CN113291929A

CN113291929A - Multi-species intelligent composite robot feeding, discharging and intelligent conveying system

Info

Publication number: CN113291929A
Application number: CN202110551244.9A
Authority: CN
Inventors: 徐曙
Original assignee: Jiangsu Hejiali Intelligent Technology Co ltd
Current assignee: Jiangsu Hejiali Intelligent Technology Co ltd
Priority date: 2021-05-20
Filing date: 2021-05-20
Publication date: 2021-08-24
Anticipated expiration: 2041-05-20
Also published as: CN113291929B

Abstract

The application relates to the field of intelligent transportation, in particular to a multi-station intelligent composite robot feeding and discharging and intelligent transportation system which comprises a twisting area and a weaving area, wherein a twisting machine is placed in the twisting area, and a creel is placed in the weaving area; still include the AGV dolly, be provided with cooperation robot on the AGV dolly, still placed the pallet that is used for bearing a thigh yarn section of thick bamboo on the AGV dolly. This application carries on the removal of cooperation robot through the AGV dolly to through the automatic unloading of realizing a strand yarn section of thick bamboo of cooperation robot, have the advantage that reduces operation workman intensity of labour.

Description

Multi-species intelligent composite robot feeding, discharging and intelligent conveying system

Technical Field

The application relates to the field of intelligent transportation, in particular to a multi-station intelligent composite robot feeding and discharging and intelligent transportation system.

Background

The textile is an essential article in daily life of people, and modern textiles usually firstly twist a plurality of spun yarns into strand yarns by a twisting machine and wind the strand yarns on a strand yarn barrel, then unreel the strand yarns on the strand yarn barrel through a creel, and weave a plurality of strand yarns into a product through a weaving machine.

In the related art, the strand bobbin is usually manually removed from the twisting machine by a human hand, and then the strand bobbin is manually carried and mounted on the creel, and the individual strand bobbin has a heavy weight, so that the labor intensity of carrying and mounting the strand bobbin by an operator is high, and the defects are obvious.

Disclosure of Invention

In order to reduce operation workman's intensity of labour, this application provides unloading and intelligent transportation system on compound robot of multiplex kind intelligence.

The application provides a go up unloading and intelligent transportation system on compound robot of multiplex kind adopts following technical scheme:

a multi-station intelligent composite robot feeding, discharging and intelligent transportation system comprises a twisting area and a weaving area, wherein a twisting machine is placed in the twisting area, and a creel is placed in the weaving area; still include the AGV dolly, be provided with cooperation robot on the AGV dolly, still placed the pallet that is used for bearing a thigh yarn section of thick bamboo on the AGV dolly.

Through adopting above-mentioned technical scheme, the cooperative robot can take off a strand yarn section of thick bamboo from the machine of twisting with the control system through its self and place on the AGV dolly, then carry a strand yarn section of thick bamboo to the creel by the AGV dolly by, install a strand yarn section of thick bamboo to the creel by the cooperative robot again on, the strand yarn section of thick bamboo that the blowing was accomplished simultaneously can be taken off from the creel by the cooperative robot. This application realizes intelligent transportation through the AGV dolly, and cooperation robot realizes unloading in the automation, is favorable to reducing operation workman's intensity of labour.

Optionally, the twisting zone is provided with an elevator.

Through adopting above-mentioned technical scheme, because twisting district and the district of weaving probably are in different floors or different building rooms, set up the elevator for this reason, the AGV dolly can realize the intelligent transport between different floors or different building rooms.

Optionally, the twisting zone is stacked with a partition for separating the strands of yarn.

Through adopting above-mentioned technical scheme, because a thigh yarn section of thick bamboo has piled the multilayer usually on the AGV dolly, therefore the AGV dolly is in the transportation, and a thigh yarn section of thick bamboo rocks or even drops from the AGV dolly because of the vibration production easily. A pressure is exerted to the thigh yarn section of thick bamboo of below with the thigh yarn section of thick bamboo that is located its top to make the thigh yarn section of thick bamboo of baffle below be difficult to drop from the AGV dolly, be favorable to improving the stability in the thigh yarn section of thick bamboo transportation.

