Warp beam carrying device

Abstract

The invention belongs to the technical field of textile, and particularly relates to a warp beam carrying device which comprises a main frame, the main frame is divided into a first building area and a second building area, a first base is arranged at the bottom of the first building area, a second base is arranged at the bottom of the second building area, and at least one lift car is arranged on the inner side of the main frame in a lifting mode. The top of the main frame is provided with a driving mechanism used for driving the lift car to ascend and descend. Wherein the driving mechanism is in transmission connection with the transmission mechanism so as to drive the lift car to do reciprocating lifting motion with the upper end face of the first base as the starting point and the upper end face of the second base as the ending point, and at least two telescopic forks used for grabbing a warp beam to enter the lift car are symmetrically arranged in the lift car. Through the design of the lifting driving mechanism and the telescopic pallet fork of the lift car, automatic carrying of the warp beams from the first floor to the second floor is achieved, the logistics efficiency is remarkably improved, and manual intervention is reduced.

Description

Technical Field

[0001] The invention belongs to the technical field of textiles, and in particular relates to a warp beam transporting device. Background Art

[0002] A warp knitting beam is a cylindrical device used in textile machinery to secure and arrange the warp threads. It typically consists of a shaft tube, a shaft head, and other components. During the warp knitting process, the beam is located behind or above the weaving area and is wound with a large number of parallel yarns, similar to the warp arrangement in woven fabrics.

[0003] In the textile industry, the handling and transportation of warp knitting beams is a key step in the production process, especially in multi-story factories, where warp beams need to be transported efficiently and safely between floors. However, traditional material transportation methods have the following problems: 1. Freight elevators cannot meet transportation needs: The warp beam is too long to use traditional freight elevators to transport goods across floors.

[0004] 2. Traditional lifting equipment lacks safety: Traditional cranes, cranes, and other equipment require large openings in the floor slab to move, wasting space on the second floor. Furthermore, traditional cranes and cranes require manual operation, posing serious safety risks.

[0005] 3. Low degree of automation: The current manual operation and transportation mode cannot achieve automatic docking with AGV transportation, and the overall degree of automation and efficiency are low. Summary of the Invention

[0006] The invention discloses a warp beam transporting device, which mainly solves the problem that the traditional method of transporting and transferring warp knitting warp beams cannot realize cross-floor transportation by using traditional freight elevators.

[0007] To achieve the above-mentioned object, the present invention provides a warp beam transport device, comprising a main frame, the main frame being divided into a first floor area and a second floor area, a first base being provided at the bottom of the first floor area, a second base being provided at the bottom of the second floor area, at least one elevator car being provided on the inner side of the main frame for lifting, and a driving mechanism for driving the elevator car to be raised and lowered being provided on the top of the main frame; Among them, the driving mechanism is connected to the transmission mechanism to drive the car to perform reciprocating lifting motion with the upper end surface of the first base as the starting point and the upper end surface of the second base as the end point. At least two telescopic forks are symmetrically arranged inside the car for grabbing the warp beam and entering the car. Through the lifting drive mechanism and telescopic fork design of the car, the automatic transportation of the warp beam from the first floor to the second floor is realized, which significantly improves logistics efficiency and reduces manual intervention.

[0008] Preferably, a sensing mechanism is provided on the top surface of the two forks, and the sensing mechanism is a laser sensor or an ultrasonic sensor. The sensing mechanism detects and determines whether there is any obstruction in the picking direction of the forks, and can detect obstacles in the picking direction of the forks in real time, prevent collision failures, and ensure safe operation.

[0009] Preferably, a fixing seat is fixed on the top of the fork, and a V-shaped fixing groove is opened on the top of the fixing seat. The obtuse angle formed by the inclined limit plate can prevent the warp beam from rolling, optimize the temporary storage space, and reduce the waiting time for transportation. A fast door for sealing the cabin space is movably provided on one side of the cabin. The fast door can seal the cabin space during the movement of the cabin, thereby preventing external interference.

[0010] Preferably, detection mechanisms for detecting the position error between the end faces of the warp heads at both ends of the warp shaft and the shaft ends are provided on both sides of the first floor area of the main frame. The detection mechanisms are also electrically connected to an alarm mechanism, which is used to implement the detection distance. When the detected distance does not meet the preset value, an alarm is issued to notify manual processing.

[0011] Preferably, the forks are movably mounted above the adjustment mechanism at the bottom of the car, and the distance between the two forks is adjusted by the adjustment mechanism. The adjustment mechanism is used to adjust the distance between the two forks, so that the forks can adapt to warp beams of various lengths.

