A kind of yarn tube automatic replacement equipment

Abstract

The present invention belongs to the technical field of textile equipment, specifically, an automatic bobbin replacement device, including an AGV trolley, a rotating drive disk is provided on the AGV trolley, a material taking and releasing mechanism is installed on the rotating drive disk, the material taking and releasing mechanism includes a column installed on the rotating drive disk, a mounting plate is slidably installed on the column, a servo motor 2 is fixed on one side of the front end face of the mounting plate, a gear meshing with a rack is fixed on the rotating shaft of the servo motor 2, a gear ring is rotatably installed on the other side of the front end face of the mounting plate, a servo motor 1 is fixed on one side of the rear end face of the mounting plate, a transmission gear meshing with the gear ring is fixed on the rotating shaft of the servo motor 1, one end of the gear ring is fixedly connected with a traverse mechanism, a bobbin clamping mechanism is installed on one side of the output end of the traverse mechanism, and a bobbin grabbing mechanism is installed on the other side of the output end of the traverse mechanism. The entire bobbin replacement process is highly automated, reducing manual intervention and improving production efficiency.

Description

Technical Field

[0001] The invention belongs to the technical field of textile equipment, in particular to an automatic yarn bobbin replacement device. Background Art

[0002] In the production process of textile enterprises, yarn is usually wound into yarn tubes to facilitate storage and transportation. The main purpose of winding yarn tubes is to increase the yarn capacity of the package to improve the production efficiency of subsequent processes.

[0003] The Chinese utility model patent with publication number CN215755726U discloses an automatic yarn bobbin changing device on a warping machine, which belongs to the technical field of yarn bobbin processing, including a yarn bobbin feeding mechanism, a bobbin core unloading mechanism, a lifting mechanism, an automatic yarn bobbin placing box, a bobbin core collecting box, and a yarn changing trolley. The yarn bobbin feeding mechanism includes a feeding motor, a screw rod, a feeding cylinder, a T-nut, a support plate, and a movable panel. The bobbin core unloading mechanism includes a unloading motor, a movable panel, a screw rod, a T-nut, a support plate, and a unloading cylinder. The automatic yarn bobbin placing box includes a telescopic cylinder, a baffle plate, and a yarn bobbin box. An inclined frame is provided in the yarn bobbin box.

[0004] When the above device is in use, it is necessary to first remove the yarn bobbin that has been wound up on the equipment through the yarn bobbin clamp, and then manually move the yarn changing trolley to align the yarn tube grasped by the yarn bobbin clamp with the loading position of the equipment, so that the position of the yarn changing trolley needs to be frequently changed during the process of taking and placing the yarn bobbin, and it is highly dependent on manual labor, which reduces work efficiency. Summary of the invention

[0005] The object of the present invention is to provide an automatic yarn bobbin replacement device, which can automatically move along a preset path and automatically replace the yarn bobbin that needs to be replaced, without the need for manual operation by personnel, and has high production efficiency.

[0006] In order to solve the above-mentioned technical problems, the present invention provides an automatic bobbin changing device, including an AGV trolley, the AGV trolley is provided with a rotating drive disk, and a material picking and unloading mechanism is installed on the rotating drive disk; the material picking and unloading mechanism includes a column installed on the rotating drive disk, a rack is fixed on one side of the column, a mounting plate is slidably installed on the column, a servo motor 2 is fixed on one side of the front end face of the mounting plate, a gear meshing with the rack is fixed on the rotating shaft of the servo motor 2, a gear ring is rotatably installed on the other side of the front end face of the mounting plate, a servo motor 1 is fixed on one side of the rear end face of the mounting plate, a transmission gear meshing with the gear ring is fixed on the rotating shaft of the servo motor 1, one end of the gear ring is fixedly connected to a transverse movement mechanism, a yarn tube clamping mechanism is installed on one side of the transverse movement mechanism, and a yarn bobbin grabbing mechanism is installed on the output end of the transverse movement mechanism.

