Loom warp beam transportation robot and method

Abstract

The loom warp beam conveying robot comprises a moving assembly, the moving assembly is composed of a chassis, first motors, first speed reducers, rotating wheels and a shell, the first motors are symmetrically and fixedly connected to the chassis, and the output ends of the first motors are fixedly connected to the input ends of the first speed reducers; the first speed reducer is fixedly connected to the chassis; according to the invention, the MES system is used for transporting the looms which are about to use up the warp beams in advance, the material using progress of each loom is subjected to emergency degree distinguishing, material preparation in advance and preferential supply can be carried out, and the use experience of a user is improved; the supporting plate is supported through the supporting arm, the second connecting rod and the supporting shaft, the stability of the warp beam in the placing and transporting process is improved, and the warp beam is prevented from falling off and being damaged; the supporting plate is driven to rotate to a certain angle through movement of the gear shaft, then the full-roll warp beams are put down, the warp beams do not need to be conveyed and taken manually, the labor cost is reduced, and the production efficiency is improved.

Description

Technical Field

[0001] The invention relates to the technical field of weaving equipment, and in particular to a warp beam transport robot and method for a loom. Background Art

[0002] In the field of textiles, the warp beam is a horizontal axis used to fix the warp threads during weaving so that the warp threads are arranged in a certain order and intervals; it is an important component of the loom, mainly used to wind and tension the warp threads so that the weft threads can be interwoven with them to form cloth. The use of the warp beam can greatly improve the production efficiency of textiles and ensure the stability of the woven cloth quality. However, the existing warp beam transportation of looms still has shortcomings. First, after the warp beams of the existing looms are used, the transportation and retrieval of the warp beams need to be completed manually, which increases labor costs and reduces production efficiency; second, during the transportation of the warp beams of the existing looms, it is difficult to ensure the placement and stability of the warp beams during transportation, and there is a situation where the warp beams fall and are damaged; third, when using the warp beams of the existing looms, it is difficult to prepare materials in advance and give priority to supply according to the specific usage conditions and emergency situations of material shortages, which affects the user experience. Therefore, it is very necessary to design a loom warp beam transportation robot and method. Summary of the invention

[0003] The object of the present invention is to provide a loom warp beam transport robot and method to solve the problems raised in the above background technology.

[0004] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: a loom warp beam transport robot, comprising a moving component, wherein the moving component is composed of a chassis, a first motor, a first reducer, a rotating wheel and a shell, the first motor is symmetrically fixedly connected to the chassis, the output end of the first motor is fixedly connected to the input end of the first reducer, the first reducer is fixedly connected to the chassis, the output end of the first reducer is fixedly connected to the rotating wheel, a rack in a transport component is fixedly connected to the chassis, a support groove is provided on the rack, a third motor in a supporting component is fixedly connected to the chassis, the output end of the third motor is fixedly connected to the input end of the third reducer, the third reducer is fixedly connected to the chassis, and the shell is fixedly connected to the chassis.

[0005] As a further technical solution of the present invention, the conveying assembly is composed of a rack, a support groove, a limit piece, a support frame, a second reducer, a second motor, a gear shaft, a connecting plate, a support plate, a limit plate and a warp shaft. The limit piece is tightly attached to the support groove, the limit piece is fixed on the support frame, the support frame is fixedly connected with the second reducer, the input end of the second reducer is fixedly connected with the output end of the second motor, the second motor is fixedly connected to the second reducer, the output end of the second reducer passes through the support frame and is fixedly connected to the gear shaft, and the gear shaft is meshingly connected to the rack.

[0006] As a further technical solution of the present invention, the support frames are respectively fixedly connected with connecting plates, the connecting plates are fixedly connected with supporting plates, the supporting plates are fixedly connected with limiting plates, and the support plates are tightly attached with warp beams.

[0007] As a further technical solution of the present invention, the support assembly is composed of a third motor, a third reducer, a first gear, a second gear, a first connecting rod, a support arm, a second connecting rod, a support shaft, a first limiting hole, a second limiting hole, a fixed seat, a hydraulic cylinder, a limiting shaft, a limiting seat, a fixed rod, a first rotating seat and a second rotating seat. The output end of the third reducer is fixedly connected to the first gear, the first gear is meshingly connected to the second gear, the second gear is fixedly connected to the first connecting rod, the first connecting rod is fixedly connected to the support arm, the support arm is fixedly connected with the second connecting rod, the second connecting rod is tightly attached to the limiting plate, the second connecting rod is fixedly connected with the support shaft, and the support shaft is tightly attached to the support plate.

