Automatic transportation butt-joint equipment for doffer

Abstract

The invention discloses automatic transportation and butt joint equipment for a doffer, which is characterized by comprising the doffer, the doffing driving mechanism is mounted on the doffer; the docking mechanism is used for transporting the doffer; and the AGV trolley is used for transporting the docking mechanism. The butt joint mechanism and the doffer are transported through the AGV, the butt joint mechanism is used for being in butt joint with a spinning machine rail, and when the doffing driving mechanism works, the doffer is transported to the spinning machine rail. The invention relates to the technical field of butt joint, in particular to automatic transportation butt joint equipment of a doffer. The technical problem to be solved by the invention is to provide the automatic transportation docking equipment for the doffer, which is convenient for automatic transportation of the doffer.

Description

Technical Field

[0001] The invention relates to the technical field of docking, and in particular to an automatic transport docking device for a doffing machine. Background Art

[0002] The doffer is a special equipment used in the textile industry to replace manual doffing for spinning machines, weaving weft winding machines and twisting machines. The doffer grabs the bobbins on the loom through a mechanical arm and places them on a rotating table, which then transports the bobbins to the designated location. During the transportation process, sensors detect the position and number of bobbins to ensure accurate doffing. After doffing is completed, the doffer automatically returns to the initial position and waits for the next doffing.

[0003] At present, after the spinning machine is completed, the worker needs to push the doffer to the designated position, align the doffer wheels with the track on the spinning machine, and then push it to the designated position to start the doffer for automatic yarn taking. Since the overall structure of the doffer is heavy (130-150kg) and the track needs to be aligned, it is laborious to move the doffer up and down the spinning machine track and requires multiple attempts. The workers' work intensity is high, so this mechanism is designed to replace part of the manual work.

[0004] At present, there is still a lack of equipment that can replace manual labor and collect products uniformly through AGV transport doffers to replace manual transportation. The docking device can reduce the positioning error of the AGV itself, realize automatic and accurate docking of the running track of the doffer, and control the automatic operation of the doffer. It can reduce the workload of workers and reduce the downtime of spinning machines, thereby improving the yarn collection efficiency and the production efficiency of the overall production process. Summary of the invention

[0005] The technical problem to be solved by the present invention is to provide an automatic transport docking device for a doffing machine, so as to facilitate the automatic transport of the doffing machine.

[0006] The present invention adopts the following technical solutions to achieve the invention objectives:

[0007] An automatic transport and docking device for a doffer, characterized in that it comprises: a doffer; a doffer driving mechanism installed on the doffer; a docking mechanism used to transport the doffer; and an AGV trolley used to transport the docking mechanism. The AGV trolley is used to transport the docking mechanism and the doffer, and the docking mechanism is used to achieve docking with the spinning machine track, so that when the doffer driving mechanism is working, the doffer is transported to the spinning machine track.

[0008] As a further limitation of the present technical solution, the doffing drive mechanism includes a doffing machine driving motor, the doffing machine driving motor is fixedly connected to the doffing machine, the doffing machine is connected to two mounting seats, one of the mounting seat bearings is connected to the central axis of the first power roller, and the other mounting seat bearing is connected to the central axis of the second power roller, the central axis of the first power roller and the central axis of the second power roller are respectively fixedly connected to sprockets, the output shaft of the doffing machine driving motor is connected to the sprockets through a clutch, and a chain surrounds a group of sprockets. By adopting the first power roller and the second power roller and a chain transmission mechanism, when the doffing machine driving motor is working, the first power roller and the second power roller first move along the upper track limit rod, and then move along the track of the spinning machine, so as to realize the movement of the doffing machine.

[0009] As a further limitation of the technical solution, the doffer is fixedly connected to two groups of symmetrical U-plates, and each of the U-plates is respectively connected to a contact roller by a bearing. The contact roller contacts the lower contact rod, and when the doffer driving motor is working, the doffer drives the contact roller to move along the surface of the lower contact rod, thereby enhancing the stability of the doffer movement.