[0012] Preferably, an inspection room is provided on the top of the main frame, and a special ladder is provided on the side of the main frame. The ladder can facilitate manual inspection, thereby facilitating equipment maintenance and reducing downtime.

[0013] Preferably, the first floor area and the second floor area are both provided with an operating table electrically connected to the driving mechanism, detection mechanism, alarm mechanism, sensing mechanism, and adjustment mechanism. The operating table is provided with an operating panel, and the operating panel is provided with control buttons. The operating tables on the first and second floors integrate driving, detection, alarm and other functions, and one-button operation is achieved through the control panel, thereby improving the efficiency of human-computer interaction.

[0014] Preferably, the transmission mechanism includes a transmission wheel rotatably arranged at the bottom of one side of the main frame, and a transmission belt sleeved on the outside of the transmission wheel.

[0015] Preferably, it also includes a cache rack for placing the warp beam, and the top of the cache rack is symmetrically inclined with at least four limit plates, so that an obtuse angle is formed between two relative limit plates. The obtuse angle formed by the inclined limit plates can prevent the warp beam from rolling, optimize the temporary storage space, and reduce the waiting time for transportation. The obtuse angle can also adapt to a wider range of disc head diameters, thereby enhancing applicability.

[0016] Preferably, the present invention further provides a warp beam handling method implemented using a warp beam handling and grabbing device, comprising the following steps: S1: After the AGV arrives at the designated cache location, it selects the transport target based on the AGV's arrival cache position status; S2: When transporting the upper shaft, the worker on the second floor places the headstock on the buffer rack and scans the code to confirm the delivery. The AGV then goes to the docking position on the first floor and waits for orders. At the same time, the elevator car rises to the second floor. S3: After the car ascends to the second floor, the rapid door opens, the fork extends out of the car and adjusts the spacing according to the length of the pan head string. The fork then lifts the pan head string from the buffer rack, and then retracts to move the pan head string into the car. The rapid door closes, and the car descends to the first floor. The rapid door opens again, and the fork extends out of the car to move the pan head string to the AGV at the docking position. S4: When transporting the lower shaft, the AGV goes to the docking position and waits. At the same time, the car descends to the first floor, the fast door opens, the fork extends out of the car and adjusts the spacing according to the length of the pan head string. The fork then lifts the pan head string from the cache rack, and then the fork retracts to transport the pan head string into the car. The fast door closes, and then the car rises to the second floor and places the pan head string on the cache rack. The worker on the second floor scans the code to confirm the delivery and takes away the pan head string.

[0017] The technical solution provided by the present invention has at least the following technical effects: 1. Realize cross-floor transportation: It can quickly and safely realize the transportation of warp beams between floors, significantly improving logistics efficiency.

[0018] 2. High degree of automation: It can realize automatic grabbing of warp beams and connect to AGV for transportation, realize process automation, reduce manual intervention and improve the safety of the production process.

[0019] 3. Strong adaptability: It can adapt to warp beams of different sizes and lengths, and has a certain degree of scalability to meet changes in future production needs. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. 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 any creative labor.

[0021] Figure 1 A side view of embodiment 1 of the present invention; Figure 2 It is a front view of embodiment 1 of the present invention; Figure 3This is a side view of embodiment 1 of the present invention without the cache racks on the second floor; Figure 4 for Figure 3 A local enlarged schematic diagram of point A; Figure 5 A top view of embodiment 1 of the present invention; Figure 6 A side view of a cache rack according to embodiment 1 of the present invention; Figure 7 A top view of a cache rack according to embodiment 1 of the present invention; Figure 8 This is a schematic diagram of the positional relationship of embodiment 2 of the present invention; Explanation of the main reference numerals: 10, main frame; 11, first base; 12, second base; 13, ladder; 20, car; 21, fork; 210, fixed seat; 211, sensing mechanism; 212, telescopic chain; 30, maintenance room; 31, driving mechanism; 40, cache rack; 41, limit plate; 50, pan head string; 60, AGV cache position; 61, docking position; DETAILED DESCRIPTION The following describes embodiments of the present invention in detail. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the embodiments of the present invention, and should not be construed as limiting the present invention.

[0022] In the description of the embodiments of the present invention, it should be understood that the terms "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing the embodiments of the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention.

[0023] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be understood to indicate or imply relative importance or implicitly specify the number of the technical features being referred to. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the described features. In the description of the embodiments of the present invention, "plurality" means two or more, unless otherwise specifically defined.