[0007] Preferably, the yarn tube grabbing mechanism includes a base plate 2 installed at the output end of the transverse movement mechanism, a support plate is slidably installed on the base plate 2, a servo motor 5 is fixed on the support plate, a rotating shaft of the servo motor 5 is connected to a fixed seat, a base plate 1 is fixed to one side of the fixed seat, one end of the base plate 1 is hinged with a grabbing assembly, a cylinder 1 is fixed on the base plate 1, a push rod of the cylinder 1 is hinged with a connecting rod, and one end of the connecting rod is hinged to the grabbing assembly.

[0008] Preferably, the yarn tube clamping mechanism includes a back plate installed on one side of the transverse movement mechanism, a mounting plate is slidably mounted on one side of the back plate, a vertical plate three is fixed to one end of the mounting plate, a clamping assembly is installed on one side of the vertical plate three, and a cylinder three for driving the clamping assembly is fixed to one side of the mounting plate.

[0009] Preferably, the clamping assembly includes a push rod and a positioning sleeve fixed on the vertical plate three, the positioning sleeve is provided with a guide cavity one at one end close to the vertical plate three, the other end of the positioning sleeve is provided with a guide cavity two connected to the guide cavity one, the outer peripheral surface of the positioning sleeve is provided with four groups of movable grooves connected to the guide cavity two, each of the movable grooves is hinged with a clamping arm, one end of the push rod extends into the guide cavity two, the other end of the push rod is fixedly connected to the push rod of the cylinder three, a guide seat is provided on the push rod, and the push rod outer sleeve has a guide seat abutting against the guide seat Spring, the spring and the guide seat are both located in the guide cavity one, the push rod is provided with a cross groove at the end away from the vertical plate three, and the four notches of the cross groove are hinged with top blocks corresponding to the clamping arms one by one, the top blocks are embedded in the movable groove and point to the clamping arm, the end of the positioning sleeve close to the vertical plate three is covered with a sliding sleeve that moves synchronously with the guide seat, the outer peripheral surface of the sliding sleeve is provided with four groups of guide grooves corresponding to the clamping arms one by one, the end of the clamping arm close to the sliding sleeve is provided with a clamping groove, and one end of the four groups of clamping arms is pressed into the guide groove by elastic rings that are clamped in the clamping groove.

[0010] Preferably, an annular groove is provided on the outer circumferential surface of the guide seat, four groups of circumferentially distributed strip holes are provided on the end of the positioning sleeve close to the vertical plate three, and four groups of threaded holes corresponding to the strip holes are provided on the outer circumferential surface of the sliding sleeve. Fixing bolts are connected in the threaded holes, and the fixing bolts pass through the corresponding strip holes and are embedded in the annular groove.

[0011] Preferably, the grabbing assembly includes a base body hinged at one end of a base plate, arc-shaped claws are hinged on both sides of the base body, and cylinder two corresponding to the claws are hinged on the base body, and the push rod of cylinder two is hinged to the corresponding claw.

[0012] Preferably, a screw 2 is installed on the base plate 2, a nut seat 2 is provided on the screw 2, the nut seat 2 is fixedly connected to the support plate, a pulley 3 is fixed to one end of the screw 2, a vertical plate 1 is provided at one end of the base plate 2, a servo motor 4 is fixed to one side of the vertical plate 1, a pulley 4 is fixed on the rotating shaft of the servo motor 4, and the pulley 4 is connected to the pulley 3 through a synchronous belt.

[0013] Preferably, a lead screw three is installed on the back plate, a pulley five is fixed at one end of the lead screw three, a nut seat three is provided on the lead screw three, and the nut seat three is fixedly connected to the mounting plate, a vertical plate two is provided on one side of the back plate, a servo motor six is ​​fixed on one side of the vertical plate two, a pulley six is ​​fixed on the rotating shaft of the servo motor six, and the pulley six is ​​connected to the pulley five through a synchronous belt.

[0014] Preferably, the transverse movement mechanism includes a base, the base is fixedly connected to the gear ring through a connecting seat, a support plate for installing a yarn tube clamping mechanism and a yarn bobbin grabbing mechanism is slidably installed on the base, a screw 1 is installed on the base, a nut seat 1 is provided on the screw 1, the nut seat 1 is fixedly connected to the support plate, a pulley 2 is fixed to one end of the screw 1, a side plate is provided on one side of the base, a servo motor 3 is fixed to one side of the side plate, a pulley 1 is fixed to the rotating shaft of the servo motor 3, and the pulley 1 is connected to the pulley 2 through a synchronous belt.