[0010] As a further limitation of the technical solution, the doffer bearing is connected to symmetrical auxiliary rollers, and the first power roller, the second power roller and the auxiliary roller are respectively fixedly connected to the supporting rotating wheel. The auxiliary roller is provided to facilitate the doffer to move from the upper track limit rod to the track of the spinning machine, and the supporting rotating wheel contacts the upper track limit rod and the track of the spinning machine, so as to prevent the doffer from tipping over and falling off the track.

[0011] As a further limitation of the present technical solution, the docking mechanism includes an equipment bearing base plate, on which an X-axis motion component, a Y-axis motion component and a Z-axis motion component are installed, the Z-axis motion component includes a group of Z-axis lifting electric cylinders, each of which is fixedly connected to the equipment bearing base plate, and the push rod end of each Z-axis lifting electric cylinder passes through the equipment bearing base plate, and the push rod end of each Z-axis lifting electric cylinder is fixedly connected to the contact block, the Y-axis motion component includes a Y-axis translation screw motor, the equipment bearing base plate is fixedly connected to the Y-axis translation screw motor, the equipment bearing base plate is fixedly connected to the Y seat, and the screw bearing of the Y-axis translation screw motor is connected to the Y seat. The screw thread of the Y-axis translation screw motor is connected to the Y slider, and the Y slider is connected to the Y-axis moving bearing plate. The X-axis motion assembly includes an X-axis translation screw motor, and the X-axis translation screw motor is fixedly connected to the Y-axis moving bearing plate, and the Y-axis moving bearing plate is fixedly connected to the X seat. The screw bearing of the X-axis translation screw motor is connected to the X seat. The screw thread of the X-axis translation screw motor is connected to the X slider, and the X slider is fixedly connected to the X-axis moving bearing plate. The X-axis moving bearing plate is fixedly connected to the bracket, and the bracket is fixedly connected to the upper track limit rod. The first power roller, the second power roller and the auxiliary roller match the upper track limit rod, and the supporting rotating wheel matches the upper track limit rod. The equipment bearing bottom plate is fixedly connected to the Y track, and the Y-axis moving bearing plate is nested in the Y track. The Y-axis moving bearing plate is fixedly connected to the X track, and the X-axis moving bearing plate is nested in the X track. By adopting an X-axis motion component, a Y-axis motion component and a Z-axis motion component, the doffing machine can be moved in a three-dimensional space, thereby facilitating the connection between the doffing machine and the spinning machine.

[0012] As a further limitation of the technical solution, the vertical frame is fixedly connected to a lower contact rod, and the contact roller contacts the lower contact rod.

[0013] As a further limitation of the technical solution, the vertical frame is fixedly connected to the distance measuring assembly, the distance measuring assembly includes a mounting top rod, the vertical frame is fixedly connected to the mounting top rod, the mounting top rod is fixedly connected to the distance measuring device translation electric cylinder, and the push rod of the distance measuring device translation electric cylinder is fixedly connected to the three-way distance measuring device. The distance measurement along three coordinate axes is achieved by adopting the three-way distance measuring device. The relative position of the docking mechanism and the spinning machine is measured, and the doffing machine is docked with the spinning machine.

[0014] As a further limitation of the technical solution, the device carrying bottom plate is fixedly connected to a Y-direction proximity block, the Y-direction movable carrying plate is fixedly connected to a group of Y-direction proximity sensors, the Y-direction proximity block matches the Y-direction proximity sensor, the Y-direction movable carrying plate is fixedly connected to an X-direction proximity block, the X-direction movable carrying plate is fixedly connected to an X-direction proximity sensor, and the X-direction proximity block matches the X-direction proximity sensor. By using proximity sensors and proximity blocks, the position limitation of related components is achieved.

[0015] As a further limitation of the present technical solution, it also includes a control component, which includes an electrical control cabinet, a battery and a device charging interface. The electrical control cabinet and the battery are installed on an L-plate, and the L-plate is fixedly connected to the Y-moving bearing plate, and the device charging interface is fixedly connected to the vertical frame. The battery is electrically connected to the electrical control cabinet, and the motor is electrically connected to the charging interface. The Z-axis lifting cylinder, the distance measuring device translation cylinder, the three-way distance measuring device, the Y-way translation screw motor, the X-way translation screw motor, the X-way proximity sensor and the Y-way proximity sensor are electrically connected to the battery and the electrical control cabinet respectively. The battery provides power for related components. The electrical control cabinet receives signals from related sensors and the three-way distance measuring device to control related components.