[0024] Implementation method 1: Please refer to Figure 1 , Figure 1This is a side view of embodiment 1 of the present invention. This embodiment provides a warp beam handling device, including a main frame 10. The main frame 10 is vertically divided into a first floor area and a second floor area. A first base 11 is provided at the bottom of the first floor area, and a second base 12 is provided at the bottom of the second floor area. In this embodiment, two elevator cars 20 are provided inside the main frame 10 for lifting. Two telescopic forks 21 are symmetrically installed inside the elevator cars 20 for grabbing warp beams. The main frame 10 in this embodiment is a four-column frame, which is made of square tubes, ordinary steel, plates, etc. welded and assembled, and is the main body for installing and supporting the components of the whole machine; Please refer to Figure 2 as well as Figure 5 , Figure 2 This is a front view of embodiment 1 of the present invention, Figure 5 This is a top view of embodiment 1 of the present invention. A driving mechanism 31 is provided on the top of the main frame 10, which drives the car 20 to move back and forth between the upper end surface of the first base 11 and the upper end surface of the second base 12 through the transmission mechanism. A first transmission wheel is provided at the output end of the driving mechanism 31. The transmission mechanism includes a second transmission wheel provided at the bottom of the main frame 10, and a transmission belt sleeved on the outside of the first transmission wheel and the second transmission wheel. The other end of the transmission belt is fixed to the main frame 10. Guide rails are also provided on both sides of the main frame 10. The guide rails correspond to the positioning plates provided on both sides of the car 20, and are used to assist the car 20 in smooth lifting movement.

[0025] Please refer to Figure 3 as well as Figure 4 , Figure 3 This is a side view of the embodiment 1 of the present invention without the cache rack 40 in the second floor area. Figure 4 Figure 3 FIG2 is a partial enlarged schematic diagram of point A of FIG2. In this embodiment, the top surfaces of the two forks 21 are provided with laser sensors. During operation, the laser sensors detect whether there is any obstruction in the picking direction of the forks 21, thereby detecting obstacles in the picking direction of the forks 21 in real time, preventing collision failures, and ensuring safe operation.

[0026] In this embodiment, a fixing seat 210 is fixed on the top of the fork 21. A V-shaped fixing groove is opened on the top of the fixing seat 210. The V-shaped groove on the fixing seat 210 can firmly clamp the warp beam to prevent sliding during transportation, which is particularly suitable for warp beams with heavier weight.

[0027] In this embodiment, the fork 21 within the car 20 is telescopically moved by a telescopic chain 212. This chain drive structure is relatively traditional and simple, requiring only regular lubrication and checking the chain tension, without the need for complex commissioning. While the chain drive's instantaneous speed may fluctuate, in low-speed applications like the telescopic fork 21 (driven by a reduction motor), this fluctuation has minimal impact on operation, ensuring overall smooth operation. The chain drive's stability fully meets requirements.

[0028] One side of the car 20 is movably provided with a fast door for closing the space of the car 20. The fast door can close the space of the car 20 during the movement of the car 20, thereby avoiding external interference. The structure and working principle of the fast door are existing technologies and will not be repeated here.

[0029] Detection mechanisms for detecting the position error between the end faces of the warp heads at both ends of the warp shaft and the shaft ends are provided on both sides of the first floor area of the main frame 10. The detection mechanisms are also electrically connected to an alarm mechanism. The detection mechanism is used to implement the detection distance. When the detected distance does not meet the preset value, an alarm is issued to notify manual processing. In this embodiment, the detection mechanism is a camera, and the specific model can be an RGB-D camera, which is the BlueCore Technology S2 series camera. It can realize pallet recognition, obstacle detection and stacking detection through the depth data interface, and is suitable for mobile robot navigation and three-dimensional environment perception in industrial scenes. Other common cameras on the market can also be used, but it is not limited to this.

[0030] In this embodiment, the control mode of the device is automatic control + manual button confirmation, which ensures automation while ensuring operational safety through manual operation.

[0031] Reference Figure 6 as well as Figure 7 , Figure 6 FIG. 4 is a side view of a cache rack 40 according to Embodiment 1 of the present invention. Figure 7 FIG. 4 is a top view of the cache rack 40 according to the first embodiment of the present invention. This embodiment also includes a cache rack 40 for placing warp beams. The top of the cache rack 40 is symmetrically and tilted with at least four limit plates 41, so that an obtuse angle is formed between the two relative limit plates 41. The obtuse angle formed by the tilted limit plates 41 can prevent the warp beams from rolling, optimize temporary storage space, and reduce transportation waiting time. The obtuse angle can also adapt to a wider range of disc head diameters, thereby enhancing applicability.

