Bobbin transportation robot

Abstract

The invention provides a spool transport robot, and relates to the technical field of AGV guide vehicles, the spool transport robot comprises an AGV guide vehicle, a guide magnetic strip and a transport tray, the guide magnetic strip is arranged on the ground and used for guiding the AGV guide vehicle to run, a first stabilizing ring is concentrically and rotatably mounted on the periphery of the transport tray, and a second stabilizing ring is concentrically and rotatably mounted on the periphery of the first stabilizing ring; the AGV guide vehicle comprises a plurality of bobbin hanging columns, a plurality of anti-falling assemblies arranged in the longitudinal limit direction of bobbins in the bobbin hanging columns, a side face protection assembly arranged on the AGV guide vehicle and a top protection assembly arranged on the AGV guide vehicle, and through the above technical scheme, the purpose is that through the design of the self-stable transportation tray on the AGV guide vehicle and the additional arrangement of the anti-falling assemblies, the anti-falling assemblies are arranged in the longitudinal limit direction of the bobbins in the bobbin hanging columns; the situation that the bobbins topple and fall off due to uphill and downhill or bumping and collision is avoided, and meanwhile, the situation that the bobbins are polluted and damaged due to emergencies in the transportation process is avoided by additionally arranging the side face protection assemblies and the top protection assembly.

Description

Technical Field

[0001] The present invention relates to the technical field of AGV guided vehicles, and particularly to a yarn bobbin transportation robot. Background Art

[0002] Automated Guided Vehicle, abbreviated as AGV, refers to a transport vehicle equipped with automatic guiding devices such as electromagnetic or optical ones, capable of traveling along a specified guiding path, having safety protection and various loading and unloading functions, a transport vehicle that does not require a driver in industrial applications, and uses a rechargeable battery as its power source. Generally, its traveling route and behavior can be controlled by a computer, or an electromagnetic track can be used to set up its traveling route. The electromagnetic track is pasted on the floor, and the AGV follows the information brought by the electromagnetic track to move and act. After the production of fine yarn in spinning production is completed, it will be wound around a cylinder to form a yarn bobbin. In order to save manpower, AGV guided vehicles are usually used to transport these yarn bobbins to the storage area.

[0003] In traditional handling methods, the yarn bobbins are mostly stacked on the transport tray of the AGV guided vehicle by manual labor or a robotic arm. During the transportation process of the AGV guided vehicle, when encountering uphill and downhill or sharp bend sections, the yarn bobbins may fall over. And when encountering bumpy sections or being blocked by foreign objects, although the AGV guided vehicle has the ability to cross obstacles, the yarn bobbins will still fall off due to bumpy vibration. Moreover, the traditional AGV guided vehicle has low protection for the yarn bobbins. In case of emergencies such as collisions, waterlogged sections, dusty sections, and being hit by falling foreign objects, it is easy to contaminate and damage the yarn bobbins. Summary of the Invention

[0004] The object of the present invention is to solve the disadvantages existing in the prior art that during the transportation process of the AGV guided vehicle, when encountering uphill and downhill or sharp bend sections, the yarn bobbins may fall over, and when encountering bumpy sections or being blocked by foreign objects, although the AGV guided vehicle has the ability to cross obstacles, the yarn bobbins will still fall off due to bumpy vibration, and the traditional AGV guided vehicle has low protection for the yarn bobbins. In case of emergencies such as collisions, waterlogged sections, dusty sections, and being hit by falling foreign objects, it is easy to contaminate and damage the yarn bobbins.

[0005] To achieve the above object, the present invention adopts the following technical solution: A yarn bobbin transportation robot, including an AGV guided vehicle, a guiding magnetic strip, and a transport tray. The guiding magnetic strip is arranged on the ground to guide the AGV guided vehicle to travel. The front side of the top of the AGV guided vehicle is provided with a "C"-shaped opening and an accommodation cavity is arranged inside. A first stabilizing ring is rotatably installed concentrically around the periphery of the transport tray, and a second stabilizing ring is rotatably installed concentrically around the periphery of the first stabilizing ring. A plurality of bobbin hanging columns are arranged on the top of the transport tray. A lead screw lifter is installed inside the AGV guided vehicle and the second stabilizing ring is installed on the top of the lead screw lifter. It further includes: A driving component arranged in the transport tray; A plurality of anti - detachment components disposed inside the hanging cylinder column for longitudinally limiting the yarn cylinder; A side protection component disposed on the AGV guiding vehicle for preventing splashing and collision on the side during the transportation of the yarn cylinder; A top protection component disposed on the AGV guiding vehicle for preventing the yarn cylinder from falling during transportation.