[0016] As a further limitation of the technical solution, the AGV trolley is connected to a group of evenly distributed alignment pins, the equipment bearing bottom plate is provided with a group of positioning holes, a group of the alignment pins matches a group of the positioning holes, and the internal bearing of the AGV trolley is connected to a hydraulic cylinder. The alignment pins and the equipment bearing bottom plate are provided with a corresponding positioning hole position to achieve alignment between the AGV trolley and the equipment bearing bottom plate.

[0017] As a further limitation of the technical solution, the device carrying bottom plate is fixedly connected to symmetrical limit switches, the doffing machine is fixedly connected to photoelectric switches, the upper track limit rod is fixedly connected to two detection plates, and the photoelectric switches match the detection plates.

[0018] Compared with the prior art, the advantages and positive effects of the present invention are:

[0019] 1. This equipment adopts AGV operation to reduce the labor intensity of manual transportation. Through the positioning and docking of the device, the positioning error of the AGV itself can be reduced, the track position can be accurately docked, and the doffer can be driven up and down the spinning machine track by itself. The equipment can be transported to the designated location in advance before the spinning machine is completed, which greatly improves the yarn taking efficiency and saves labor costs.

[0020] 2. This device can reduce the positioning error of the AGV itself from ±10mm to less than 1mm by docking equipment. This device can provide a solution for most AGVs on the market to accurately transport materials.

[0021] 3. This structure can make full use of the bottom space, eliminate the influence of the AGV height on the low height of the doffer relative to the spinning machine, and improve the adaptability to various spinning machines.

[0022] 4. This structure provides the ability to adjust the multi-axis errors of the AGV vehicle, which can adapt to docking on different ground surfaces and improve its adaptability. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 It is a schematic diagram of the three-dimensional structure of the present invention.

[0024] Figure 2 It is a schematic diagram of the three-dimensional structure of the AGV vehicle of the present invention.

[0025] Figure 3 The three-dimensional structure diagram of the docking mechanism of the present invention is shown in FIG. Figure 1 .

[0026] Figure 4 The three-dimensional structure diagram of the docking mechanism of the present invention is shown in FIG. Figure 2 .

[0027] Figure 5 The three-dimensional structure diagram of the docking mechanism of the present invention is shown in FIG. Figure 3 .

[0028] Figure 6 For the present invention Figure 5 A partial enlarged view of middle A.

[0029] Figure 7 It is a schematic diagram of the three-dimensional structure of the doffing machine of the present invention.

[0030] Figure 8 The three-dimensional structure diagram of the docking mechanism of the present invention is shown in FIG. Figure 4 .

[0031] Fig. 9 For the present invention Figure 8 A partial enlarged view of B.

[0032] In the figure: 1. doffing machine, 2. Z-axis lifting electric cylinder, 3. equipment bearing bottom plate, 4. AGV trolley, 5. alignment pin, 6. hydraulic cylinder, 7. contact block, 8. positioning hole, 9. electrical control cabinet, 10. battery, 11. lower contact rod, 12. installation top rod, 13. equipment charging interface, 14. distance measuring device translation electric cylinder, 15. three-way distance measuring device, 16. L plate, 17. Y-axis translation screw motor, 18. Y slider, 19. Y seat, 20. upper track limit rod, 21. X-axis moving bearing plate, 2 2. X slider, 23. X-axis translation screw motor, 24. Y-axis moving bearing plate, 25. X-axis proximity block, 26. X-axis proximity sensor, 27. Doffing machine driving motor, 28. Chain, 29. Sprocket, 30. U plate, 31. Contact roller, 32. First power roller, 33. Second power roller, 34. Auxiliary roller, 35. Support rotating wheel, 36. Bearing seat, 37. Y-axis proximity sensor, 38. Y-axis proximity block, 39. Vertical frame, 40. Limit switch, 41. Photoelectric switch, 42. Detection board. DETAILED DESCRIPTION

[0033] A specific implementation of the present invention is described in detail below in conjunction with the accompanying drawings, but it should be understood that the protection scope of the present invention is not limited by the specific implementation.