[0008] As a further technical solution of the present invention, the second gear is rotatably connected to one end of the fixed rod, the other end of the fixed rod passes through the support arm and is fixedly connected to the first rotating seat, the first rotating seat is rotatably connected to the support arm, the support arm is provided with a first limiting hole, the support arm is provided with a second limiting hole, the first rotating seat is fixedly connected to the chassis, the chassis is fixedly connected to the second rotating seat, and the second rotating seat is rotatably connected to the first connecting rod.

[0009] As a further technical solution of the present invention, a fixed seat is symmetrically fixedly connected to the chassis, a hydraulic cylinder is fixedly connected to the fixed seat, the output end of the hydraulic cylinder is fixedly connected to one end of the limit shaft, the limit shaft is slidably connected in the limit seat, and the limit seat is fixedly connected to the chassis.

[0010] A method for transporting a warp beam of a loom, comprising the following steps: step 1, taking material based on instructions; step 2, material support; step 3, material transport and support;

[0011] In the above step 1, the transport robot is instructed to carry out transport through the MES system;

[0012] In the above step 2, support is provided during the unloading and transportation process;

[0013] In the above step 3, the materials are automatically unloaded after being transported to the designated location.

[0014] As a further technical solution of the present invention, in the step one, a transport robot is matched with each loom in the MES system, and a transport route between the corresponding loom and the warehouse is set in each transport robot. The loom feeds back the usage speed of the warp beam to the MES system in real time. When the warp beam of the loom is about to be used up, the loom sends the loading demand to the MES system. The MES system first extracts the preparation status of the full-roll warp beam in the warehouse, and determines whether to enable the transport robot to transport materials according to the actual preparation status. If the preparation status meets the use, the MES system calls the corresponding transport robot for the loom that is about to use up the warp beam for early transportation. If there are When material loading requests from multiple looms are pending, the urgency is differentiated according to the material usage progress of each loom, and then the MES system calls the corresponding transport robot for the loom with a higher urgency and that has issued a request, that is, the MES system sends the call instruction of the transport robot to the robot's scheduling system, and the robot's scheduling system dispatches the assigned transport robot to the material preparation area of ​​the warehouse to pick up materials according to a preset transport route, wherein the output of the first motor and the first reducer drives the rotating wheel to move, so that it drives the chassis and the whole to move according to the predetermined route, and a loading device is provided in the warehouse, which automatically places the full warp beam on the support plate when sensing that the transport robot comes to pick up materials.

[0015] As a further technical solution of the present invention, in the step 2, during the placement process, the first gear and the second gear are driven to rotate by the output of the third motor and the third reducer, and the first connecting rod and the support arm are driven to rotate by the second gear. When the second connecting rod on the support arm is tightly against the limit plate, it stops. At this time, the support shaft on the second connecting rod is just tightly against the bottom of the support plate, and the first limit hole is directly in front of one end of the limit shaft. At this time, the limit shaft is driven to move in the limit seat by the output of the hydraulic cylinder until one end of the limit shaft is located in the first limit hole. At this time, the support arm is fixed by the limit shaft and the first limit hole, and the support plate is supported by the support arm, the second connecting rod and the support shaft.

[0016] As a further technical solution of the present invention, in the step three, when the fully rolled warp shaft is placed on the support plate and the support for the support plate is completed, the output of the first motor and the first reducer drives the rotating wheel to move, so that it drives the chassis and the whole to move along a predetermined route. After moving to the position of the loom to be loaded, the limit shaft is driven to move in the limit seat by the output of the hydraulic cylinder until one end of the limit shaft is away from the first limit hole, and the first gear and the second gear are driven to rotate by the output of the third motor and the third reducer, and the first connecting rod and the support arm are driven to rotate by the second gear. When the support shaft touches the ground, it stops, and the second limit hole is directly in front of one end of the limit shaft. The output of the hydraulic cylinder drives the limit shaft to move in the limit seat until one end of the limit shaft is located in the second limit hole. At this time, the support arm and the support shaft are fixed by the limit shaft and the second limit hole, and the support arm and the support shaft complete the support of the whole. At this time, the output of the second motor and the second reducer drives the gear shaft to move on the gear rail, and at the same time, the limit member moves in the support groove to limit and support the support frame and the gear shaft. At this time, the movement of the gear shaft drives the support frame, the connecting plate, the limit plate and the support plate to move along the route of the gear rail until the support plate is rotated to a certain angle and the fully rolled warp shaft is put down, and then returns to the parking area of ​​the transport robot to wait for subsequent instructions.