[0032] Implementation 2: Please refer to Figure 8 The present invention also provides a warp beam transport method implemented using a warp beam transport grabbing device, comprising the following steps: S1: After the AGV arrives at the designated cache location, it selects the transport target based on the AGV's arrival cache position status; S2: When transporting the upper shaft, the worker on the second floor places the headstock string 50 on the buffer rack 40 and scans the code to confirm the delivery. The AGV goes to the docking position 61 on the first floor and waits. At the same time, the elevator car 20 rises to the second floor. S3: After the car 20 ascends to the second floor, the rapid door opens, the fork 21 extends out of the car 20 and adjusts the spacing according to the length of the pan head string 50. The fork 21 then lifts the pan head string 50 from the buffer rack 40. The fork 21 then retracts and moves the pan head string 50 into the car 20. The rapid door closes, and the car 20 descends to the first floor. The rapid door opens again, and the fork 21 extends out of the car 20 and moves the pan head string to the AGV at the docking position 61. S4: When transporting the lower shaft, the AGV goes to the docking position 61 and waits. At the same time, the car 20 descends to the first floor area, the fast door opens, the fork 21 extends out of the car 20 and adjusts the spacing according to the length of the pan head string 50. Then the fork 21 lifts the pan head string 50 from the cache rack 40, and then the fork 21 retracts to transport the pan head string 50 into the car 20. The fast door closes, and then the car 20 rises to the second floor area and places the pan head string 50 on the cache rack 40. The workers on the second floor scan the code to confirm the goods and take away the pan head string 50.

[0033] In this embodiment, the warp head string 50 refers to an assembly formed by connecting multiple warp head strings 50 on a warp beam.

[0034] In this embodiment, docking positions 61 are provided in both the first floor area and the second floor area. The specific docking position 61 is selected according to the actual need to transport the warp beam. A cache rack 40 is provided at the docking position 61. The cache rack 40 is used to set the card position to ensure the placement accuracy of the disk head string 50.

[0035] According to another embodiment of the present invention, in this embodiment, any floor height requirement can be met within the maximum lifting stroke of the car 20, and the handling and transfer of the pan head string 50 can be achieved by simply placing the cache rack 40 at the location where goods need to be picked up and put down.

[0036] The present invention has at least the following beneficial effects: Modular main frame 10 design: adopts a four-column frame (square tube + steel welding), with high rigidity and load-bearing capacity, suitable for multi-layer handling scenarios (first floor area and second floor area), ensuring the stability of the whole machine operation.

[0037] Double-car 20 configuration: allows multiple handling tasks to be handled simultaneously, improving work efficiency.

[0038] Guide rail + positioning plate assistance: Guide rails and positioning plates are set on both sides of the car 20 to ensure a smooth lifting process and avoid swaying.

[0039] Laser sensor obstacle avoidance: A laser sensor is installed on the top of the fork 21 to detect obstacles in the picking direction in real time to prevent collision accidents.

[0040] Camera detection: Use camera to detect the position error of the warp beam head end face, and trigger the alarm mechanism when abnormal to avoid handling deviation.

[0041] Automation + manual dual control mode: supports the combination of automatic processes (such as AGV scheduling) and manual button confirmation, taking into account both efficiency and safety.

[0042] Chain-driven fork 21: The fork 21 is extended and retracted by a chain, which simplifies maintenance (only lubrication and tension check are required). It is resistant to harsh environments such as dust and oil, is suitable for low-speed scenarios, and costs less than a precision gear system.

[0043] V-shaped fixed groove design: The V-shaped groove on the top of the fork 21 firmly clamps the warp beam to prevent sliding and is suitable for warp beams of different diameters.

[0044] Fast door closure: The 20 fast doors in the car close the space when moving, avoiding external interference and shortening the cycle time.

[0045] Inclined limit plates 41 cache rack 40: Four symmetrical inclined limit plates 41 form an obtuse angle (>90°) to prevent the warp beam from rolling, adapt to a variety of warp head sizes, and reduce adjustment time during temporary storage.

[0046] Multiple docking stations: Both the first and second floors are equipped with 61 docking stations and 40 cache racks, supporting flexible scheduling (e.g., AGVs on standby, workers scanning codes to pick up goods).