[0034] The present invention comprises: a doffing machine 1; a doffing driving mechanism installed on the doffing machine 1; a docking mechanism for transporting the doffing machine 1; and an AGV trolley 4 for transporting the docking mechanism. The AGV trolley 4 is used to transport the docking mechanism and the doffing machine 1, and the docking mechanism is used to achieve docking with the spinning machine track, so that when the doffing driving mechanism is working, the doffing machine 1 is transported to the spinning machine track.

[0035] The doffing drive mechanism includes a doffing machine driving motor 27, the doffing machine driving motor 27 is fixedly connected to the doffing machine 1, the doffing machine 1 is connected to two mounting seats 36, one mounting seat 36 is connected to the central axis of the first power roller 32 by a bearing, and the other mounting seat 36 is connected to the central axis of the second power roller 33 by a bearing, the central axis of the first power roller 32 and the central axis of the second power roller 33 are respectively fixedly connected to sprockets 29, the output shaft of the doffing machine driving motor 27 is connected to the sprockets 29 through a clutch, and the chain 28 surrounds a group of sprockets 29. By adopting the first power roller 32 and the second power roller 33 and the chain transmission mechanism, when the doffing machine driving motor 27 is working, the first power roller 32 and the second power roller 33 first move along the upper track limit rod 20, and then move along the track of the spinning machine, so as to realize the movement of the doffing machine 1.

[0036] The doffer 1 is fixedly connected to two sets of symmetrical U-plates 30, and each of the U-plates 30 is respectively bearing-connected to a contact roller 31. The contact roller 31 contacts the lower contact rod 11. When the doffer driving motor 27 is working, the doffer 1 drives the contact roller 31 to move along the surface of the lower contact rod 11, thereby enhancing the stability of the movement of the doffer 1.

[0037] The doffer 1 is symmetrically connected to the auxiliary roller 34 by a bearing, and the first power roller 32, the second power roller 33 and the auxiliary roller 34 are respectively fixedly connected to the supporting rotating wheel 35. The auxiliary roller 34 is provided to facilitate the doffer 1 to move from the upper track limit rod 20 to the track of the spinning machine, and the supporting rotating wheel 35 contacts the upper track limit rod 20 and the track of the spinning machine, so as to prevent the doffer 1 from tipping over and falling off the track.

[0038] The docking mechanism includes an equipment bearing base plate 3, on which an X-axis motion component, a Y-axis motion component and a Z-axis motion component are installed. The Z-axis motion component includes a group of Z-axis lifting electric cylinders 2, each of which is fixedly connected to the equipment bearing base plate 3, and the push rod end of each Z-axis lifting electric cylinder 2 passes through the equipment bearing base plate 3, and the push rod end of each Z-axis lifting electric cylinder 2 is fixedly connected to the contact block 7. The Y-axis motion component includes a Y-axis translation screw motor 17, and the equipment bearing base plate 3 is fixedly connected to the Y-axis translation screw motor 17. The equipment bearing base plate 3 is fixedly connected to the Y seat 19, and the screw bearing of the Y-axis translation screw motor 17 is connected to the Y seat 19, and the screw thread of the Y-axis translation screw motor 17 is connected to the Y Slider 18, the Y slider 18 is connected to the Y-moving carrier plate 24, the X-axis motion assembly includes an X-direction translation screw motor 23, the X-direction translation screw motor 23 is fixedly connected to the Y-direction moving carrier plate 24, the Y-direction moving carrier plate 24 is fixedly connected to the X seat, the screw bearing of the X-direction translation screw motor 23 is connected to the X seat, the screw thread of the X-direction translation screw motor 23 is connected to the X slider 22, the X slider 22 is fixedly connected to the X-direction moving carrier plate 21, the X-direction moving carrier plate 21 is fixedly connected to the bracket 39, the bracket 39 is fixedly connected to the upper track limit rod 20, the first power roller 32, the second power roller 33 and the auxiliary roller 34 match the upper track limit rod 20, and the supporting rotating wheel 35 matches the upper track limit rod 20. The equipment bearing bottom plate 3 is fixedly connected to the Y track, the Y-direction moving carrier plate 24 is nested in the Y track, the Y-direction moving carrier plate 24 is fixedly connected to the X track, and the X-direction moving carrier plate 21 is nested in the X track. By adopting the X-axis motion component, the Y-axis motion component and the Z-axis motion component, the doffing machine 1 can move in three-dimensional space, which facilitates the connection between the doffing machine 1 and the spinning machine.