[0017] Compared with the prior art, the beneficial effects of the present invention are as follows: the warp beam transport robot and method for a loom matches a transport robot to each loom in the MES system, and sets a transport route between the corresponding loom and the warehouse in each transport robot. The loom feeds back the use speed of the warp beam to the MES system in real time. When the warp beam of the loom is about to be used up, the loom sends the loading demand to the MES system. The MES system first extracts the stock preparation status of the full-roll warp beam in the warehouse, and determines whether to enable the transport robot for material transportation according to the actual stock preparation status. If the material preparation situation meets the requirements, the MES system calls the corresponding transport robot for the loom that is about to run out of warp beams for early transport. If there are multiple loom loading requests to be processed at the same time, the urgency is distinguished according to the material usage progress of each loom, and then the MES system calls the corresponding transport robot for the loom with higher urgency and making a request, that is, the MES system sends the call instruction of the transport robot to the robot's scheduling system, and the robot's scheduling system dispatches the assigned transport robot to the warehouse's material preparation area to pick up materials according to the preset transportation route, wherein the output of the first motor and the first reducer drives the rotating wheel to move, so that it drives the chassis and the whole to move according to the predetermined route. A loading device is provided in the warehouse. When the transport robot is sensed to come to pick up materials, the full warp beam is automatically placed on the support plate. According to the specific usage and material shortage emergency, advance material preparation and priority supply can be carried out, thereby improving the user experience; in the process of placement, the first gear and the second gear are driven to rotate by the output of the third motor and the third reducer, and the first connecting rod and the support arm are driven to rotate by the second gear. When the support arm When the second connecting rod on the support plate is tightly against the limit plate, it stops. At this time, the supporting shaft on the second connecting rod is just tightly against the bottom of the supporting plate, and the first limit hole is just in front of one end of the limit shaft. At this time, the limit shaft is driven to move in the limit seat by the output of the hydraulic cylinder until one end of the limit shaft is located in the first limit hole. At this time, the support arm is fixed by the limit shaft and the first limit hole, and the support plate is supported by the support arm, the second connecting rod and the support shaft. During the transportation of the warp shaft of the loom, the stability of the placement and transportation of the warp shaft is improved, and the warp shaft is prevented from falling and being damaged.When the fully rolled warp shaft is placed on the support plate and the support for the support plate is completed, the output of the first motor and the first reducer drives the rotating wheel to move, so that it drives the chassis and the whole to move along a predetermined route. After moving to the position of the loom to be loaded, the limit shaft is driven to move in the limit seat by the output of the hydraulic cylinder until one end of the limit shaft is away from the first limit hole, and the first gear and the second gear are driven to rotate by the output of the third motor and the third reducer, and the first connecting rod and the support arm are driven to rotate by the second gear. When the support shaft touches the ground, it stops. At this time, the second limit hole is directly in front of one end of the limit shaft, and the limit shaft is driven to move in the limit seat by the output of the hydraulic cylinder until One end of the limiting shaft is located in the second limiting hole. At this time, the support arm and the support shaft are fixed by the limiting shaft and the second limiting hole, and the support arm and the support shaft support the whole. At this time, the output of the second motor and the second reducer drives the gear shaft to move on the gear rail. At the same time, the limiting member moves in the support groove to limit and support the support frame and the gear shaft. At this time, the movement of the gear shaft drives the support frame, the connecting plate, the limiting plate and the support plate to move along the route of the gear rail until the support plate is rotated to a certain angle to put down the full warp shaft, and then returns to the parking area of ​​the transport robot to wait for subsequent instructions. There is no need to manually complete the transportation and use of the warp shaft, which reduces labor costs and improves production efficiency. ; BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0019] Figure 2 It is a schematic diagram of the position of the rotating wheel in the invention;

[0020] Figure 3 It is a schematic diagram of the position of the hydraulic cylinder in the invention;

[0021] Figure 4 for Figure 3 A magnified view of the local structure of area A in the middle;

[0022] Figure 5 It is a schematic diagram of the position of the support groove in the present invention;

[0023] Figure 6 is a flow chart of the method of the present invention;

