Automatic guided vehicle (AGV) yarn unloading manipulator

Abstract

The utility model belongs to the technical field of yarn unloading manipulators, and discloses an AGV yarn unloading manipulator which comprises an AGV trolley, an angle adjusting mechanism, a transverse moving mechanism, a reciprocating mechanism and a yarn unloading mechanism, the yarn unloading mechanism comprises a fixing support arranged on the reciprocating mechanism, and a plurality of lifting electric cylinders are arranged in the fixing support at intervals in the length direction of the fixing support; a supporting plate is arranged at the top of a push rod of the lifting electric cylinder, supporting frames are arranged on the two sides, located in the width direction of the fixing support, of the supporting plate, arc-shaped supporting plates are arranged on the supporting frames, and the two arc-shaped supporting plates are concentrically arranged. Angle adjustment is conducted through the angle adjusting mechanism, the transverse moving mechanism drives the yarn unloading mechanism to conduct transverse moving motion, the reciprocating mechanism drives the yarn unloading mechanism to conduct reciprocating motion in the length direction of the impeller, the yarn unloading mechanism is gradually adjusted to the yarn unloading position corresponding to a yarn roll, then yarn unloading is conducted through the yarn unloading mechanism, full-automatic yarn unloading is achieved, and the driving route is flexible and adjustable. The transformation project is small, and maintenance is convenient.

Description

TECHNICAL FIELD

[0001] The utility model relates to a yarn unloading manipulator technical field, especially in AGV yarn unloading manipulator. BACKGROUND

[0002] After the glass fiber drawing machine draws yarn, the formed yarn roll needs to be unloaded from the impeller and transported to the designated position for storage. In order to reduce the labor intensity of workers, most enterprises begin to use yarn unloading manipulators to assist in unloading yarn. There are two kinds of yarn unloading manipulators currently used in the industry, one is a truss type auxiliary yarn unloading manipulator, and the other is a truss type automatic yarn unloading manipulator. The truss type auxiliary yarn unloading manipulator needs to be operated manually, and only one cake can be unloaded and placed at a time. When facing the unloading of multiple drawing machines, multiple cakes need to be pulled to the front end of the drawing machine head one by one manually, and the whole process needs to be operated manually, so the yarn unloading efficiency is low. Although the truss type automatic yarn unloading manipulator can complete the automatic unloading and placing of yarn, its structure is large, the on-site construction amount is large, and the construction has a large impact on normal production. It has high requirements for production line space and workshop steel structure, is not suitable for old production line transformation application, and can only be repaired on site when it breaks down. SUMMARY

[0003] In order to solve the above problems, the utility model provides a kind of AGV yarn unloading manipulator.

[0004] The above technical purposes of the utility model are realized by the following technical solutions: a kind of AGV yarn unloading manipulator, including AGV dolly and angle adjusting mechanism, transverse moving mechanism, reciprocating mechanism and yarn unloading mechanism sequentially arranged on AGV dolly, the yarn unloading mechanism is used to support yarn roll and unload yarn roll from impeller, the reciprocating mechanism is used to drive yarn unloading mechanism to move in the length direction of impeller, the transverse moving mechanism is used to drive reciprocating mechanism, yarn unloading mechanism moves in the width direction of drawing machine, to adjust the position of yarn unloading mechanism relative to yarn roll, the angle adjusting mechanism is used to adjust the angle of transverse moving mechanism, reciprocating mechanism and yarn unloading mechanism, so that yarn unloading mechanism is aligned with yarn roll, the AGV dolly is used to drive angle adjusting mechanism, transverse moving mechanism, reciprocating mechanism and yarn unloading mechanism to move to unload yarn and yarn roll transport work, the yarn unloading mechanism includes fixed support arranged on reciprocating mechanism, a plurality of lifting electric cylinders are arranged in the length direction of fixed support in the fixed support, the push rod top of lifting electric cylinder is provided with supporting plate, the supporting plate is provided with supporting frame on both sides in the width direction of fixed support, the supporting frame is provided with arc-shaped supporting plate, two arc-shaped supporting plates are concentrically arranged, the AGV dolly is further provided with control mechanism for controlling the action of AGV dolly and each mechanism.