[0006] In at least some embodiments, the rotation axis of the transportation tray and the first stabilizing ring is cross - staggeredly arranged in the horizontal plane compared with the rotation axis of the first stabilizing ring and the second stabilizing ring. A plurality of mounting seats are fixedly installed at the positions corresponding to the hanging cylinder columns inside the transportation tray. A counterweight column is provided at the bottom of the transportation tray, and a plurality of counterweight blocks are magnetically mounted on the counterweight column.

[0007] In at least some embodiments, the driving component includes a resisting column and a first gear. The resisting column is movably inserted into the counterweight column. The first gear is rotatably installed inside the transportation tray and has teeth at the circular center through - hole. One end of the resisting column is fixedly installed with a toothed roller, and one end of the toothed roller is movably inserted into the first gear. A return spring for the resisting column to return to its position is sleeved on the toothed roller. A ball head is fixedly installed at the bottom end of the resisting column. A spiral - shaped first guiding groove is formed inside the counterweight column, and a first guiding post slidably inserted into the first guiding groove is provided on the resisting column.

[0008] In at least some embodiments, the anti - detachment component includes a rotating disk and an outer supporting column. The shaft of the rotating disk is rotatably installed on the mounting seat. A second gear meshingly connected with the first gear is fixedly installed at the bottom of the shaft of the rotating disk. A plurality of arc - shaped grooves are formed on the rotating disk. The outer supporting columns are arranged in a ring shape on the rotating disk. A connecting column penetrating the arc - shaped groove is fixedly installed at the bottom of the outer supporting column. A slider is provided at the bottom of the connecting column and is slidably installed on the mounting seat. A plurality of limiting columns are equidistantly arranged on the outer supporting column. An opening is formed on the side surface of the hanging cylinder column. When the outer supporting column is in the expanded state, the limiting columns penetrate the opening on the hanging cylinder column.

[0009] In at least some embodiments, the side protection component includes a side splash - proof plate and a belt pulley. An annular track is formed on the top of the AGV guiding vehicle. The side splash - proof plate is slidably installed inside the annular track and is stored in the storage cavity. A first tooth pattern part and a second tooth pattern part are formed on the inner circular surface of the side splash - proof plate. Two driving shafts are rotatably installed on the AGV guiding vehicle. Two belt pulleys are provided and are respectively fixedly installed on the driving shafts. A toothed belt meshing with the first tooth pattern part is sleeved between the two belt pulleys.

[0010] In at least some embodiments, the side splash - proof plate is in a "C" shape. The length of the first tooth pattern part is longer than that of the second tooth pattern part. The distance between the two belt pulleys is greater than the opening width of the side splash - proof plate.

[0011] In at least some embodiments, the top protection assembly includes a top cover, a rotating ring and an opening and closing piece. The top of the top cover is installed on the AGV guide vehicle, the rotating ring is rotatably installed on the bottom of the top cover, the bottom of the top cover is provided with a plurality of inclined limit grooves in a ring shape, the opening and closing piece is provided with a plurality of and arranged in a ring shape, the top of the opening and closing piece is provided with a limit strip slidably connected to the limit groove, the rotating circle is provided with a plurality of second guide grooves in a ring shape, the bottom of the opening and closing piece is provided with a second guide column slidably connected to the second guide groove, the outer ring of the rotating circle is fixedly installed with a gear ring, and the bottom of the top cover is rotatably installed with a third gear that is meshed with the gear ring and the second tooth pattern at the same time.

[0012] In at least some embodiments, the top cover is in a circular shape and the diameter of the hole at the center is larger than the diameter of the transport pallet, the opening and closing piece is in an orange segment shape and the maximum width is smaller than the cross-sectional width of the top cover, the opening and closing piece blocks the hole at the center of the top cover when in the expanded state, and is completely tilted and hidden in the top cover when in the stored state.

[0013] In at least some embodiments, a plurality of holes are provided on the opening and closing piece, an annular scraper strip is installed on the inner circular edge of the bottom of the top cover, and a dust storage box is threadedly installed on the inner circular edge of the bottom of the rotating circle.