[0024] In the figure: 1. moving component; 2. handling component; 4. supporting component; 11. chassis; 12. first motor; 13. first reducer; 14. rotating wheel; 15. housing; 21. rack; 22. supporting groove; 23. limiting member; 24. supporting frame; 25. second reducer; 26. second motor; 27. gear shaft; 28. connecting plate; 29. ​​supporting plate; 30. limiting plate; 31. warp shaft; 41. third motor; 42. third reducer; 43. first gear; 44. second gear; 45. first connecting rod; 46. supporting arm; 47. second connecting rod; 48. supporting shaft; 49. first limiting hole; 50. second limiting hole; 51. fixing seat; 52. hydraulic cylinder; 53. limiting shaft; 54. limiting seat; 55. fixing rod; 56. first rotating seat; 57. second rotating seat. DETAILED DESCRIPTION

[0025] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0026] Please see attached Figure 1 -Attached Figure 5An embodiment of the present invention is as follows: a warp beam transport robot for a loom comprises a moving assembly 1, the moving assembly 1 comprises a chassis 11, a first motor 12, a first reducer 13, a rotating wheel 14 and a housing 15, the chassis 11 is symmetrically fixedly connected with the first motor 12, the output end of the first motor 12 is fixedly connected to the input end of the first reducer 13, the first reducer 13 is fixedly connected to the chassis 11, the output end of the first reducer 13 is fixedly connected to the rotating wheel 14, the chassis 11 is fixedly connected with a rack rail 21 in a transport assembly 2, the rack rail 21 is provided with a supporting groove 22, the chassis 11 is fixedly connected with a third motor 41 in a supporting assembly 4, the output end of the third motor 41 is fixedly connected to the input end of the third reducer 42 The third reducer 42 is fixedly connected to the chassis 11, and the chassis 11 is fixedly connected with the housing 15. The handling assembly 2 is composed of a rack 21, a support groove 22, a limiter 23, a support frame 24, a second reducer 25, a second motor 26, a gear shaft 27, a connecting plate 28, a support plate 29, a limiter plate 30 and a warp shaft 31. The limiter 23 is tightly attached to the support groove 22, and the limiter 23 is fixedly mounted on the support frame 24. The support frame 24 is fixedly connected with the second reducer 25. The input end of the second reducer 25 is fixedly connected to the output end of the second motor 26. The second motor 26 is fixedly connected to the second reducer 25. The output end of the second reducer 25 passes through the support frame 24 and is fixedly connected to the gear shaft 27. The gear shaft 27 is meshed and connected to the gear shaft 27. The rail 21 and the support frame 24 are respectively fixedly connected with a connecting plate 28, a supporting plate 29 is fixedly connected to the connecting plate 28, a limiting plate 30 is fixedly connected to the supporting plate 29, and a warp axis 31 is closely attached to the supporting plate 29. The supporting assembly 4 is composed of a third motor 41, a third reducer 42, a first gear 43, a second gear 44, a first connecting rod 45, a supporting arm 46, a second connecting rod 47, a supporting shaft 48, a first limiting hole 49, a second limiting hole 50, a fixing seat 51, a hydraulic cylinder 52, a limiting shaft 53, a limiting seat 54, a fixing rod 55, a first rotating seat 56 and a second rotating seat 57. The output end of the third reducer 42 is fixedly connected to the first gear 43, the first gear 43 is meshedly connected to the second gear 44, and the second gear The wheel 44 is fixedly connected to the first connecting rod 45, the first connecting rod 45 is fixedly connected to the supporting arm 46, the supporting arm 46 is fixedly connected with the second connecting rod 47, the second connecting rod 47 is tightly attached to the limiting plate 30, the second connecting rod 47 is fixedly connected with the supporting shaft 48, the supporting shaft 48 is tightly attached to the supporting plate 29, the second gear 44 is rotatably connected to one end of the fixing rod 55, the other end of the fixing rod 55 passes through the supporting arm 46 and is fixedly connected to the first rotating seat 56, the first rotating seat 56 is rotatably connected with the supporting arm 46, the supporting arm 46 is provided with a first limiting hole 49, the supporting arm 46 is provided with a second limiting hole 50, the first rotating seat 56 is fixedly connected to the chassis 11, the chassis 11 is fixedly connected with the second rotating seat 57,The first connecting rod 45 is rotatably connected to the second rotating seat 57, and the fixing seat 51 is symmetrically fixedly connected to the chassis 11. The fixing seat 51 is fixedly connected to the hydraulic cylinder 52. The output end of the hydraulic cylinder 52 is fixedly connected to one end of the limit shaft 53. The limit shaft 53 is slidably connected to the limit seat 54. The limit seat 54 is fixedly connected to the chassis 11.