[0005] By adopting the technical scheme, the AGV trolley, the angle adjusting mechanism, the transverse moving mechanism, the reciprocating mechanism and the yarn unloading mechanism are arranged, after the wire drawing is completed, the AGV trolley drives the mechanisms to move to the front of the wire drawing machine and is adjusted to the yarn unloading position, then the angle adjusting mechanism is finely adjusted in angle, the yarn unloading mechanism is parallel to the yarn roll, the transverse moving mechanism is actuated to make the yarn unloading mechanism and the yarn roll be located on a straight line, finally the reciprocating mechanism drives the yarn unloading mechanism to move to the yarn roll direction, the lifting cylinder pushes the supporting plate to move upward, the yarn roll is held by the two arc-shaped supporting plates, then the reciprocating mechanism drives the yarn unloading mechanism to move to the AGV trolley direction and return to the top of the AGV trolley, the yarn roll on the impeller is unloaded, then the AGV trolley moves to the storage position with the yarn roll, so that the full-automatic yarn unloading is realized, the overall structure is light, the running route is flexible and adjustable, the modification engineering is small, in addition to the trolley positioning, adjustment of workshop layout and network modification, no additional adjustment of the field layout is needed, the maintenance is convenient, the production efficiency is high and the cost investment is small.

[0006] Further, the fixed support includes a vertical plate arranged on the reciprocating mechanism, a horizontal plate arranged on a plate surface of the vertical plate away from the reciprocating mechanism, a supporting plate arranged between the horizontal plate bottom and the vertical plate, a lifting cylinder arranged on the horizontal plate bottom, a push rod of the lifting cylinder penetrating through the horizontal plate and protruding upward, guide holes formed on both sides of the horizontal plate at the lifting cylinder, a guide sleeve arranged at the horizontal plate bottom at the guide holes, and two guide rods arranged on the supporting plate bottom surface correspondingly and slidingly arranged in the guide sleeves.

[0007] By adopting the technical scheme, the vertical plate, the horizontal plate, the supporting plate, the guide sleeve and the guide rod are arranged to guide the lifting movement of the supporting plate and improve the stability of the movement.

[0008] Further, the angle adjusting mechanism includes a mounting plate arranged on the AGV trolley, a rotating shaft arranged at one end of the mounting plate in the length direction of the AGV trolley, an arc-shaped rack arranged at the other end of the mounting plate with the rotating shaft as the center, an arc-shaped guide rail arranged at the middle of the mounting plate with the rotating shaft as the center, an angle adjusting plate arranged above the mounting plate with the plate surface parallel, the angle adjusting plate being rotationally connected with the rotating shaft, the angle adjusting plate bottom surface being slidingly arranged on the arc-shaped guide rail through the arc-shaped sliding block, a rotating motor arranged near the arc-shaped rack at the angle adjusting plate in the vertical direction, an output shaft of the rotating motor penetrating downward through the angle adjusting plate and being provided with a rotating gear at the end, and the rotating gear being engaged with the arc-shaped rack.

[0009] By adopting the technical scheme, the mounting plate, the rotating shaft, the arc-shaped rack, the arc-shaped guide rail, the angle adjusting plate, the rotating motor and the rotating gear are arranged, the rotating motor drives the rotating gear to rotate and cooperate with the arc-shaped rack, the angle adjusting plate rotates around the rotating shaft, and the angle is adjustable.

[0010] Further, a plurality of universal ball bearings are arranged between the mounting plate and the angle adjusting plate, two distance measuring sensors are arranged on one end of the angle adjusting plate close to the rotating shaft, and the connecting line of the two distance measuring sensors is parallel to the width direction of the angle adjusting plate.

[0011] By adopting the technical scheme, the universal ball bearings are arranged to support the angle adjusting plate, and the stability of the angle adjusting plate is improved; the two distance measuring sensors are arranged, the distance between the two distance measuring sensors and the wire drawing machine is measured, and whether the side edge of the angle adjusting plate is parallel to the wire drawing machine is determined.

[0012] Further, the horizontal moving mechanism comprises two horizontal moving slide rails arranged on the angle adjusting plate at intervals, the length direction of the horizontal moving slide rail is consistent with the width direction of the angle adjusting plate, a horizontal moving plate is slidably arranged on the horizontal moving slide rail, a horizontal moving rack is arranged on the angle adjusting plate between the two horizontal moving slide rails, a vertical horizontal moving motor is arranged on the horizontal moving plate, the output shaft of the horizontal moving motor penetrates the horizontal moving plate downward and a horizontal moving gear is arranged at the end, and the horizontal moving gear is engaged with the horizontal moving rack.