[0015] Preferably, a yarn tube storage rack is mounted on the AGV trolley, the inner cavity of the yarn tube storage rack is divided into a plurality of storage cavities by a plurality of groups of vertically distributed partitions, and a yarn tube storage box is arranged on one side of the yarn tube storage rack.

[0016] After adopting the above technical solution, the beneficial effects of the present invention are:

[0017] The AGV automatically navigates along the preset path to the yarn tube of the textile equipment. Under the positioning of the CCD camera, the transverse movement mechanism first aligns the yarn tube grabbing mechanism with the yarn tube by transverse movement. After the yarn tube is grabbed, the servo motor drives the transverse movement mechanism to rotate 180 degrees, and the yarn tube clamping mechanism and the yarn tube grabbing mechanism exchange positions with each other, so that the yarn tube clamped by the yarn tube clamping mechanism can face the loading position of the textile equipment. The entire yarn tube replacement process is highly automated, reducing manual intervention and improving production efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0019] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0020] Figure 2 It is a structural schematic diagram of the bobbin storage rack;

[0021] Figure 3 It is a structural diagram of the material taking and placing mechanism;

[0022] Figure 4 It is a structural schematic diagram of the transverse movement mechanism;

[0023] Figure 5 It is a structural schematic diagram of the yarn bobbin grabbing mechanism;

[0024] Figure 6 It is a schematic diagram of the structure of the grabbing component;

[0025] Figure 7 It is a structural schematic diagram of the bobbin clamping mechanism;

[0026] Figure 8 It is a structural schematic diagram of the clamping component;

[0027] Fig. 9 is a cross-sectional view of a gripping assembly;

[0028] Fig.10 The figure is a schematic diagram of the assembly of the sleeve.

[0029] Figure markings: 1-AGV trolley, 2-feeding and unloading mechanism, 3-bobbin storage rack, 4-bobbin storage box, 5-partition, 6-rotating drive disk, 7-column, 8-rack, 9-transverse mechanism, 10-bobbin clamping mechanism, 11-bobbin grabbing mechanism, 12-servo motor 1, 13-mounting plate, 14-servo motor 2, 15-gear ring, 16-transmission gear, 17-connecting seat, 18-screw 1, 19-base, 20-servo motor 3, 21-side plate, 22-pulley 1, 23-pulley 2, 24-nut seat 1, 25-support plate, 26-nut seat 2, 27-pulley 3, 28-vertical plate 1, 29-pulley 4, 30-servo motor 4, 31-servo motor 5, 32-fixed seat, 33-cylinder 1, 34-connecting rod, 35- Base plate one, 36-grabbing assembly, 37-base plate two, 38-claw, 39-cylinder two, 40-seat body, 41-nut seat three, 42-pulley five, 43-pulley six, 44-vertical plate two, 45-servo motor six, 46-mounting plate, 47-back plate, 48-gripping assembly, 49-vertical plate three, 50-cylinder three, 51-clamping arm, 52-positioning sleeve, 53-cross groove, 54-guide seat, 55-guide groove, 56-threaded hole, 57-sleeve, 58-fixing bolt, 59-push rod, 60-spring, 61-top block, 62-strip hole, 63-card slot, 64-elastic ring, 65-guide cavity one, 66-movable groove, 67-guide cavity two, 68-annular groove, 69-screw two, 70-screw three, 71-support plate. DETAILED DESCRIPTION

[0030] The features and exemplary embodiments of various aspects of the present invention will be described in detail below. In order to make the purpose, technical solutions and advantages of the present invention clearer, the present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are only configured to explain the present invention and are not configured to limit the present invention. For those skilled in the art, the present invention can be implemented without the need for some of these specific details. The following description of the embodiments is only to provide a better understanding of the present invention by illustrating examples of the present invention.

[0031] The directional words appearing in the following description are all directions shown in the figures, and do not limit the specific structure of the present invention. In the description of the present invention, it should also be noted that, unless otherwise clearly specified and limited, the terms "installation" and "connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be directly connected or indirectly connected. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to the specific circumstances.