[0039] The vertical frame 39 is fixedly connected to the lower contact rod 11 , and the contact roller 31 contacts the lower contact rod 11 .

[0040] The vertical frame 39 is fixedly connected to the distance measuring assembly, and the distance measuring assembly includes a mounting top rod 12, the vertical frame 39 is fixedly connected to the mounting top rod 12, the mounting top rod 12 is fixedly connected to the distance measuring device translation electric cylinder 14, and the push rod of the distance measuring device translation electric cylinder 14 is fixedly connected to the three-way distance measuring device 15. The distance along the three coordinate axes is achieved by using the three-way distance measuring device 15. The relative position of the docking mechanism and the spinning machine is measured, and the doffer 1 is docked with the spinning machine.

[0041] The device carrying bottom plate 3 is fixedly connected to a Y-direction proximity block 38, the Y-direction movable carrying plate 24 is fixedly connected to a group of Y-direction proximity sensors 37, the Y-direction proximity block 38 matches the Y-direction proximity sensor 37, the Y-direction movable carrying plate 24 is fixedly connected to an X-direction proximity block 25, the X-direction movable carrying plate 21 is fixedly connected to an X-direction proximity sensor 26, and the X-direction proximity block 25 matches the X-direction proximity sensor 26. By using proximity sensors and proximity blocks, the position limiting of related components is achieved.

[0042] It also includes a control component, which includes an electrical control cabinet 9, a battery 10 and a device charging interface 13. The electrical control cabinet 9 and the battery 10 are installed on an L plate 16, and the L plate 16 is fixedly connected to the Y-moving carrier plate 24, and the device charging interface 13 is fixedly connected to the vertical frame 39. The battery 10 is electrically connected to the electrical control cabinet 9, the motor 10 is electrically connected to the charging interface 13, and the Z-axis lifting cylinder 2, the distance measuring device translation cylinder 14, the three-way distance measuring device 15, the Y-axis translation screw motor 17, the X-axis translation screw motor 23, the X-axis proximity sensor 26 and the Y-axis proximity sensor 37 are electrically connected to the battery 10 and the electrical control cabinet 9 respectively. The battery 10 provides power for related components. The electrical control cabinet 9 receives signals from related sensors and the three-way distance measuring device 15 to control related components.

[0043] The AGV trolley 4 is connected to a group of evenly distributed alignment pins 5, the equipment bearing bottom plate 3 is provided with a group of positioning holes 8, a group of the alignment pins 5 matches a group of the positioning holes 8, and the internal bearing of the AGV trolley 4 is connected to the hydraulic cylinder 6. The alignment pins 5 and the equipment bearing bottom plate 3 are installed with a corresponding position of the positioning holes 8 to achieve the alignment of the AGV trolley 4 and the equipment bearing bottom plate 3.

[0044] The equipment bearing bottom plate 3 is fixedly connected to a symmetrical limit switch 40 , the doffing machine 1 is fixedly connected to a photoelectric switch 41 , the upper track limit rod 20 is fixedly connected to two detection plates 42 , and the photoelectric switch 41 matches the detection plate 42 .

[0045] The limit switch 40 and the photoelectric switch 41 are electrically connected to the battery 10 and the electrical control cabinet 9, respectively. When the AGV trolley 4 contacts the limit switch 40, a stable connection between the AGV trolley 4 and the equipment bearing bottom plate 3 is achieved. When the photoelectric switch 41 contacts the detection plate 42, it indicates that the doffing machine 1 moves to the initial position of the docking mechanism.