[0013] By adopting the technical scheme, the horizontal moving slide rail, the horizontal moving rack, the horizontal moving plate, the horizontal moving motor and the horizontal moving gear are arranged, the horizontal moving motor drives the horizontal moving gear to rotate and cooperate with the horizontal moving rack, and the horizontal moving plate moves horizontally on the horizontal moving slide rail.

[0014] Further, the reciprocating mechanism comprises a fixing seat arranged on the horizontal moving plate, a first reciprocating plate is arranged on the fixing seat in a vertical plate surface manner, two first reciprocating slide rails are arranged on the first reciprocating plate at intervals, the length direction of the first reciprocating slide rail is consistent with the length direction of the angle adjusting plate, a second reciprocating plate is slidably arranged on the first reciprocating slide rail, a first reciprocating rack is arranged on the second reciprocating plate between the two first reciprocating slide rails on one side of the first reciprocating plate, a first reciprocating motor is arranged on the plate surface of the first reciprocating plate away from the second reciprocating plate, the output shaft of the first reciprocating motor penetrates the first reciprocating plate and a first reciprocating gear is arranged at the end, and the first reciprocating gear is engaged with the first reciprocating rack.

[0015] By adopting the technical scheme, the fixing seat, the first reciprocating plate, the first reciprocating slide rail, the first reciprocating rack, the second reciprocating plate, the first reciprocating motor and the first reciprocating gear are arranged, the first reciprocating motor drives the first reciprocating gear to rotate and cooperate with the first reciprocating rack, and the second reciprocating plate moves along the first reciprocating slide rail on the first reciprocating plate.

[0016] Further, the second reciprocating plate is provided with two second reciprocating sliding rails on the side plate surface away from the first reciprocating plate, the length direction of the second reciprocating sliding rail is consistent with the length direction of the angle adjusting plate, the fixed support is slidingly arranged on the second reciprocating sliding rail, the second reciprocating rack is arranged on the second reciprocating plate between the two second reciprocating sliding rails, the second reciprocating motor is arranged in the fixed support, the output shaft of the second reciprocating motor penetrates through the fixed support and is provided with a second reciprocating gear at the end, and the second reciprocating gear is engaged with the second reciprocating rack.

[0017] By adopting the above technical scheme, the second reciprocating sliding rail, the second reciprocating rack, the second reciprocating motor and the second reciprocating gear are arranged, the second reciprocating motor drives the second reciprocating gear to rotate and cooperate with the second reciprocating rack, and the fixed support moves on the second reciprocating plate along the second reciprocating sliding rail.

[0018] To sum up, the utility model has the following beneficial effects: in the application, through setting up AGV car, angle adjusting mechanism, horizontal moving mechanism, reciprocating mechanism and yarn unloading mechanism, after wire drawing, each mechanism is moved to the front of the wire drawing machine and is adjusted to the yarn unloading position by the AGV car, then the angle adjusting mechanism is fine tuned, the yarn unloading mechanism is parallel with the yarn roll, the horizontal moving mechanism is actuated to make the yarn unloading mechanism and the yarn roll be on a straight line, finally the reciprocating mechanism drives the yarn unloading mechanism to move to the yarn roll direction, the lifting cylinder pushes the supporting plate to move upward, the yarn roll is held by the two arc-shaped supporting plates, then the reciprocating mechanism drives the yarn unloading mechanism to move to the AGV car direction and returns to the top of the AGV car, the yarn roll on the impeller is unloaded, then the AGV car moves to the storage position with the yarn roll, so that full-automatic yarn unloading is realized, the overall structure is light and nimble, the driving route is flexible and adjustable, the reconstruction engineering is small, no additional adjustment of the field layout is needed except for the car positioning, adjustment of the workshop layout and network reconstruction, maintenance is convenient, production is not affected during maintenance, one car can be used with multiple wire drawing machines, production efficiency is high, and cost investment is small. BRIEF DESCRIPTION OF DRAWINGS

[0019] Figure 1 It is the overall structure schematic view of the utility model embodiment;