[0032] like Figure 1-2As shown, an automatic bobbin replacement device includes an AGV trolley 1. A rotating drive disk 6 is provided at one end of the AGV trolley 1, and a material taking and releasing mechanism 2 is installed on the rotating drive disk 6. A bobbin storage rack 3 is provided at the other end of the AGV trolley 1, and the inner cavity of the bobbin storage rack 3 is divided into a plurality of storage cavities by a plurality of groups of vertically arranged partitions 5, and a bobbin storage box 4 is provided on one side of the bobbin storage rack 3.

[0033] like Figure 3-4 As shown, the material taking and discharging mechanism 2 includes a column 7 mounted on a rotating drive disk 6 to adjust the working direction of the material taking and discharging mechanism 2. A rack 8 is fixed on one side of the column 7, and a mounting plate 13 is slidably mounted on the column 7 through a slide rail assembly. A servo motor 2 14 is fixed on one side of the front end face of the mounting plate 13, and a gear meshing with the rack 8 is fixed on the rotating shaft of the servo motor 2 14 to realize the vertical movement of the mounting plate 13 on the column 7. A gear ring 15 is rotatably mounted on the other side of the front end face of the mounting plate 13 through a bearing seat, and one end of the gear ring 15 is fixedly connected to a traverse mechanism 9. A bobbin grabbing mechanism 11 for grabbing a bobbin is installed at the output end of the traverse mechanism 9, and a bobbin clamping mechanism 10 for clamping a bobbin is installed on one side of the traverse mechanism 9. A servo motor 12 is fixed on one side of the rear end face of the mounting plate 13, and a transmission gear 16 meshing with the gear ring 15 is fixed on the rotating shaft of the servo motor 12 to realize the horizontal rotation of the traverse mechanism 9.

[0034] like Figure 4 As shown, the transverse movement mechanism 9 includes a base 19, and the base 19 is fixedly connected to the gear ring 15 through a connecting seat 17 arranged on one side. A support plate 25 is slidably mounted on the upper end surface of the base 19 through a slide rail assembly, and the bobbin grabbing mechanism 11 is mounted on the support plate 25. A lead screw 18 is mounted on the base 19 through a bearing seat, and a pulley 23 is fixed to one end of the lead screw 18. A nut seat 14 is arranged on the lead screw 18, and the nut seat 14 is fixedly connected to the support plate 25. A side plate 21 perpendicular to the base 19 is arranged on one side, and the bobbin clamping mechanism 10 is mounted on the side plate 21. A servo motor 3 20 is fixed on one side of the side plate 21, and a pulley 1 22 is fixed on the rotating shaft of the servo motor 3 20, and the pulley 1 22 is connected to the pulley 2 23 through a synchronous belt.

[0035] When the servo motor 3 20 is started, the belt transmission system composed of the pulley 1 22, the synchronous belt and the pulley 2 23 drives the lead screw 18 to rotate. Since the nut seat 1 24 is threadedly matched with the lead screw 18, the nut seat 1 24 will move along the lead screw 18. Since the nut seat 1 24 is fixedly connected to the support plate 25, the support plate 25 will also move with it, and the yarn tube grabbing mechanism 11 installed on the support plate 25 can realize lateral movement, thereby achieving the purpose of automatically taking and placing the yarn tube.

[0036] like Figure 4-5As shown, the bobbin grabbing mechanism 11 includes a bottom plate 237, which is fixedly mounted on one side of the support plate 25. A support plate 71 is slidably mounted on the upper end surface of the bottom plate 237 through a slide rail assembly, and a lead screw 269 is mounted on one side of the upper end surface of the bottom plate 237 through a bearing seat, and a pulley 3 27 is fixed to one end of the lead screw 269. A nut seat 26 is provided on the lead screw 269, and the nut seat 26 is fixedly connected to the support plate 71. A vertical plate 28 is provided at one end of the bottom plate 237, and a servo motor 4 30 is fixed to one side of the vertical plate 28. A pulley 4 29 is fixed on the rotating shaft of the servo motor 4 30, and the pulley 4 29 is connected to the pulley 3 27 through a synchronous belt.