[0014] Compared with the prior art, the advantages and positive effects of the present invention are: 1. In the present invention, the self-balancing design composed of the transport tray, the first stabilizing ring and the second stabilizing ring on the AGV guide vehicle can avoid the situation where the yarn tube tilts and falls off due to uphill and downhill sections during transportation. The outer support column in the anti-falling component is stretched outward, and the yarn tube on the hanging tube column is longitudinally limited by the limiting column, so as to avoid the situation where the yarn tube falls off due to bumps and collisions during transportation.

[0015] 2. In the present invention, the side splash guard in the anti-shedding assembly is rotated 180 degrees before transportation to block the "C"-shaped opening at the front end of the AGV guide vehicle to prevent sewage and dust from contaminating the yarn tube during transportation of the yarn tube, and can also play a certain anti-collision and anti-scratch function. During the rotation of the side splash guard, the opening and closing piece in the top protection assembly is linked to block the top cover to prevent sewage from dripping from the top or objects from falling into the yarn tube during transportation to contaminate the yarn tube.

[0016] 3. In the present invention, the lifting and lowering of the transport pallet is linked to the anti-falling component through the driving component. When the AGV guide vehicle is loaded, the transport pallet descends and the outer support column automatically retracts. At the same time, the side protection plate in the side protection component cancels the "C"-shaped opening blockage of the AGV guide vehicle, and the opening and closing piece in the top protection component is automatically opened to facilitate the installation of the yarn bobbin without affecting the loading of the yarn bobbin. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1A schematic diagram of the transport state of a bobbin transport robot is provided for the present invention; Figure 2 A schematic diagram of the loading and unloading state of a yarn bobbin transport robot is provided for the present invention; Figure 3 The present invention provides a structural schematic diagram of an AGV guide vehicle in a yarn bobbin transport robot; Figure 4 The present invention provides a schematic diagram of the installation of a transport tray in a bobbin transport robot; Figure 5 The present invention proposes a structural schematic diagram of a transport tray in a yarn bobbin transport robot Figure 1 ; Figure 6 The present invention proposes a structural schematic diagram of a transport tray in a yarn bobbin transport robot Figure 2 ; Figure 7 The present invention provides a schematic structural diagram of a drive assembly in a bobbin transport robot; Figure 8 The present invention provides a structural schematic diagram of an anti-falling component in a yarn bobbin transport robot; Figure 9 The present invention provides a schematic structural diagram of a side protection component in a yarn bobbin transport robot; Figure 10 The present invention provides a schematic diagram of the connection between a top protection component and a side protection component in a yarn bobbin transport robot; Figure 11 The present invention provides a schematic diagram of the internal structure of a top protection component in a yarn bobbin transport robot; Figure 12 The present invention provides a structural schematic diagram of an opening and closing piece in a yarn tube transport robot.

[0018] Legend: 1. AGV guide vehicle; 101. circular track; 102. first opening; 103. second opening; 104. lead screw lifter; 105. drive shaft; 2. Guide the magnetic strip; 3. Transport pallet; 301. First stabilizing ring; 302. Second stabilizing ring; 303. Hanging column; 304. Mounting seat; 305. Counterweight column; 306. First guide groove; 307. Counterweight block; 4. Driving assembly; 401. Abutment column; 402. First gear; 403. Gear roller; 404. Return spring; 405. Ball head; 406. First guide column; 5. Anti-falling assembly; 501. Rotating plate; 502. External support column; 503. Second gear; 504. Connecting column; 505. Limiting column.

[0019] 6. Side protection assembly; 601. Side splash guard; 602. Pulley; 603. First serrated part; 604. Second serrated part; 605. Toothed belt; 7. Top protection assembly; 701. Top cover; 702. Rotating ring; 703. Opening and closing piece; 704. Limit bar; 705. Second guide post; 706. Limit groove; 707. Third gear; 708. Second guide groove; 709. Tooth ring; 710. Dust storage box. Detailed implementation manner

[0020] In order to be able to more clearly understand the above objects, features and advantages of the present invention, the present invention will be further described below with reference to the drawings and embodiments. It should be noted that, without conflict, the embodiments of the present application and the features in the embodiments may be combined with each other.

[0021] In the following description, many specific details are set forth in order to fully understand the present invention. However, the present invention may also be implemented in other ways different from those described herein. Therefore, the present invention is not limited by the limitations of the specific embodiments disclosed in the following specification.