[0027] Please see attached Figure 6 , an embodiment provided by the present invention: a method for transporting a warp beam of a loom, comprising the following steps: step one, taking material based on instructions; step two, material support; step three, material transport and support;

[0028] In the above step 1, the transport robot is instructed to carry out transportation through the MES system. A transport robot is matched for each loom in the MES system, and a transport route between the corresponding loom and the warehouse is set in each transport robot. The loom feeds back the usage speed of the warp beam 31 to the MES system in real time. When the warp beam 31 of the loom is about to be used up, the loom sends the loading demand to the MES system. The MES system first extracts the preparation status of the full-roll warp beam 31 in the warehouse, and determines whether to enable the transport robot to transport materials according to the actual preparation status. If the preparation status meets the use, the MES system calls the corresponding transport robot for the loom that is about to use up the warp beam 31 for early transportation. If there are When there are multiple loom material loading requests to be processed, the urgency is differentiated according to the material usage progress of each loom, and then the MES system calls the corresponding transport robot for the loom with a higher urgency and a request, that is, the MES system sends the call instruction of the transport robot to the robot scheduling system, and the robot scheduling system dispatches the assigned transport robot to the material preparation area of ​​the warehouse to pick up materials according to the preset transport route, wherein the output of the first motor 12 and the first reducer 13 drives the rotating wheel 14 to move, so that it drives the chassis 11 and the whole to move according to the predetermined route, and a loading device is provided in the warehouse, and when the transport robot is sensed to come to pick up materials, the full warp beam 31 is automatically placed on the support plate 29;

[0029] In the above step 2, support is provided during the material discharge and transportation process. During the placement process, the output of the third motor 41 and the third reducer 42 drives the first gear 43 and the second gear 44 to rotate, and the second gear 44 drives the first connecting rod 45 and the support arm 46 to rotate. When the second connecting rod 47 on the support arm 46 is tightly against the limiting plate 30, it stops. At this time, the support shaft 48 on the second connecting rod 47 is just tightly against the bottom of the support plate 29, and the first limiting hole 49 is directly in front of one end of the limiting shaft 53. At this time, the limiting shaft 53 is driven by the output of the hydraulic cylinder 52 to move in the limiting seat 54 until one end of the limiting shaft 53 is located in the first limiting hole 49. At this time, the support arm 46 is fixed by the limiting shaft 53 and the first limiting hole 49, and the support plate 29 is supported by the support arm 46, the second connecting rod 47 and the support shaft 48.

[0030] In the above step three, the material is automatically unloaded after being transported to the designated location. When the full-rolled warp shaft 31 is placed on the support plate 29 and the support for the support plate 29 is completed, the output of the first motor 12 and the first reducer 13 drives the rotating wheel 14 to move, so that it drives the chassis 11 and the entirety to move along a predetermined route. After moving to the position of the loom to be loaded, the output of the hydraulic cylinder 52 drives the limiting shaft 53 to move in the limiting seat 54 until one end of the limiting shaft 53 is away from the first limiting hole 49, and the output of the third motor 41 and the third reducer 42 drives the first gear 43 and the second gear 44 to rotate, and the second gear 44 drives the first connecting rod 45 and the support arm 46 to rotate, and when the support shaft 48 touches the ground, it stops. At this time, the second limiting hole 50 is directly in front of one end of the limiting shaft 53, and the hydraulic cylinder 52 drives the first gear 43 and the second gear 44 to rotate. The output of the pressure cylinder 52 drives the limiting shaft 53 to move in the limiting seat 54 until one end of the limiting shaft 53 is located in the second limiting hole 50. At this time, the support arm 46 and the support shaft 48 are fixed by the limiting shaft 53 and the second limiting hole 50, and the support arm 46 and the support shaft 48 complete the support of the whole. At this time, the output of the second motor 26 and the second reducer 25 drives the gear shaft 27 to move on the gear rail 21. At the same time, the movement of the limiting member 23 in the support groove 22 limits and supports the support frame 24 and the gear shaft 27. At this time, the movement of the gear shaft 27 drives the support frame 24, the connecting plate 28, the limiting plate 30 and the support plate 29 to move along the route of the gear rail 21 until the support plate 29 is rotated to a certain angle and the full-roll warp shaft 31 is put down, and then returns to the parking area of ​​the transport robot to wait for subsequent instructions.