[0037] The upper end surface of the support plate 71 is fixed with a servo motor 5 31, and the rotating shaft of the servo motor 5 31 is connected with a fixing seat 32. A bottom plate 1 35 is fixed to one side of the fixing seat 32, and a grabbing assembly 36 is hinged at one end of the bottom plate 1 35. Figure 6 As shown, the grab assembly 36 includes a seat body 40 hinged at one end of the bottom plate 1 35, and arc-shaped claws 38 are hinged on both sides of the seat body 40, and two groups of claws 38 are arranged opposite to each other. Cylinders 2 39 corresponding to the claws 38 are hinged on the seat body 40, and the push rods of the cylinders 2 39 are hinged to the corresponding claws 38. When the push rods of the cylinders 2 39 are extended and retracted, they drive the claws 38 to rotate around their hinge points, thereby clamping or loosening the yarn tube.

[0038] When the servo motor 4 30 is started, the belt transmission system composed of the pulley 3 27, the synchronous belt and the pulley 4 29 drives the lead screw 2 69 to rotate. Since the nut seat 26 is threadedly matched with the lead screw 2 69, the nut seat 26 will move along the lead screw 2 69. Since the nut seat 26 is fixedly connected to the support plate 71, the support plate 71 will also move accordingly, thereby realizing the horizontal movement of the grab assembly 36.

[0039] A cylinder 33 is fixed on the bottom plate 35, and a push rod of the cylinder 33 is hinged with a connecting rod 34, and one end of the connecting rod 34 passes through the hole on the bottom plate 35 and is hinged to the bottom of the seat body 40. When the push rod of the cylinder 33 is extended and retracted, it drives the grabbing assembly 36 to rotate around its hinge point, so that the grabbing assembly 36 can adjust its angle. When the servo motor 5 31 is started, the grabbing assembly 36 is driven to rotate as a whole through the bottom plate 35, and in conjunction with the cylinder 33, the grabbing assembly 36 can adapt to yarn tubes in different placement states (flat or vertical).

[0040] like Figure 7As shown, the bobbin clamping mechanism 10 includes a back plate 47, which is fixedly mounted on one side of the side plate 21. A mounting plate 46 is slidably mounted on one side of the back plate 47 through a slide rail assembly, a lead screw 3 70 is mounted on the back plate 47 through a bearing seat, and a pulley 5 42 is fixed on one end of the lead screw 3 70. A nut seat 3 41 is provided on the lead screw 3 70, and the nut seat 3 41 is fixedly connected to the mounting plate 46. A vertical plate 2 44 is provided on one side of the back plate 47, and a servo motor 6 45 is fixed on one side of the vertical plate 2 44. A pulley 6 43 is fixed on the rotating shaft of the servo motor 6 45, and the pulley 6 43 is connected to the pulley 5 42 through a synchronous belt.

[0041] A vertical plate 3 49 is fixed to one end of the mounting plate 46, a clamping assembly 48 is installed on one side of the vertical plate 3 49, and a cylinder 3 50 for driving the clamping assembly 48 is fixed to one side of the mounting plate 46. When the servo motor 6 45 drives the lead screw 3 70 to rotate, the nut seat 3 41 moves along the axis direction of the lead screw 3 70, so that the clamping assembly 48 moves linearly, realizing precise control of the position of the clamping assembly 48. The cylinder 3 50 drives the opening and closing of the clamping assembly 48 through the telescopic movement of its push rod, realizing the clamping or release of the bobbin.

[0042] like Figure 8-9 As shown, the clamping assembly 48 includes a push rod 59 and a positioning sleeve 52 fixed on the vertical plate 3 49. A guide cavity 1 65 is provided at one end of the positioning sleeve 52 close to the vertical plate 3 49, and a guide cavity 2 67 connected to the guide cavity 1 65 is provided at the other end of the positioning sleeve 52. Four groups of movable grooves 66 connected to the guide cavity 2 67 are provided on the outer peripheral surface of the positioning sleeve 52, and each movable groove 66 is hinged with a clamping arm 51. One end of the push rod 59 extends into the guide cavity 2 67, and the other end is fixedly connected to the push rod of the cylinder 3 50. When the push rod of the cylinder 3 50 performs telescopic movement, it will directly drive the push rod 59 to perform the same movement. A guide seat 54 is provided on the push rod 59, and a spring 60 is provided on the outer sleeve of the push rod 59 to abut the guide seat 54. The spring 60 and the guide seat 54 are both located in the guide cavity 1 65.