[0022] Embodiment, according to Figures 1 - 12 , as Figure 1 shown, a yarn bobbin transportation robot provided by an embodiment of the present invention includes an AGV guiding vehicle 1, a guiding magnetic stripe 2 and a transportation tray 3. The guiding magnetic stripe 2 is arranged on the ground to guide the AGV guiding vehicle 1 to travel. As Figure 3 shown, a "C"-shaped opening is formed in the front side of the top of the AGV guiding vehicle 1 and a storage cavity is formed inside. Among them, it is deformed into a storage state during the loading and unloading of the yarn bobbin to facilitate the loading and unloading of the yarn bobbin. As Figure 4 and Figure 5As shown in the figure, a first stabilizing ring 301 is rotatably installed concentrically around the periphery of the transportation tray 3. A second stabilizing ring 302 is rotatably installed concentrically around the periphery of the first stabilizing ring 301. A plurality of hanging cylinder columns 303 are provided on the top of the transportation tray 3. A lead screw lifter 104 is installed inside the AGV guiding vehicle 1, and the second stabilizing ring 302 is installed on the top of the lead screw lifter 104. The rotation axis of the transportation tray 3 and the first stabilizing ring 301 intersects the rotation axis of the first stabilizing ring 301 and the second stabilizing ring 302 in a cross shape on the horizontal plane. A plurality of mounting seats 304 are fixedly installed inside the transportation tray 3 at positions corresponding to the hanging cylinder columns 303. A counterweight column 305 is provided at the bottom of the transportation tray 3, and a plurality of counterweight blocks 307 are magnetically installed on the counterweight column 305. Among them, during the transportation of the yarn cylinders, if the AGV guiding vehicle 1 encounters uphill, downhill, and sharp bend sections, the transportation tray 3 can rotate in all directions through the rotation of the first stabilizing ring 301 and the second stabilizing ring 302. And due to the counterweight of the counterweight blocks 307, the transportation tray 3 always remains horizontal to prevent the yarn cylinders from tipping over. It further includes: a driving component 4 provided inside the transportation tray 3; a plurality of anti-detachment components 5 provided inside the hanging cylinder columns 303 for longitudinally limiting the yarn cylinders; a side protection component 6 provided on the AGV guiding vehicle 1 for preventing splashing and collision on the side during the transportation of the yarn cylinders; a top protection component 7 provided on the AGV guiding vehicle 1 for preventing falling on the top during the transportation of the yarn cylinders.

[0023] As Figure 6 and Figure 7 shown in the figure, the driving component 4 includes a resisting column 401 and a first gear 402. The resisting column 401 is movably inserted into the counterweight column 305. The first gear 402 is rotatably installed inside the transportation tray 3 and has teeth at the central through hole. One end of the resisting column 401 is fixedly installed with a toothed roller 403, and one end of the toothed roller 403 is movably inserted with the first gear 402. A return spring 404 for returning the resisting column 401 is sleeved on the toothed roller 403. A ball head 405 is fixedly installed at the bottom end of the resisting column 401. A spiral first guiding groove 306 is formed inside the counterweight column 305. A first guiding post 406 that is slidably inserted into the first guiding groove 306 is provided on the resisting column 401. Among them, before loading and unloading the yarn cylinders, the lead screw lifter 104 will drive the transportation tray 3 to descend. During the descending process, the bottom of the resisting column 401 will contact the AGV guiding vehicle 1 and be compressed into the counterweight column 305 (compressing the return spring 404). Since the first guiding post 406 is slidably installed inside the first guiding groove 306, and the rotation of the ball head 405 will drive the resisting column 401 to rotate in cooperation, the toothed roller 403 will be driven to rotate and rise while the toothed roller 403 rotates. The rotation of the toothed roller 403 will drive the first gear 402, and the anti-detachment component 5 is driven to be retracted through the rotation of the first gear 402, so as to facilitate the sleeving of the yarn cylinders on the hanging cylinder columns 303.