[0031] Working principle: When in use, a transport robot is matched for each loom in the MES system, and a transport route between the corresponding loom and the warehouse is set in each transport robot. The loom feeds back the usage speed of the warp beam 31 to the MES system in real time. When the warp beam 31 of the loom is about to be used up, the loom sends the material loading demand to the MES system. The MES system first extracts the stock preparation status of the full-roll warp beam 31 in the warehouse, and determines whether to enable the transport robot for material transportation based on the actual stock preparation status. If the stock preparation status meets the use requirements, the MES system calls the transport robot for the loom that is about to use up the warp beam 31. The transport robot should be used for advance transport. If there are multiple loom material loading requests to be processed at the same time, the urgency is distinguished according to the material usage progress of each loom, and then the MES system calls the corresponding transport robot for the loom with higher urgency and making a request, that is, the MES system sends the call instruction of the transport robot to the robot scheduling system, and the robot scheduling system dispatches the assigned transport robot to the material preparation area of ​​the warehouse to pick up materials according to the pre-set transport route, wherein the output of the first motor 12 and the first reducer 13 drives the rotating wheel 14 to move, so that it drives the chassis 11 and the whole according to The warehouse is provided with a loading device, which automatically places the fully rolled warp shaft 31 on the support plate 29 when sensing that the transport robot comes to pick up the materials. The materials can be prepared in advance and supplied in priority according to the specific usage and the emergency of material shortage, thereby improving the user experience. In the process of placing, the output of the third motor 41 and the third reducer 42 drives the first gear 43 and the second gear 44 to rotate, and the second gear 44 drives the first connecting rod 45 and the support arm 46 to rotate, and the second connecting rod 47 on the support arm 46 stops when it is close to the limit plate 30. At this time, the second connecting rod 47 is on the The support shaft 48 is just in close contact with the bottom of the support plate 29, and the first limiting hole 49 is in front of one end of the limiting shaft 53. At this time, the limiting shaft 53 is driven by the output of the hydraulic cylinder 52 to move in the limiting seat 54 until one end of the limiting shaft 53 is located in the first limiting hole 49. At this time, the support arm 46 is fixed by the limiting shaft 53 and the first limiting hole 49, and the support plate 29 is supported by the support arm 46, the second connecting rod 47, and the support shaft 48. During the transportation of the warp beam 31 of the loom, the stability of the warp beam 31 during placement and transportation is improved, and the warp beam 31 is prevented from falling and being damaged.When the full-roll warp shaft 31 is placed on the support plate 29 and the support for the support plate 29 is completed, the output of the first motor 12 and the first reducer 13 drives the rotating wheel 14 to move, so that it drives the chassis 11 and the whole to move along a predetermined route. After moving to the position of the loom to be loaded, the output of the hydraulic cylinder 52 drives the limiting shaft 53 to move in the limiting seat 54 until one end of the limiting shaft 53 is away from the first limiting hole 49, and the output of the third motor 41 and the third reducer 42 drives the first gear 43 and the second gear 44 to rotate, and the second gear 44 drives the first connecting rod 45 and the support arm 46 to rotate, and when the support shaft 48 touches the ground, it stops. At this time, the second limiting hole 50 is directly in front of one end of the limiting shaft 53, and the output of the hydraulic cylinder 52 drives the limiting shaft 53 to move in the limiting seat 54 until One end of the limiting shaft 53 is located in the second limiting hole 50. At this time, the support arm 46 and the support shaft 48 are fixed by the limiting shaft 53 and the second limiting hole 50, and the support arm 46 and the support shaft 48 complete the support of the whole. At this time, the output of the second motor 26 and the second reducer 25 drives the gear shaft 27 to move on the rack 21. At the same time, the movement of the limiting member 23 in the support groove 22 limits and supports the support frame 24 and the gear shaft 27. At this time, the movement of the gear shaft 27 drives the support frame 24, the connecting plate 28, the limiting plate 30 and the support plate 29 to move along the route of the rack 21 until the support plate 29 is rotated to a certain angle to put down the full-rolled warp shaft 31, and then returns to the parking area of ​​the transport robot to wait for subsequent instructions. There is no need to manually complete the transportation and retrieval of the warp shaft 31, which reduces labor costs and improves production efficiency. ;

[0032] It will be apparent to those skilled in the art that the invention is not limited to the details of the exemplary embodiments described above and that the invention can be implemented in other specific forms without departing from the spirit or essential features of the invention. Therefore, the embodiments should be considered exemplary and non-limiting in all respects, and the scope of the invention is defined by the appended claims rather than the foregoing description, and it is intended that all variations falling within the meaning and scope of the equivalent elements of the claims be included in the invention. Any reference numeral in a claim should not be considered as limiting the claim to which it relates.