[0043] The end of the push rod 59 away from the vertical plate 3 49 is provided with a cross groove 53, and the four notches of the cross groove 53 are hinged with top blocks 61 corresponding to the clamping arms 51, and these top blocks 61 are embedded in the movable groove 66 and point to the clamping arms 51. When the push rod 59 moves, it will drive the top blocks 61 in the cross groove 53 to move, so as to push toward the clamping arms 51.

[0044] The end of the positioning sleeve 52 near the vertical plate 3 49 is covered with a sliding sleeve 57 that moves synchronously with the guide seat 54, and the outer peripheral surface of the sliding sleeve 57 is provided with four groups of guide grooves 55 corresponding to the clamping arms 51. The end of the clamping arm 51 near the sliding sleeve 57 is provided with a clamping groove 63, and one end of the four groups of clamping arms 51 is clamped into the guide groove 55 by the elastic ring 64 that is clamped into the clamping groove 63. When the guide seat 54 moves with the push rod 59, the sliding sleeve 57 will also perform the same movement, so that the clamping arm 51 is close to or away from the top block 61. The contraction of the elastic ring 64 can ensure that the clamping arm 51 can be stably clamped into the guide groove 55, ensuring the synchronous opening and closing movement of the four groups of clamping arms 51.

[0045] When clamping the bobbin, the cylinder 3 50 pushes the push rod 59 to move forward along the guide cavity 2 67. In the process of the push rod 59 moving forward, the spring 60 is gradually compressed, accumulating energy for the subsequent reset action. At the same time, the spring 60 is compressed to store energy for the reset action. When the push rod 59 moves forward, the top block 61 extends from the movable groove 66 close to the inner wall of the bobbin. At the same time, due to the synchronous movement of the sliding sleeve 57 and the guide seat 54, the four groups of clamping arms 51 shrink under the push of the sliding sleeve 57 and approach the outer wall of the bobbin. When the top block 61 applies pressure from the inner wall of the bobbin, the clamping arm 51 applies pressure from the outer wall of the bobbin at the same time. This method of applying force from both inside and outside can clamp the bobbin more effectively. It avoids the damage to the bobbin caused by the unilateral force of the traditional clamping mechanism, and improves the stability and reliability of clamping.

[0046] like Fig.10 As shown, an annular groove 68 is provided on the outer circumference of the guide seat 54. Four groups of strip holes 62 are arranged around one end of the positioning sleeve 52 close to the vertical plate 3 49, and four groups of threaded holes 56 corresponding to the strip holes 62 are arranged on the outer circumference of the sliding sleeve 57. The threaded holes 56 are connected with fixing bolts 58, which pass through the corresponding strip holes 62 and are embedded in the annular groove 68, so as to realize the synchronous movement of the sliding sleeve 57 and the guide seat 54.

[0047] A number of yarn tubes without yarns are placed in the yarn tube storage box 4. When the textile equipment needs to remove the yarn tube (the yarn tube full of yarn), the AGV trolley 1 automatically navigates to the yarn tube of the textile equipment along the preset path. During the movement, the servo motor 14 lowers the mounting plate 13. Under the positioning of the CCD camera (not shown in the figure, installed on the front end surface of the mounting plate 13), the yarn tube clamping mechanism 10 clamps the yarn tube at the material taking position, and then the mounting plate 13 returns to its original height (the original height is the yarn tube height of the textile equipment). After reaching the target position, the rotating drive disk 6 changes the direction of the entire material taking and releasing mechanism 2 so that it faces the textile equipment. Under the positioning of the CCD camera, the AGV trolley 1 and the transverse movement mechanism 9 are in action so that the yarn tube grabbing mechanism 11 can face the yarn tube of the textile equipment. After the bobbin is grabbed, the servo motor 12 drives the lateral movement mechanism 9 to rotate 180 degrees, and the bobbin clamping mechanism 10 and the bobbin grabbing mechanism 11 are swapped. At this time, the bobbin grabbing mechanism 11 is facing the loading position of the textile equipment (i.e. the position of the bobbin on it). After the bobbin is placed, the rotating drive disk 6 changes the direction of the entire material taking and releasing mechanism 2 so that it faces the bobbin storage rack 3. According to the placement of the bobbin, the bobbin grabbing mechanism 11 completes the storage of the bobbin.