[0020] Figure 2 It is the structure schematic view of the yarn roll after unloading of the utility model embodiment;

[0021] Figure 3 It is the structure schematic view of the angle adjusting mechanism and the horizontal moving mechanism of the utility model embodiment;

[0022] Figure 4 It is the structure schematic view of the reciprocating mechanism and the yarn unloading mechanism of the utility model embodiment;

[0023] Figure 5 is a structural schematic diagram of the yarn unloading mechanism according to an embodiment of the present application;

[0024] Figure 6 is a partial structural schematic diagram of the yarn unloading mechanism according to an embodiment of the present application;

[0025] In the figure: 10, AGV trolley; 20, angle adjustment mechanism; 21, mounting plate; 22, rotating shaft; 23, arc-shaped rack; 24, arc-shaped guide rail; 25, angle adjustment plate; 26, rotating motor; 27, rotating gear; 28, universal ball bearing; 29, distance measuring sensor; 30, transverse movement mechanism; 31, transverse movement slide rail; 32, transverse movement plate; 33, transverse movement rack; 34, transverse movement motor; 35, transverse movement gear; 40, reciprocating mechanism; 41, fixed seat; 42, first reciprocating plate; 43, first reciprocating slide rail; 44, second reciprocating plate; 45, first reciprocating rack; 46, first reciprocating motor; 461, first reciprocating gear; 47, second reciprocating slide rail; 48, second reciprocating rack; 49, second reciprocating motor; 491, second reciprocating gear; 50, yarn unloading mechanism; 51, fixed support; 511, vertical plate; 512, horizontal plate; 513, support plate; 514, guide hole; 52, lifting electric cylinder; 53, supporting plate; 54, supporting frame; 55, arc-shaped supporting plate; 56, guide sleeve; 57, guide rod; 60, control mechanism. DETAILED DESCRIPTION

[0026] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application; obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments of the present application, and all other embodiments obtained by those of ordinary skill in the art without creative labor on the basis of the embodiments in the present application shall fall within the scope of protection of the present application.

[0027] As Figures 1-6As shown, the embodiment of the present application discloses an AGV yarn unloading manipulator, which comprises an AGV trolley 10, an angle adjusting mechanism 20, a horizontal moving mechanism 30, a reciprocating mechanism 40, a yarn unloading mechanism 50 and a control mechanism 60. The angle adjusting mechanism 20, the horizontal moving mechanism 30, the reciprocating mechanism 40 and the yarn unloading mechanism 50 are sequentially arranged on the AGV trolley 10. The AGV trolley 10 is used to drive the angle adjusting mechanism 20, the horizontal moving mechanism 30, the reciprocating mechanism 40 and the yarn unloading mechanism 50 to move for yarn unloading and yarn roll transfer work. The angle adjusting mechanism 20 is used to adjust the angle of the horizontal moving mechanism 30, the reciprocating mechanism 40 and the yarn unloading mechanism 50, so that the yarn unloading mechanism 50 is aligned with the yarn roll. The horizontal moving mechanism 30 is used to drive the reciprocating mechanism 40 and the yarn unloading mechanism 50 to move in the width direction of the wire drawing machine, so as to adjust the position of the yarn unloading mechanism 50 relative to the yarn roll. The reciprocating mechanism 40 is used to drive the yarn unloading mechanism 50 to move in the length direction of the impeller. The yarn unloading mechanism 50 is used to support the yarn roll and unload the yarn roll from the impeller. The control mechanism 60 is used to control the AGV trolley 10 and the action of each mechanism.