[0024] As Figure 8As shown, the anti-dropping component 5 includes a rotating disk 501 and an outer support column 502. The shaft of the rotating disk 501 is rotatably installed on the mounting seat 304. A second gear 503 meshed with the first gear 402 is fixedly installed at the bottom of the shaft of the rotating disk 501. A plurality of arc-shaped grooves are formed on the rotating disk 501. A plurality of outer support columns 502 are arranged in a ring on the rotating disk 501. A connecting column 504 penetrating the arc-shaped groove is fixedly installed at the bottom of the outer support column 502. A slider is provided at the bottom of the connecting column 504 and is slidably installed on the mounting seat 304. A plurality of limiting columns 505 are equidistantly arranged on the outer support column 502. An opening is formed on the side surface of the hanging cylinder column 303. When the outer support column 502 is in the expanded state, the limiting column 505 penetrates the opening on the hanging cylinder column 303. Among them, the rotation of the first gear 402 drives the rotation of the rotating disk 501 through the meshing action with the second gear 503. The rotation of the rotating disk 501 drives a plurality of outer support columns 502 to approach each other at the same speed through the limiting action of the arc-shaped groove and the sliding action between the connecting column 504 and the mounting seat 304, forming a contracted state. And the limiting column 505 retracts into the hanging cylinder column 303 through the opening on the hanging cylinder column 303 to facilitate the loading and unloading of the yarn cylinder. In the transportation state, the transportation tray 3 rises, and the elastic action of the return spring 404 is used to expand a plurality of outer support columns 502, which plays a longitudinal limiting role on the loaded yarn cylinder in contrast to the above loading and unloading state, preventing the yarn cylinder from falling off the hanging cylinder column 303 when the AGV guiding vehicle 1 passes through a bumpy road section.

[0025] As Figure 9As shown, the side protection component 6 includes a side splash guard 601 and pulleys 602. An annular track 101 is provided at the top of the AGV guiding vehicle 1. The side splash guard 601 is slidably installed in the annular track 101 and stored in the storage cavity. A first tooth pattern portion 603 and a second tooth pattern portion 604 are provided on the inner circular surface of the side splash guard 601. A first opening 102 and a second opening 103 are provided on the outer side wall of the storage cavity of the AGV guiding vehicle 1. The widths of the first opening 102 and the second opening 103 correspond to the widths of the first tooth pattern portion 603 and the second tooth pattern portion 604. Two drive shafts 105 are rotatably installed on the AGV guiding vehicle 1. A motor for driving one of the drive shafts 105 is installed inside the AGV guiding vehicle 1. Two pulleys 602 are provided and are respectively fixedly installed on the drive shafts 105. A toothed belt 605 meshing with the first tooth pattern portion 603 is sleeved between the two pulleys 602. Among them, before the AGV guiding vehicle 1 transports, the motor inside it drives the pulley 602 to rotate. The rotation of the pulley 602 drives the toothed belt 605 to rotate. By the meshing action of the toothed belt 605 and the first tooth pattern portion 603 on the side splash guard 601, the side splash guard 601 is driven to rotate 180 degrees in the annular track 101, blocking the "C"-shaped opening at the front end of the AGV guiding vehicle 1, preventing sewage and dust from contaminating the yarn bobbin during transportation, and also having a certain anti-collision and anti-scratch function. The side splash guard 601 is in a "C" shape. The length of the first tooth pattern portion 603 is longer than that of the second tooth pattern portion 604. The distance between the two pulleys 602 is greater than the opening width of the side splash guard 601. Therefore, one end of the toothed belt 605 is always meshed with the first tooth pattern portion 603 on the side splash guard 601.

