32) are divided into two rows. One row of positioning plates (32) is attached to a side wall of the frame (2). A guiding inclined surface is provided on the positioning plate (32). The guiding inclined surfaces on the two positioning plates (32) are arranged opposite to each other, and the reference direction is from the bottom end to the top end of the positioning plate (32). The distance between the two positioning plates (32) gradually increases. The mounting plate (31) is connected to the frame (2) and is located between the two positioning plates (32). The locking bolt (33) passes through the mounting plate (31) and the rotating table (11), and is threadedly matched with the rotating table (11).

Images