[0028] Specifically, the yarn unloading mechanism 50 comprises a fixed support 51 arranged on the reciprocating mechanism 40. The fixed support 51 comprises a vertical plate 511 arranged on the reciprocating mechanism 40. A horizontal plate 512 is arranged on the side plate surface of the vertical plate 511 away from the reciprocating mechanism 40. A support plate 513 is arranged between the bottom of the horizontal plate 512 and the vertical plate 511. A plurality of lifting cylinders 52 are arranged on the bottom of the horizontal plate 512 along the length direction of the fixed support 51. The push rod of the lifting cylinder 52 penetrates the horizontal plate 512 and protrudes upward. A supporting plate 53 is arranged on the top of the push rod. The supporting plate 53 is arranged on both sides of the width direction of the fixed support 51. An arc-shaped supporting plate 55 is arranged on the supporting frame 54. The two arc-shaped supporting plates 55 are concentrically arranged. The arc length of each arc-shaped supporting plate 55 is less than one fourth of a circle. When unloading the yarn, the two arc-shaped supporting plates 55 are used to support the yarn roll. Guide holes 514 are arranged on both sides of the horizontal plate 512. A guide sleeve 56 is arranged on the bottom of the horizontal plate 512 at the guide holes 514. Two guide rods 57 are arranged on the bottom surface of the supporting plate 53 correspondingly. The guide rods 57 are slidingly arranged in the guide sleeve 56. The lifting movement of the supporting plate 53 is guided by the cooperation of the guide rods 57 and the guide sleeve 56, so as to prevent the supporting plate 53 from tilting.

[0029] The angle adjusting mechanism 20 comprises a mounting plate 21 arranged on the AGV 10, the mounting plate 21 is provided with a rotating shaft 22 at one end in the length direction of the AGV 10 and an arc-shaped rack 23 with the rotating shaft 22 as the center at the other end. An angle adjusting plate 25 is arranged above the mounting plate 21 and arranged in parallel with the surface of the mounting plate 25, the angle adjusting plate 25 is rotationally connected with the rotating shaft 22, a vertical rotating motor 26 is arranged near the arc-shaped rack 23 of the angle adjusting plate 25, the output shaft of the rotating motor 26 penetrates the angle adjusting plate 25 downward and is provided with a rotating gear 27 at the end, the rotating gear 27 is engaged with the arc-shaped rack 23, the rotating gear 27 is driven to rotate by the rotating motor 26, and under the engagement of the rotating gear 27 and the arc-shaped rack 23, the rotating gear 27 moves along the arc-shaped rack 23, thereby driving the angle adjusting plate 25 to rotate around the rotating shaft 22.

[0030] In order to ensure the stability of the movement of the angle adjusting plate 25, an arc-shaped guide rail 24 with the rotating shaft 22 as the center is further arranged on the mounting plate 21, and an arc-shaped sliding block is correspondingly arranged on the bottom surface of the angle adjusting plate 25, the arc-shaped sliding block is slidingly arranged on the arc-shaped guide rail 24, so that when the angle adjusting plate 25 rotates around the rotating shaft 22, the arc-shaped sliding block slides on the arc-shaped guide rail 24, thereby supporting the angle adjusting plate 25 and limiting the movement track of the angle adjusting plate 25. A plurality of universal ball bearings 28 are further arranged between the mounting plate 21 and the angle adjusting plate 25, the plurality of universal ball bearings 28 support the angle adjusting plate 25, so as to reduce the pressure brought by the weight of the yarn roll after the yarn is unloaded on the arc-shaped sliding block and the arc-shaped guide rail 24, and further ensure the stability of the angle adjusting plate 25.

[0031] Two distance measuring sensors 29 are further arranged at one end of the angle adjusting plate 25 near the rotating shaft 22, and the connecting line of the two distance measuring sensors 29 is parallel to the width direction of the angle adjusting plate 25. When the AGV 10 moves to the working position in front of the wire drawing machine, the distance between the two points and the wire drawing machine can be measured by the two distance measuring sensors 29, if the distances measured by the two distance measuring sensors 29 are consistent, it indicates that the length direction of the angle adjusting plate 25 is consistent with the length direction of the wire drawing machine; if the distances measured by the two distance measuring sensors 29 are inconsistent, it indicates that the length direction of the angle adjusting plate 25 has a certain deviation from the length direction of the wire drawing machine, at this time, the length direction of the yarn unloading mechanism 50 will have a certain deviation from the length direction of the yarn roll, which will cause the yarn roll to not accurately fall on the yarn unloading mechanism 50, at this time, the angle of the angle adjusting plate 25 can be adjusted by the angle adjusting mechanism 20, so that the length direction of the angle adjusting plate 25 is consistent with the length direction of the wire drawing machine, thereby ensuring that the length direction of the yarn unloading mechanism 50 is consistent with the length direction of the yarn roll.