[0026] As Figure 10 and Figure 12As shown in the figure, the top protection component 7 includes a top cover 701, a rotating ring 702, and an opening / closing piece 703. The top of the top cover 701 is installed on the AGV guiding vehicle 1. The rotating ring 702 is rotatably installed at the bottom of the top cover 701. A plurality of inclined limiting grooves 706 are annularly formed at the bottom of the top cover 701. A plurality of opening / closing pieces 703 are provided and arranged annularly. A limiting strip 704 slidably connected to the limiting grooves 706 is provided at the top of the opening / closing piece 703. A plurality of second guiding grooves 708 are annularly formed on the rotating ring 702. A second guiding post 705 slidably connected to the second guiding grooves 708 is provided at the bottom of the opening / closing piece 703. A gear ring 709 is fixedly installed on the outer ring of the rotating ring 702. A third gear 707 that is simultaneously meshed with the gear ring 709 and the second tooth pattern part 604 is rotatably installed at the bottom of the top cover 701. The top cover 701 is circular ring-shaped and the diameter of the hole at the center is greater than the diameter of the transport tray 3. The opening / closing piece 703 is petal-shaped and its maximum width is less than the cross-sectional width of the top cover 701. In the unfolded state, the opening / closing piece 703 blocks the hole at the center of the top cover 701. In the stored state, the opening / closing piece 703 is completely inclined and hidden inside the top cover 701. Among them, before the AGV guiding vehicle 1 transports, the above-mentioned side splash guard 601 rotates in the annular track 101. When the side splash guard 601 rotates 90 degrees, the third gear 707 is driven to rotate through the second tooth pattern part 604 on the side splash guard 601. The rotation of the third gear 707 drives the rotating ring 702 to rotate through the meshing action with the gear ring 709. The rotation of the rotating ring 702 drives the opening / closing piece 703 to move under the sliding action of the second guiding post 705 on the opening / closing piece 703 and the second guiding grooves 708. The movement of the opening / closing piece 703 is conveniently guided under the sliding action of the limiting strip 704 and the limiting grooves 706. Finally, the opening / closing piece 703 converges towards the center of the top cover 701 until the side splash guard 601 rotates 180 degrees and stops. At this time, the opening / closing piece 703 completes the blocking of the top cover 701, forming a cover above it to prevent sewage from dripping from the top or objects from falling in and contaminating the yarn tube during the transportation of the yarn tube. On the contrary, when the AGV guiding vehicle 1 is in the loading and unloading state, the opening / closing piece 703 will be stored and hidden between the top cover 701 and the rotating ring 702 to facilitate the loading and unloading of the yarn tube.

[0027] As Figure 11 and Figure 12 shown, a plurality of holes are formed in the opening / closing piece 703. An annular scraping strip is installed on the inner circular edge at the bottom of the top cover 701. A dust storage box 710 is threadedly installed on the inner circular edge at the bottom of the rotating ring 702. Among them, during the transportation of the AGV guiding vehicle 1, the top of the opening / closing piece 703 may be contaminated by dust or dripping oil stains. During the loading and unloading of the AGV guiding vehicle 1, the opening / closing piece 703 is stored. The dust and oil stains are scraped off by the annular scraping strip and collected into the dust storage box 710 through the holes in the opening / closing piece 703 or after the contraction is completed. Just unscrew the dust storage box 710 for cleaning.