[0047] Maintenance room 30 and special ladder 13: A maintenance room 30 is set on the top of the main frame 10, and a ladder 13 is installed on the side to facilitate equipment maintenance and reduce downtime.

[0048] Adjustment mechanism: The distance between the forks 21 can be dynamically adjusted according to the length of the warp head, adapting to warp beams of different specifications and with strong scalability.

[0049] Cross-floor versatility: The drive system supports any floor height requirement within the maximum lifting range, and the application scenario can be expanded by simply adding 40 buffer racks.

[0050] AGV collaborative operation: AGV automatically docks at docking position 61, reducing manual handling intensity; scanning code confirms outbound / inbound storage, reducing human operational errors.

[0051] The above are only preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A warp beam transport device for reciprocating and lifting a warp beam along a moving path, the warp beam transport device comprising: A main frame (10), wherein the main frame (10) is vertically divided into a first floor area and a second floor area, a first base (11) is provided at the bottom of the first floor area, and a second base (12) is provided at the bottom of the second floor area; At least one car (20) is arranged inside the main frame (10) and is used to place the warp beam; At least two telescopic forks (21) are arranged inside the car (20) and are used to grab the warp beam and enter the car (20); A driving mechanism (31) is arranged on the top of the main frame (10); The driving mechanism (31) is connected to the transmission mechanism to drive the car (20) to perform a reciprocating lifting motion with the upper end surface of the first base (11) and the upper end surface of the second base (12) as endpoints.

2. A warp beam transport device according to claim 1, characterized in that: A sensing mechanism (211) is provided on the top surface of the fork (21), and the sensing mechanism (211) is a laser sensor or an ultrasonic sensor.

3. A warp beam transporting device according to claim 1, characterized in that: A fixing seat (210) is fixedly provided on the top of the fork (21), a V-shaped fixing groove is provided on the top of the fixing seat (210), and a fast door for closing the space of the car (20) is movably provided on one side of the car (20).

4. A warp beam transporting device according to claim 1, characterized in that: Detection mechanisms for detecting position errors between the warp head end faces at both ends of the warp beam and the shaft end are provided on both sides of the first floor area of the main frame (10), and the detection mechanisms are also electrically connected to an alarm mechanism.

5. The warp beam transporting device according to claim 1, characterized in that: The two cargo forks (21) are movably mounted above the adjustment mechanism at the bottom of the car (20), and the distance between the two cargo forks (21) is adjusted by the adjustment mechanism.

6. A warp beam transporting device according to claim 1, characterized in that: A maintenance room (30) is also provided on the top of the main frame (10), and a special ladder (13) is provided on the side of the main frame (10).

7. The warp beam transporting device according to claim 1, characterized in that: The first floor area and the second floor area are both provided with an operating table electrically connected to the driving mechanism (31), the detection mechanism, the alarm mechanism, the sensing mechanism (211), and the regulating mechanism. The operating table is provided with an operating panel, and the operating panel is provided with control buttons.

8. The warp beam transporting device according to claim 1, characterized in that: The transmission mechanism comprises a transmission wheel rotatably arranged at the bottom of one side of the main frame (10), and a transmission belt sleeved on the outside of the transmission wheel.

9. The warp beam transporting device according to claim 1, characterized in that: It also includes a buffer rack (40) for placing a warp beam, wherein at least four limiting plates (41) are symmetrically and obliquely arranged on the top of the buffer rack (40), so that an obtuse angle is formed between two opposing limiting plates (41).

10. A warp beam transporting method implemented using the warp beam transporting and grabbing device according to any one of claims 1 to 9, characterized in that: The following steps are involved: S1: After the AGV arrives at the designated cache location, it selects the transport target based on the AGV's arrival cache position status; S2: When transporting the upper shaft, the worker on the second floor places the disk head string (50) on the buffer rack (40) and scans the code to confirm the release. The AGV goes to the docking position (61) on the first floor and waits for orders. At the same time, the car (20) rises to the second floor; S3: After the car (20) rises to the second floor, the fork (21) is extended to carry the pan head string into the car (20), and then the car (20) descends to the first floor, the fast door opens again, and the fork (21) extends from the car (20) to carry the pan head string to the AGV at the docking position (61); S4: When transporting the lower shaft, the AGV goes to the docking position (61) and stands by. At the same time, the car (20) descends to the first floor area, and the fork (21) is used to telescope and transport the pan head string (50) into the car (20). Then, the car (20) rises to the second floor area and places the pan head string (50) on the cache rack (40). The worker on the second floor scans the code to confirm and takes away the pan head string (50).

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