[0032] The horizontal moving mechanism 30 comprises two horizontal moving rails 31 arranged on the angle adjusting plate 25 at intervals, the length direction of the horizontal moving rails 31 is consistent with the width direction of the angle adjusting plate 25, and a horizontal moving plate 32 is arranged on the horizontal moving rails 31 in sliding mode. A horizontal moving rack 33 is arranged on the angle adjusting plate 25 between the two horizontal moving rails 31. A vertical horizontal moving motor 34 is arranged on the horizontal moving plate 32. The output shaft of the horizontal moving motor 34 penetrates the horizontal moving plate 32 downward and is provided with a horizontal moving gear 35 at the end. The horizontal moving gear 35 is engaged with the horizontal moving rack 33. The horizontal moving motor 34 drives the horizontal moving gear 35 to rotate, so that the horizontal moving gear 35 moves on the horizontal moving rack 33, thereby driving the horizontal moving plate 32 to slide on the angle adjusting plate 25 along the horizontal moving rails 31, and the position adjustment of the yarn unloading mechanism 50 in the width direction of the angle adjusting plate 25 is realized.

[0033] The reciprocating mechanism 40 comprises a fixed seat 41 arranged on the horizontal moving plate 32. A first reciprocating plate 42 is arranged on the fixed seat 41 in vertical mode. Two first reciprocating rails 43 are arranged on the first reciprocating plate 42 at intervals. The length direction of the first reciprocating rails 43 is consistent with the length direction of the angle adjusting plate 25. A second reciprocating plate 44 is arranged on the first reciprocating rails 43 in sliding mode. A first reciprocating rack 45 is arranged on the side of the second reciprocating plate 44 close to the first reciprocating plate 42 between the two first reciprocating rails 43. A first reciprocating motor 46 is arranged on the side of the first reciprocating plate 42 away from the second reciprocating plate 44. The output shaft of the first reciprocating motor 46 penetrates the first reciprocating plate 42 and is provided with a first reciprocating gear 461 at the end. The first reciprocating gear 461 is engaged with the first reciprocating rack 45. The first reciprocating motor 46 drives the first reciprocating gear 461 to rotate, so that the first reciprocating gear 461 moves on the first reciprocating rack 45, thereby driving the second reciprocating plate 44 to slide on the first reciprocating plate 42 along the first reciprocating rails 43, and the position adjustment of the yarn unloading mechanism 50 in the length direction of the angle adjusting plate 25 is realized.

[0034] Since the number of yarn rolls of the multi-drawing machine is large, the length distance of the yarn rolls is large, and therefore two second reciprocating sliding rails 47 are arranged on the side surface of the second reciprocating plate 44 away from the first reciprocating plate 42, and the length direction of the second reciprocating sliding rail 47 is consistent with the length direction of the angle adjusting plate 25. The vertical plate 511 of the fixed support 51 is slidingly arranged on the second reciprocating sliding rail 47, and the second reciprocating rack 48 is arranged between the two second reciprocating sliding rails 47 on the second reciprocating plate 44. The second reciprocating motor 49 is arranged in the fixed support 51, the output shaft of the second reciprocating motor 49 penetrates through the vertical plate 511 of the fixed support 51 and is provided with a second reciprocating gear 491 at the end, and the second reciprocating gear 491 is engaged with the second reciprocating rack 48. The second reciprocating motor 49 drives the second reciprocating gear 491 to rotate, so that the second reciprocating gear 491 moves on the second reciprocating rack 48, thereby driving the fixed support 51 to slide on the second reciprocating plate 44 along the second reciprocating sliding rail 47, and the position adjustment of the yarn unloading mechanism 50 in the length direction of the angle adjusting plate 25 is realized.