[0028] Specific working principle: Before loading the yarn bobbin, the lead screw lifter 104 drives the transport tray 3 to descend. During the descent, the bottom of the abutting column 401 contacts the AGV guiding vehicle 1 and is compressed into the counterweight column 305 (compressing the return spring 404). Since the first guiding column 406 is slidably installed in the first guiding groove 306, and the rotation of the ball head 405 drives the abutting column 401 to rotate, which drives the tooth roller 403 to rotate and rise at the same time. The rotation of the tooth roller 403 drives the first gear 402, and the rotation of the first gear 402 drives the rotating disk 501 to rotate through the meshing with the second gear 503. The rotation of the rotating disk 501 drives multiple outer support columns 502 to approach each other at the same speed through the limiting effect of the arc groove and the sliding effect of the connecting column 504 and the mounting seat 304, forming a contracted state. And the limiting column 505 retracts into the hanging bobbin column 303 through the opening on the hanging bobbin column 303. The produced yarn bobbin is sleeved on the hanging bobbin column 303 manually or by an external manipulator. After the sleeving is completed, the lead screw lifter 104 drives the transport tray 3 to rise, and the elastic effect of the return spring 404 is used to expand multiple outer support columns 502 (opposite to the principle of expanding the outer support columns 502 above), longitudinally limiting the yarn bobbin to prevent the yarn bobbin from falling off the hanging bobbin column 303 when the AGV guiding vehicle 1 passes through a bumpy section; Before transporting the yarn bobbin, the motor inside the AGV guiding vehicle 1 drives the pulley 602 to rotate. The rotation of the pulley 602 drives the toothed belt 605 to rotate. The meshing effect of the toothed belt 605 and the first tooth pattern part 603 on the side splash guard 601 drives the side splash guard 601 to rotate 180 degrees in the annular track 101, blocking the "C"-shaped opening at the front end of the AGV guiding vehicle 1, preventing sewage and dust from contaminating the yarn bobbin during transportation, and also having a certain anti-collision and anti-scratch function. When the side splash guard 601 rotates in the annular track 101, after the side splash guard 601 rotates 90 degrees, the second tooth pattern part 604 on the side splash guard 601 drives the third gear 707 to rotate. The rotation of the third gear 707 drives the rotating ring 702 to rotate through the meshing with the toothed ring 709. The rotation of the rotating ring 702 drives the opening and closing piece 703 to move under the sliding effect of the second guiding column 705 and the second guiding groove 708 on the opening and closing piece 703. The sliding effect of the limiting strip 704 and the limiting groove 706 guides the movement of the opening and closing piece 703 conveniently, and finally the opening and closing piece 703 converges towards the center of the top cover 701 until the side splash guard 601 rotates 180 degrees and stops. At this time, the opening and closing piece 703 completes the blocking of the top cover 701, forming a cover body above it to prevent sewage from dripping or objects from falling into and contaminating the yarn bobbin during the transportation of the yarn bobbin. On the contrary, in the loading and unloading state of the AGV guiding vehicle 1, the opening and closing piece 703 will be stored and hidden between the top cover 701 and the rotating ring 702 to facilitate the loading and unloading of the yarn bobbin; During the transportation of the yarn bobbin, the AGV guiding vehicle 1 is guided by the magnetic strip. If it encounters uphill, downhill, or sharp bend sections, the AGV guiding vehicle 1 will tilt. The transportation tray 3 can rotate in all directions through the rotation of the first stabilizing ring 301 and the second stabilizing ring 302. And due to the counterweight of the counterweight block 307, the transportation tray 3 always remains horizontal to prevent the yarn bobbin from tipping over. When the AGV guiding vehicle 1 reaches the storage destination, the transportation tray 3 descends, and the outer support column 502 automatically retracts. At the same time, the side protection plate in the side protection assembly 6 cancels the "C"-shaped opening blockage of the AGV guiding vehicle 1, and the opening and closing piece 703 in the top protection assembly 7 is automatically opened through the linkage of the side protection assembly 6, facilitating the sleeving of the yarn bobbin and not affecting the unloading of the yarn bobbin.

[0029] The above is only the preferred embodiment of the present invention, and it is not a limitation of the present invention in other forms. Any person skilled in the art may use the disclosed technical content to make changes or modifications into equivalent embodiments with equivalent changes and apply them to other fields. However, as long as it does not depart from the technical solution content of the present invention, any simple modification, equivalent change, and modification made to the above embodiments based on the technical essence of the present invention still fall within the protection scope of the technical solution of the present invention.

Claims

1. A bobbin transport robot, comprising an AGV guide vehicle (1), a guide magnetic strip (2) and a transport pallet (3), characterized in that: The guide magnetic strip (2) is arranged on the ground to guide the AGV guide vehicle (1) to travel; a "C"-shaped opening is provided on the front side of the top of the AGV guide vehicle (1) and a storage cavity is provided inside; a first stabilizing ring (301) is rotatably mounted coaxially on the periphery of the transport pallet (3); a second stabilizing ring (302) is rotatably mounted coaxially on the periphery of the first stabilizing ring (301); a plurality of hanging cylinder columns (303) are provided on the top of the transport pallet (3); a lead screw lifter (104) is installed in the AGV guide vehicle (1) and the second stabilizing ring (302) is installed on the top of the lead screw lifter (104); and further comprising: A drive assembly (4) disposed in the transport pallet (3); A plurality of anti-falling components (5) arranged in the bobbin hanging column (303) and used for longitudinally limiting the bobbin; A side protection component (6) provided on the AGV guide vehicle (1) for preventing the sides from splashing and collision during the transportation of the yarn tubes; A top protection component (7) is arranged on the AGV guide vehicle (1) and is used to prevent the top of the yarn tube from falling during transportation.

2. A bobbin transport robot according to claim 1, characterized in that: The rotation axes of the transport pallet (3) and the first stabilizing ring (301) are arranged crosswise on a horizontal plane compared to the rotation axes of the first stabilizing ring (301) and the second stabilizing ring (302); a plurality of mounting seats (304) are fixedly mounted at positions corresponding to the hanging tube columns (303) in the transport pallet (3); a counterweight column (305) is provided at the bottom of the transport pallet (3); and a plurality of counterweight blocks (307) are magnetically mounted on the counterweight column (305).