[0046] The workflow of the present invention is:

[0047] S1: In the initial state, the doffer 1 is placed on the docking mechanism, the docking mechanism is mounted on the AGV trolley 4, the alignment pin 5 is inserted into the positioning hole 8, and the entire device is transported by the AGV trolley 4 to the designated location (the spinning machine where the yarn needs to be collected);

[0048] S2: After the equipment is in place, the four Z-axis lifting electric cylinders 2 of the Z-axis motion assembly extend their push rods, so that the contact block 7 touches the ground, and then the docking mechanism is lifted, so that the equipment bearing bottom plate 3 is separated from the alignment pin 5, and the distance measuring device translation electric cylinder 14 of the distance measuring assembly extends its push rod, and the three-way distance measuring device 15 extends to measure the up-down, left-right, front-back position of the docking mechanism relative to the spinning machine;

[0049] S3: Control the AGV 4 to run and drive away from the area formed by the four Z-axis lifting cylinders 2;

[0050] S4: The up and down positions are measured by the three-way distance measuring device 15, the push rod of the Z-axis lifting electric cylinder 2 is retracted, and the entire docking mechanism is lowered, so that the doffer 1 reaches the corresponding position;

[0051] S5: The left and right positions are measured by the three-way distance measuring device 15, and the Y-axis motion assembly moves the doffer 1 left and right;

[0052] S6: The front and rear positions are measured by the three-way distance measuring device 15, and the X-axis motion assembly moves the doffer 1 forward and backward;

[0053] S7: Finally, the upper track limit rod 20 and the track of the spinning machine are connected, and the connection accuracy is less than 1 mm;

[0054] S8: Control the spinning machine drive motor 27 to rotate, the spinning machine drive motor 27 drives a sprocket 29 to rotate, a sprocket 29 drives the chain 28 to move, the chain 28 drives the other two sprockets 29 to rotate, so that the first power roller 32 and the second power roller 33 move along the upper track limit rod 20, so that the doffing machine 1 moves, the doffing machine 1 drives the auxiliary roller 34 to move along the upper track limit rod 20, and travels to the track of the spinning machine through the upper track limit rod 20 to collect the yarn, and the contact roller 31 rotates when it moves along the surface of the lower contact rod 11;

[0055] S9: After the doffer 1 runs to the spinning machine track through the doffer driving motor 27, after the photoelectric switch 41 of the doffer 1 detects the spinning machine track detection block, the doffer driving motor 27 stops running, the clutch is disconnected, and the doffer 1 automatically starts the doffing work through its own yarn collecting manipulator;

[0056] S10: After the collection is completed, the clutch of the doffer 1 is started, the doffer drive motor 27 runs in the reverse direction, the doffer 1 drives in the reverse direction to the docking mechanism, the four Z-axis lifting cylinders 2 push rods extend to lift the docking mechanism, the AGV trolley 4 runs to the bottom of the docking mechanism, all components of the docking mechanism return to the origin, the Z-axis lifting cylinder 2 shrinks, the alignment pin 5 relatively enters the positioning hole 8, and the AGV trolley 4 runs the equipment to the place where the yarn is stored to proceed to the next step.

[0057] The above disclosure is only a specific embodiment of the present invention, but the present invention is not limited thereto, and any changes that can be conceived by those skilled in the art should fall within the protection scope of the present invention.

Claims

1. An automatic transport docking device for a doffer, characterized in that: include: Doffing machine (1); A doffing drive mechanism, mounted on the doffing machine (1); A docking mechanism, used for transporting the doffer (1); An AGV trolley (4) is used to transport the docking mechanism.

2. The automatic transport docking device for doffing machine according to claim 1 is characterized in that: The doffing drive mechanism comprises a doffing machine driving motor (27), the doffing machine driving motor (27) is fixedly connected to the doffing machine (1), the doffing machine (1) is connected to two mounting seats (36), one of the mounting seats (36) is connected to the central axis of the first power roller (32) by a bearing, and the other of the mounting seats (36) is connected to the central axis of the second power roller (33) by a bearing, the central axis of the first power roller (32) and the central axis of the second power roller (33) are respectively fixedly connected to sprockets (29), the output shaft of the doffing machine driving motor (27) is connected to the sprockets (29) via a clutch, and a chain (28) surrounds a group of the sprockets (29).

3. The automatic transport docking device for doffing machine according to claim 2 is characterized in that: The doffing machine (1) is bearing-connected to symmetrical auxiliary rollers (34); the first power roller (32), the second power roller (33) and the auxiliary roller (34) are respectively fixedly connected to support rotating wheels (35).