[0035] The use principle of the AGV yarn unloading mechanical hand in the embodiment is as follows: after the drawing is completed, the AGV trolley 10 moves to the yarn unloading position in front of the drawing machine; then the two distance measuring sensors 29 on the angle adjusting plate 25 measure the distances of two points to the drawing machine, if the distances measured by the two distance measuring sensors 29 are consistent, the angle adjusting plate 25 does not adjust the angle; if the distances measured by the two distance measuring sensors 29 are inconsistent, the rotating motor 26 drives the rotating gear 27 to rotate, drives the angle adjusting plate 25 to rotate around the rotating shaft 22, until the distances measured by the two distance measuring sensors 29 are consistent, so as to ensure that the length direction of the angle adjusting plate 25 is consistent with the length direction of the drawing machine; then the horizontal moving motor 34 drives the horizontal moving gear 35 to rotate, drives the horizontal moving plate 32 to slide on the angle adjusting plate 25, until the center of the yarn unloading mechanism 50 is on the vertical plane consistent with the vertical plane where the center of the yarn roll is located; then the first reciprocating motor 46 drives the first reciprocating gear 461 to rotate, so that the second reciprocating plate 44 slides on the first reciprocating plate 42 to the maximum position; then the second reciprocating motor 49 drives the second reciprocating gear 491 to rotate, so that the fixed support 51 slides on the second reciprocating plate 44 to the position where the plurality of supporting plates 53 on the yarn unloading mechanism 50 are located below the corresponding yarn rolls; then the lifting cylinder 52 pushes the supporting plates 53 to rise, so that the two arc-shaped supporting plates 55 hold the yarn rolls; then the first reciprocating motor 46 and the second reciprocating motor 49 are started to drive the second reciprocating plate 44 and the fixed support 51 to move towards the AGV trolley 10, the arc-shaped supporting plates 55 holding the yarn rolls move synchronously, the yarn rolls are unloaded from the impeller and are supported above the AGV trolley 10; finally, the AGV trolley 10 moves with the yarn rolls to the storage position, and one time of yarn unloading is completed.

[0036] The above merely is preferred implementation manner of the present application, the protection scope of the present application is not only limited to the above examples, and belongs to the technical scheme under the idea of the present application all belongs to the protection scope of the present application. It should be pointed out that, for ordinary skilled person in the art, under the premise of not departing from the principle of the present application, some improvements and decorations, these improvements and decorations should also be considered as the protection scope of the present application.

Claims

1. An AGV doffing robot characterized by: The application relates to an AGV trolley (10) and angle adjusting mechanism (20), transverse moving mechanism (30), reciprocating mechanism (40) and yarn unloading mechanism (50) arranged on the AGV trolley (10) in sequence, the yarn unloading mechanism (50) is used for supporting a yarn roll and unloading the yarn roll from an impeller, the reciprocating mechanism (40) is used for driving the yarn unloading mechanism (50) to move in the length direction of the impeller, the transverse moving mechanism (30) is used for driving the reciprocating mechanism (40) and the yarn unloading mechanism (50) to move in the width direction of the wire drawing machine so as to adjust the position of the yarn unloading mechanism (50) relative to the yarn roll, the angle adjusting mechanism (20) is used for adjusting the angle of the transverse moving mechanism (30), the reciprocating mechanism (40) and the yarn unloading mechanism (50) so that the yarn unloading mechanism (50) is aligned with the yarn roll, the AGV trolley (10) is used for driving the angle adjusting mechanism (20), the transverse moving mechanism (30), the reciprocating mechanism (40) and the yarn unloading mechanism (50) to move to unload the yarn and transport the yarn roll, the yarn unloading mechanism (50) comprises a fixed support (51) arranged on the reciprocating mechanism (40), a plurality of lifting electric cylinders (52) are arranged in the fixed support (51) along the length direction of the fixed support (51), a supporting plate (53) is arranged on the top of the push rod of the lifting electric cylinder (52), supporting frames (54) are arranged on the two sides of the supporting plate (53) in the width direction of the fixed support (51), arc-shaped supporting plates (55) are arranged on the supporting frames (54), the two arc-shaped supporting plates (55) are concentrically arranged, and the arc length of each arc-shaped supporting plate (55) is less than one fourth of a circle, and a control mechanism (60) for controlling the AGV trolley (10) and the actions of the mechanisms is further arranged on the AGV trolley (10).

2. The AGV yarn unloading robot according to claim 1, characterized in that: The fixed support (51) comprises a vertical plate (511) arranged on the reciprocating mechanism (40), a horizontal plate (512) is arranged on the vertical plate (511) away from the reciprocating mechanism (40), a supporting plate (513) is arranged between the bottom of the horizontal plate (512) and the vertical plate (511), the lifting electric cylinder (52) is arranged on the bottom of the horizontal plate (512), the push rod of the lifting electric cylinder (52) penetrates through the horizontal plate (512) and protrudes upwards, guide holes (514) are arranged on the horizontal plate (512) on the two sides of the lifting electric cylinder (52), guide sleeves (56) are arranged on the bottom of the horizontal plate (512) at the guide holes (514), two guide rods (57) are arranged on the bottom surface of the supporting plate (53) in correspondence, and the guide rods (57) are slidingly arranged in the guide sleeves (56).