3. A bobbin transport robot according to claim 2, characterized in that: The driving assembly (4) comprises a support column (401) and a first gear (402), wherein the support column (401) is movably inserted in the counterweight column (305), the first gear (402) is rotatably installed in the transport pallet (3) and is provided with teeth at the center through hole, a gear roller (403) is fixedly installed at one end of the support column (401) and one end of the gear roller (403) is movably inserted with the first gear (402), a return spring (404) for returning the support column (401) is sleeved on the gear roller (403), a ball head (405) is fixedly installed at the bottom end of the support column (401), a spiral first guide groove (306) is opened in the counterweight column (305), and a first guide column (406) slidably inserted with the first guide groove (306) is provided on the support column (401).

4. The bobbin transport robot according to claim 1, characterized in that: The anti-fall-off assembly (5) comprises a rotating disk (501) and an external support column (502); the axis of the rotating disk (501) is rotatably mounted on the mounting seat (304); a second gear (503) meshingly connected to the first gear (402) is fixedly mounted on the bottom of the axis of the rotating disk (501); a plurality of arc grooves are provided on the rotating disk (501); a plurality of external support columns (502) are arranged in a ring shape on the rotating disk (501); a connecting column (504) penetrating the arc groove is fixedly mounted on the bottom of the external support column (502); a sliding block is provided at the bottom of the connecting column (504) and is slidably mounted on the mounting seat (304); a plurality of limiting columns (505) are equidistantly arranged on the external support column (502); an opening is provided on the side of the hanging tube column (303); and the limiting columns (505) penetrate the opening on the hanging tube column (303) when the external support column (502) is in an open state.

5. The yarn tube transport robot according to claim 1, characterized in that: The side protection assembly (6) comprises a side splash plate (601) and a pulley (602); a circular track (101) is provided on the top of the AGV guide vehicle (1); the side splash plate (601) is slidably mounted in the circular track (101) and stored in a storage cavity; a first toothed portion (603) and a second toothed portion (604) are provided on the inner circumferential surface of the side splash plate (601); two drive shafts (105) are rotatably mounted on the AGV guide vehicle (1); two pulleys (602) are provided and are respectively fixedly mounted on the drive shafts (105); a toothed belt (605) meshing with the first toothed portion (603) is sleeved between the two pulleys (602).

6. The yarn tube transport robot according to claim 5, characterized in that: The side splash plate (601) is in a "C" shape, the length of the first toothed portion (603) is longer than the second toothed portion (604), and the distance between the two pulleys (602) is greater than the opening width of the side splash plate (601).

7. The bobbin transport robot according to claim 1, characterized in that: The top protection assembly (7) comprises a top cover (701), a rotating circle (702) and an opening and closing piece (703); the top of the top cover (701) is mounted on the AGV guide vehicle (1); the rotating circle (702) is rotatably mounted on the bottom of the top cover (701); the bottom of the top cover (701) is provided with a plurality of inclined limiting grooves (706) in the shape of a ring; the opening and closing piece (703) is provided with a plurality of grooves in the shape of a ring and is in a shape of a ring; the top of the opening and closing piece (703) is provided with a groove that is aligned with the limiting groove (706) ) is slidably connected to a limit strip (704), a plurality of second guide grooves (708) are provided in an annular shape on the rotating circle (702), a second guide column (705) slidably connected to the second guide groove (708) is provided at the bottom of the opening and closing piece (703), a gear ring (709) is fixedly installed on the outer ring of the rotating circle (702), and a third gear (707) is rotatably installed at the bottom of the top cover (701) and is meshed with the gear ring (709) and the second toothed portion (604).

8. The bobbin transport robot according to claim 7, characterized in that: The top cover (701) is in the shape of a ring and the diameter of the hole at the center of the circle is larger than the diameter of the transport pallet; the opening and closing piece (703) is in the shape of an orange segment and the maximum width is smaller than the cross-sectional width of the top cover (701); the opening and closing piece (703) blocks the hole at the center of the circle of the top cover (701) when in the unfolded state; and the opening and closing piece (703) is completely tilted and hidden in the top cover (701) when in the stored state.

9. The yarn tube transport robot according to claim 8, characterized in that: The opening and closing piece (703) is provided with a plurality of holes, an annular scraper strip is installed on the inner circular edge of the bottom of the top cover (701), and a dust storage box (710) is threadedly installed on the inner circular edge of the bottom of the rotating circle (702).

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