4. The automatic transport docking device for doffing machine according to claim 3 is characterized in that: The docking mechanism comprises an equipment bearing base plate (3), on which an X-axis motion component, a Y-axis motion component and a Z-axis motion component are installed, the Z-axis motion component comprises a group of Z-axis lifting electric cylinders (2), each of the Z-axis lifting electric cylinders (2) is respectively fixedly connected to the equipment bearing base plate (3), the push rod end of each Z-axis lifting electric cylinder (2) passes through the equipment bearing base plate (3), and the push rod end of each Z-axis lifting electric cylinder (2) is respectively fixedly connected to a contact block (7), the Y-axis motion component comprises a Y-axis translation screw motor (17), the equipment bearing base plate (3) is fixedly connected to the Y-axis translation screw motor (17), the equipment bearing base plate (3) is fixedly connected to a Y seat (19), the screw bearing of the Y-axis translation screw motor (17) is connected to the Y seat (19), and the screw thread of the Y-axis translation screw motor (17) is connected to a Y slider (18) ), the Y slider (18) is connected to the Y-movable carrier plate (24), the X-axis motion assembly comprises an X-axis translation screw motor (23), the X-axis translation screw motor (23) is fixedly connected to the Y-movable carrier plate (24), the Y-movable carrier plate (24) is fixedly connected to the X seat, the screw bearing of the X-axis translation screw motor (23) is connected to the X seat, the screw thread of the X-axis translation screw motor (23) is connected to the X slider (22), the X slider (22) is fixedly connected to the X-movable carrier plate (21), the X-movable carrier plate (21) is fixedly connected to the bracket (39), the bracket (39) is fixedly connected to the upper track limit rod (20), the first power roller (32), the second power roller (33) and the auxiliary roller (34) match the upper track limit rod (20), and the supporting rotating wheel (35) matches the upper track limit rod (20).

5. The automatic transport docking device for doffing machine according to claim 4 is characterized in that: The vertical frame (39) is fixedly connected to the lower contact rod (11).

6. The automatic transport docking device for doffing machine according to claim 4 is characterized in that: The vertical frame (39) is fixedly connected to the distance measuring assembly, and the distance measuring assembly comprises a mounting top rod (12). The vertical frame (39) is fixedly connected to the mounting top rod (12), and the mounting top rod (12) is fixedly connected to a distance measuring device translation electric cylinder (14), and a push rod of the distance measuring device translation electric cylinder (14) is fixedly connected to a three-way distance measuring device (15).

7. The automatic transport docking device for a doffer according to claim 6 is characterized in that: The device carrying base plate (3) is fixedly connected to a Y-direction proximity block (38); the Y-direction movable carrying plate (24) is fixedly connected to a group of Y-direction proximity sensors (37); the Y-direction proximity block (38) matches the Y-direction proximity sensor (37); the Y-direction movable carrying plate (24) is fixedly connected to an X-direction proximity block (25); the X-direction movable carrying plate (21) is fixedly connected to an X-direction proximity sensor (26); the X-direction proximity block (25) matches the X-direction proximity sensor (26).

8. The automatic transport docking device for doffing machine according to claim 4 is characterized in that: The device also includes a control component, the control component including an electrical control cabinet (9), a battery (10) and a device charging interface (13), the electrical control cabinet (9) and the battery (10) are mounted on an L-plate (16), the L-plate (16) is fixedly connected to the Y-direction movable carrier plate (24), and the device charging interface (13) is fixedly connected to the vertical frame (39).

9. The automatic transport docking device for a doffer according to claim 4, characterized in that: The AGV trolley (4) is connected to a group of evenly distributed alignment pins (5), the equipment bearing base plate (3) is provided with a group of positioning holes (8), a group of the alignment pins (5) matches a group of the positioning holes (8), and the inner bearing of the AGV trolley (4) is connected to the hydraulic cylinder (6).

10. The automatic transport docking device for doffing machine according to claim 4, characterized in that: The equipment bearing bottom plate (3) is fixedly connected to a symmetrical limit switch (40), the doffing machine (1) is fixedly connected to a photoelectric switch (41), the upper track limit rod (20) is fixedly connected to two detection plates (42), and the photoelectric switch (41) matches the detection plate (42).

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