Claims

1. A loom warp beam transport robot, comprising a moving component (1), characterized in that: The moving assembly (1) is composed of a chassis (11), a first motor (12), a first reducer (13), a rotating wheel (14) and a housing (15); the first motor (12) is symmetrically fixedly connected to the chassis (11); the output end of the first motor (12) is fixedly connected to the input end of the first reducer (13); the first reducer (13) is fixedly connected to the chassis (11); the output end of the first reducer (13) is fixedly connected to the rotating wheel (14); the chassis (11) is fixedly connected to a rack rail (21) in the transport assembly (2); the rack rail (21) is provided with a supporting groove (22); the chassis (11) is fixedly connected to a third motor (41) in the supporting assembly (4); the output end of the third motor (41) is fixedly connected to the input end of the third reducer (42); the third reducer (42) is fixedly connected to the chassis (11); and the housing (15) is fixedly connected to the chassis (11).

2. A loom warp beam transport robot according to claim 1, characterized in that: The transport assembly (2) is composed of a gear rail (21), a support groove (22), a stopper (23), a support frame (24), a second reducer (25), a second motor (26), a gear shaft (27), a connecting plate (28), a support plate (29), a stopper plate (30) and a warp shaft (31). The support groove (22) is tightly attached to the stopper (23). The stopper (23) is fixedly mounted on the support frame (24). The support frame (24) is fixedly connected with the second reducer (25). The input end of the second reducer (25) is fixedly connected with the output end of the second motor (26). The second motor (26) is fixedly connected to the second reducer (25). The output end of the second reducer (25) passes through the support frame (24) and is fixedly connected to the gear shaft (27). The gear shaft (27) is meshingly connected to the gear rail (21).

3. A loom warp beam transport robot according to claim 2, characterized in that: The support frames (24) are respectively fixedly connected with connecting plates (28), the connecting plates (28) are fixedly connected with supporting plates (29), the supporting plates (29) are fixedly connected with limiting plates (30), and the supporting plates (29) are tightly attached with warp beams (31).

4. The loom warp beam transport robot according to claim 1, characterized in that: The support assembly (4) is composed of a third motor (41), a third reducer (42), a first gear (43), a second gear (44), a first connecting rod (45), a support arm (46), a second connecting rod (47), a support shaft (48), a first limiting hole (49), a second limiting hole (50), a fixing seat (51), a hydraulic cylinder (52), a limiting shaft (53), a limiting seat (54), a fixing rod (55), a first rotating seat (56) and a second rotating seat (57), wherein the third reducer (42) The output end is fixedly connected to the first gear (43), the first gear (43) is meshedly connected to the second gear (44), the second gear (44) is fixedly connected to the first connecting rod (45), the first connecting rod (45) is fixedly connected to the support arm (46), the support arm (46) is fixedly connected to the second connecting rod (47), the second connecting rod (47) is tightly attached to the limiting plate (30), the second connecting rod (47) is fixedly connected to the supporting shaft (48), and the supporting shaft (48) is tightly attached to the supporting plate (29).

5. The warp beam transport robot for a loom according to claim 4, characterized in that: The second gear (44) is rotatably connected to one end of a fixed rod (55); the other end of the fixed rod (55) passes through the support arm (46) and is fixedly connected to the first rotating seat (56); the first rotating seat (56) is rotatably connected to the support arm (46); the support arm (46) is provided with a first limiting hole (49); the support arm (46) is provided with a second limiting hole (50); the first rotating seat (56) is fixedly connected to the chassis (11); the chassis (11) is fixedly connected to the second rotating seat (57); the second rotating seat (57) is rotatably connected to the first connecting rod (45).

6. The warp beam transport robot for a loom according to claim 5, characterized in that: A fixing seat (51) is symmetrically fixedly connected to the chassis (11), a hydraulic cylinder (52) is fixedly connected to the fixing seat (51), an output end of the hydraulic cylinder (52) is fixedly connected to one end of a limiting shaft (53), the limiting shaft (53) is slidably connected to a limiting seat (54), and the limiting seat (54) is fixedly connected to the chassis (11).