3. The AGV yarn unloading robot according to claim 1, characterized in that: The angle adjusting mechanism (20) comprises a mounting plate (21) arranged on the AGV (10), one end of the mounting plate (21) is provided with a rotating shaft (22) in the length direction of the AGV (10), the other end is provided with an arc-shaped rack (23) with the rotating shaft (22) as the center, the middle of the mounting plate (21) is further provided with an arc-shaped guide rail (24) with the rotating shaft (22) as the center, the upper surface of the mounting plate (21) is provided with an angle adjusting plate (25) arranged in parallel, the angle adjusting plate (25) is rotatably connected with the rotating shaft (22), the bottom surface of the angle adjusting plate (25) is slidably arranged on the arc-shaped guide rail (24), the angle adjusting plate (25) is provided with a vertical rotating motor (26) near the arc-shaped rack (23), the output shaft of the rotating motor (26) penetrates the angle adjusting plate (25) downward and is provided with a rotating gear (27) at the end, and the rotating gear (27) is engaged with the arc-shaped rack (23).

4. The AGV yarn unloading robot according to claim 3, characterized in that: A plurality of universal ball bearings (28) are further arranged between the mounting plate (21) and the angle adjusting plate (25), two distance sensors (29) are further arranged on one end of the angle adjusting plate (25) near the rotating shaft (22), and the connecting line of the two distance sensors (29) is parallel to the width direction of the angle adjusting plate (25).

5. The AGV yarn unloading robot according to claim 3, characterized in that: The horizontal moving mechanism (30) comprises two horizontal moving slide rails (31) arranged at intervals on the angle adjusting plate (25), the length direction of the horizontal moving slide rail (31) is consistent with the width direction of the angle adjusting plate (25), the horizontal moving slide rail (31) is slidably provided with a horizontal moving plate (32), and the horizontal moving slide rail (31) is slidably provided with a horizontal moving plate (32). The angle adjusting plate (25) is further provided with a horizontal moving rack (33) between the two horizontal moving slide rails (31), the horizontal moving plate (32) is provided with a vertical horizontal moving motor (34), the output shaft of the horizontal moving motor (34) penetrates the horizontal moving plate (32) downward and is provided with a horizontal moving gear (35) at the end, and the horizontal moving gear (35) is engaged with the horizontal moving rack (33).

6. The AGV yarn unloading robot according to claim 5, characterized in that: The reciprocating mechanism (40) comprises a fixed seat (41) arranged on the horizontal moving plate (32), the fixed seat (41) is provided with a first reciprocating plate (42) arranged vertically on the surface, two first reciprocating slide rails (43) are arranged at intervals on the first reciprocating plate (42), the length direction of the first reciprocating slide rail (43) is consistent with the length direction of the angle adjusting plate (25), the first reciprocating slide rail (43) is slidably provided with a second reciprocating plate (44), the first reciprocating plate (42) is provided with a first reciprocating rack (45) between the two first reciprocating slide rails (43) on one side of the second reciprocating plate (44), the first reciprocating plate (42) is provided with a first reciprocating motor (46) on the other side away from the second reciprocating plate (44), the output shaft of the first reciprocating motor (46) penetrates the first reciprocating plate (42) and is provided with a first reciprocating gear (461) at the end, and the first reciprocating gear (461) is engaged with the first reciprocating rack (45).

7. The AGV yarn unloading robot according to claim 6, characterized in that: The second reciprocating plate (44) is provided with two second reciprocating sliding rails (47) on the side plate away from the first reciprocating plate (42), the length direction of the second reciprocating sliding rail (47) is consistent with the length direction of the angle adjusting plate (25), the fixed support (51) is slidably arranged on the second reciprocating sliding rail (47), the second reciprocating plate (44) is provided with a second reciprocating rack (48) between the two second reciprocating sliding rails (47), the fixed support (51) is provided with a second reciprocating motor (49), the output shaft of the second reciprocating motor (49) penetrates the fixed support (51) and is provided with a second reciprocating gear (491) at the end, and the second reciprocating gear (491) is engaged with the second reciprocating rack (48).

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