[0048] According to the embodiments of the present invention as described above, these embodiments do not describe all the details in detail, nor do they limit the invention to specific embodiments. Obviously, many modifications and changes can be made based on the above description. This specification selects and specifically describes these embodiments in order to better explain the principles and practical applications of the present invention, so that those skilled in the art can make good use of the present invention and the modified use based on the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. An automatic bobbin replacement device, comprising an AGV trolley (1), the AGV trolley (1) being provided with a rotating drive disk (6), the rotating drive disk (6) being provided with a material taking and placing mechanism (2); characterized in that: The material taking and releasing mechanism (2) comprises a column (7) mounted on a rotating drive disk (6), a rack (8) being fixed on one side of the column (7), a mounting plate (13) being slidably mounted on the column (7), a CCD camera being mounted on the front end surface of the mounting plate (13), a servo motor 2 (14) being fixed on one side of the front end surface of the mounting plate (13), a gear meshing with the rack (8) being fixed on the rotating shaft of the servo motor 2 (14), a gear ring (15) being rotatably mounted on the other side of the front end surface of the mounting plate (13), a servo motor 1 (12) being fixed on one side of the rear end surface of the mounting plate (13), a gear meshing with the gear ring (15) being fixed on the rotating shaft of the servo motor 1 (12), and a gear meshing with the gear ring (15) being fixed on the rotating shaft of the servo motor 1 (12). ) meshed transmission gear (16), one end of the gear ring (15) is fixedly connected to a transverse mechanism (9), one side of the transverse mechanism (9) is installed with a bobbin clamping mechanism (10), and the output end of the transverse mechanism (9) is installed with a bobbin grabbing mechanism (11); the bobbin clamping mechanism (10) comprises a back plate (47) installed on one side of the transverse mechanism (9), a mounting plate (46) is slidably mounted on one side of the back plate (47), one end of the mounting plate (46) is fixed with a vertical plate three (49), one side of the vertical plate three (49) is installed with a clamping assembly (48), and one side of the mounting plate (46) is fixed with a cylinder three (50) for driving the clamping assembly (48);The clamping assembly (48) comprises a push rod (59) and a positioning sleeve (52) fixed on the vertical plate three (49); a guide cavity one (65) is provided at one end of the positioning sleeve (52) close to the vertical plate three (49); a guide cavity two (67) connected to the guide cavity one (65) is provided at the other end of the positioning sleeve (52); four groups of movable grooves (66) connected to the guide cavity two (67) are provided on the outer peripheral surface of the positioning sleeve (52); each of the movable grooves (66) is hinged with a clamping arm (51); one end of the push rod (59) extends into the guide cavity two (67); the other end of the push rod (59) is fixedly connected to the push rod of the cylinder three (50); a guide seat (54) is provided on the push rod (59); a spring (60) abutting against the guide seat (54) is provided on the outer sleeve of the push rod (59); the spring The spring (60) and the guide seat (54) are both located in the guide cavity 1 (65). The end of the push rod (59) away from the vertical plate 3 (49) is provided with a cross groove (53). The four notches of the cross groove (53) are hinged with top blocks (61) corresponding to the clamping arms (51). The top blocks (61) are embedded in the movable groove (66) and point to the clamping arms (51). The end of the positioning sleeve (52) close to the vertical plate 3 (49) is covered with a sliding sleeve (57) that moves synchronously with the guide seat (54). The outer peripheral surface of the sliding sleeve (57) is provided with four groups of guide grooves (55) corresponding to the clamping arms (51). The end of the clamping arm (51) close to the sliding sleeve (57) is provided with a clamping groove (63). The elastic rings (64) at one end of the four groups of clamping arms (51) are clamped into the clamping groove (63) and pressed into the guide groove (55). ; 2. The automatic bobbin changing device according to claim 1 is characterized in that: The bobbin grabbing mechanism (11) comprises a base plate 2 (37) mounted at the output end of the transverse movement mechanism (9), a support plate (71) being slidably mounted on the base plate 2 (37), a servo motor 5 (31) being fixed on the support plate (71), a rotating shaft of the servo motor 5 (31) being connected to a fixed seat (32), a base plate 1 (35) being fixed on one side of the fixed seat (32), a grabbing assembly (36) being hingedly connected to one end of the base plate 1 (35), a cylinder 1 (33) being fixed on the base plate 1 (35), a push rod of the cylinder 1 (33) being hingedly connected to a connecting rod (34), and one end of the connecting rod (34) being hingedly connected to the grabbing assembly (36).