7. A method for transporting a warp beam of a loom, comprising the following steps: Step 1: material picking based on instructions; Step 2: material support; Step 3: material transportation and support; It is characterized by: In the above step 1, the transport robot is instructed to carry out transport through the MES system; In the above step 2, support is provided during the unloading and transportation process; In the above step 3, the materials are automatically unloaded after being transported to the designated location.

8. A loom warp beam transportation method according to claim 7, characterized in that: In the step 1, a transport robot is matched to each loom in the MES system, and a transport route between the corresponding loom and the warehouse is set in each transport robot. The loom feeds back the usage speed of the warp beam (31) to the MES system in real time. When the warp beam (31) of the loom is about to be used up, the loom sends the loading demand to the MES system. The MES system first extracts the stock preparation status of the full-roll warp beam (31) in the warehouse, and determines whether to enable the transport robot to transport the materials according to the actual stock preparation status. If the stock preparation status meets the usage, the MES system calls the corresponding transport robot for the loom that is about to use up the warp beam (31) to transport it in advance. If there are loading requests for multiple looms at the same time, The materials are to be processed, and the urgency is differentiated according to the material usage progress of each loom. Then, the MES system calls the corresponding transport robot for the loom with higher urgency and that has issued a request, that is, the MES system sends the call instruction of the transport robot to the robot scheduling system, and the robot scheduling system dispatches the assigned transport robot to go to the material preparation area of ​​the warehouse to pick up materials according to a pre-set transport route, wherein the output of the first motor (12) and the first reducer (13) drives the rotating wheel (14) to move, so that it drives the chassis (11) and the whole to move according to the predetermined route. A loading device is provided in the warehouse, and when the transport robot is sensed to come to pick up materials, the full warp beam (31) is automatically placed on the support plate (29).

9. A loom warp beam transportation method according to claim 7, characterized in that: In the step 2, during the placement process, the output of the third motor (41) and the third reducer (42) drives the first gear (43) and the second gear (44) to rotate, and the second gear (44) drives the first connecting rod (45) and the support arm (46) to rotate, and the second connecting rod (47) on the support arm (46) stops when it is tightly against the limit plate (30). At this time, the support shaft (48) on the second connecting rod (47) is just tightly against the bottom of the support plate (29). At this time, the first limiting hole (49) is located directly in front of one end of the limiting shaft (53). At this time, the limiting shaft (53) is driven by the output of the hydraulic cylinder (52) to move in the limiting seat (54) until one end of the limiting shaft (53) is located in the first limiting hole (49). At this time, the support arm (46) is fixed by the limiting shaft (53) and the first limiting hole (49), and the support plate (29) is supported by the support arm (46), the second connecting rod (47) and the support shaft (48).

10. A loom warp beam transportation method according to claim 7, characterized in that: In the step 3, when the full-roll warp beam (31) is placed on the support plate (29) and the support plate (29) is supported, the output of the first motor (12) and the first reducer (13) drives the rotating wheel (14) to move, so that it drives the chassis (11) and the whole to move along a predetermined route. After moving to the position of the loom to be loaded, the output of the hydraulic cylinder (52) drives the limiting shaft (53) to move in the limiting seat (54) until one end of the limiting shaft (53) is away from the first limiting hole (49), and the output of the third motor (41) and the third reducer (42) drives the first gear (43) and the second gear (44) to rotate, and the second gear (44) drives the first connecting rod (45) and the support arm (46) to rotate. When the support shaft (48) touches the ground, it stops. At this time, the second limiting hole (50) is located directly in front of one end of the limiting shaft (53). The output of the hydraulic cylinder (52) drives the limiting shaft (53) to move in the limiting seat (54) until one end of the limiting shaft (53) is away from the first limiting hole (49). The positioning shaft (53) moves in the positioning seat (54) until one end of the positioning shaft (53) is located in the second positioning hole (50). At this time, the support arm (46) and the support shaft (48) are fixed by the positioning shaft (53) and the second positioning hole (50), and the support arm (46) and the support shaft (48) are supported as a whole. At this time, the output of the second motor (26) and the second reducer (25) drives the gear shaft (27) to move on the gear rail (21). At the same time, the support frame (24) and the gear shaft (27) are limited and supported by the movement of the limit member (23) in the support groove (22). At this time, the movement of the gear shaft (27) drives the support frame (24), the connecting plate (28), the limit plate (30) and the support plate (29) to move along the route of the rack (21) until the support plate (29) is rotated to a certain angle and the fully rolled warp beam (31) is put down, and then returns to the parking area of ​​the transport robot to wait for subsequent instructions.

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