3. The automatic bobbin replacement device according to claim 1 is characterized in that: The outer circumferential surface of the guide seat (54) is provided with an annular groove (68); the end of the positioning sleeve (52) close to the vertical plate three (49) is provided with four groups of strip holes (62) distributed around; the outer circumferential surface of the sliding sleeve (57) is provided with four groups of threaded holes (56) corresponding to the strip holes (62) one by one; the threaded holes (56) are connected with fixing bolts (58); the fixing bolts (58) pass through the corresponding strip holes (62) and are embedded in the annular groove (68).

4. The automatic bobbin replacement device according to claim 2 is characterized in that: The grabbing assembly (36) comprises a seat body (40) hinged at one end of a base plate (35), arc-shaped claws (38) being hinged on both sides of the seat body (40), and cylinders (39) corresponding one to each of the claws (38) being hinged on the seat body (40), and push rods of the cylinders (39) being hinged to the corresponding claws (38).

5. The automatic bobbin replacement device according to claim 4 is characterized in that: A lead screw 2 (69) is mounted on the base plate 2 (37), a nut seat 2 (26) is arranged on the lead screw 2 (69), the nut seat 2 (26) is fixedly connected to the support plate (71), a pulley 3 (27) is fixed to one end of the lead screw 2 (69), a vertical plate 1 (28) is arranged at one end of the base plate 2 (37), a servo motor 4 (30) is fixed to one side of the vertical plate 1 (28), a pulley 4 (29) is fixed to the rotating shaft of the servo motor 4 (30), and the pulley 4 (29) is connected to the pulley 3 (27) via a synchronous belt.

6. The automatic bobbin replacement device according to claim 1 is characterized in that: A lead screw three (70) is mounted on the back plate (47), a pulley five (42) is fixed to one end of the lead screw three (70), a nut seat three (41) is arranged on the lead screw three (70), the nut seat three (41) is fixedly connected to the mounting plate (46), a vertical plate two (44) is arranged on one side of the back plate (47), a servo motor six (45) is fixed to one side of the vertical plate two (44), a pulley six (43) is fixed to the rotating shaft of the servo motor six (45), and the pulley six (43) is connected to the pulley five (42) via a synchronous belt.

7. The automatic bobbin replacement device according to claim 1 is characterized in that: The transverse movement mechanism (9) comprises a base (19), the base (19) being fixedly connected to the gear ring (15) via a connecting seat (17), a support plate (25) for mounting a bobbin clamping mechanism (10) and a bobbin grabbing mechanism (11) being slidably mounted on the base (19), a lead screw (18) being mounted on the base (19), a nut seat (24) being disposed on the lead screw (18), the nut seat (24) being fixedly connected to the support plate (25), a pulley (23) being fixed to one end of the lead screw (18), a side plate (21) being disposed on one side of the base (19), a servo motor (20) being fixed on one side of the side plate (21), a pulley (22) being fixed to the rotating shaft of the servo motor (20), the pulley (22) being connected to the pulley (23) via a synchronous belt.

8. The automatic bobbin changing device according to claim 1 is characterized in that: A bobbin storage rack (3) is mounted on the AGV trolley (1); the inner cavity of the bobbin storage rack (3) is divided into a plurality of storage cavities by a plurality of groups of vertically distributed partitions (5); and a bobbin storage box (4) is arranged on one side of the bobbin storage rack (3).

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