Optionally, a supporting plate for placing the partition is connected to the AGV trolley.

Through adopting above-mentioned technical scheme, when the AGV dolly realizes the material loading to the creel, the cooperation robot can fork and get the baffle between the upper and lower floor strand yarn section of thick bamboo to place on the layer board, treat the material loading and accomplish the back, stack a plurality of baffles of placing on the layer board again in a concentrated way in the recovery area.

It is optional, be equipped with baffle storage equipment in the twisting district, baffle storage equipment includes the support body, install the fixed plate on the support body, install the motor on the fixed plate, the output shaft of motor passes the fixed plate and is connected with the drive wheel, vertical rotation wears to be equipped with the lift lead screw on the fixed plate, the fixed cover in bottom of lift lead screw is equipped with from the driving wheel, the drive wheel with from the cover between the driving wheel is equipped with the hold-in range, threaded connection has the nut piece on the lift lead screw, one side of nut piece is connected with the backup pad, one side of backup pad is connected with the support arm that is used for placing the baffle through the mount pad, the support arm is equipped with two along the length direction of backup pad, be connected with the first gib block of vertical setting on the support body, be connected with the first gib block with first gib block sliding fit in the backup pad.

Through adopting above-mentioned technical scheme, the baffle that operating personnel will weave the district and send back is stacked on the support arm, cooperation robot takes away the baffle of top back from the top of support body, the starter motor, the output shaft of motor drives the drive wheel and rotates, the drive wheel passes through the hold-in range and drives from the driving wheel rotation, it rotates to drive the lift lead screw from the driving wheel, the nut piece is through the screw-thread fit with the lift lead screw, thereby vertical upward movement, the nut piece drives the backup pad upward movement, the backup pad passes through the support arm and drives the baffle and rise, with this cooperation robot can follow the baffle storage equipment in the same height take out the baffle at every turn.

Optionally, be equipped with pallet storage equipment in the twisting district, pallet storage equipment includes the support, be equipped with two lift slide that are parallel to each other on the support, be connected with respectively on two lift slide lateral walls that carry on the back mutually and bear the cylinder, the piston rod that bears the cylinder passes lift slide and is connected with the picture peg that is used for inserting in the pallet, be equipped with the drive division of two lift slide synchronous elevating movement of drive on the support.

Through adopting above-mentioned technical scheme, the piston rod that bears the weight of the cylinder stretches out to in making the picture peg insert the pallet, in the top of this pallet, pile up a plurality of pallets. After the operation personnel took away the top pallet from pallet storage equipment, under the effect of drive division, can drive two lift slide synchronous rises, and lift slide passes through the picture peg and drives the pallet and rise, and the same height takes away the pallet in the staff can follow pallet storage equipment at every turn.

Optionally, the driving part comprises a lifting cylinder connected to the top of the support, a piston rod of the lifting cylinder is horizontally arranged, the piston rod of the lifting cylinder is connected with a pulling slider, two lifting chains are connected to the same side of the pulling slider, one lifting chain is connected to one lifting slide plate through two first reversing chain wheels, the other lifting chain is connected to the other lifting slide plate through a second reversing chain wheel, and the first reversing chain wheel and the second reversing chain wheel are both connected to the support.

Through adopting above-mentioned technical scheme, the piston rod of lift cylinder stretches out to promote the pulling slider and remove, pulling slider pulling two hoisting chains, two hoisting chains drive two lifting slide synchronous lifts through first switching-over sprocket and second switching-over sprocket, with this lift that has realized the pallet.

Optionally, still be equipped with on the support and be used for carrying out the correction subassembly of proofreading and correct to the position of pallet, the correction subassembly is including rotating the correction cylinder of connection on the support, the piston rod level of proofreading and correct the cylinder sets up and rotates and be connected with the cylinder arm of force, the vertical pivot of wearing to be equipped with on the cylinder arm of force, be connected with two locating pieces on the support, the tip of pivot is rotated and is worn to establish in the locating piece, the cover is equipped with the pivot arm in the pivot, be connected with the correction axle on the pivot arm.

Through adopting above-mentioned technical scheme, the operation workman stacks a plurality of pallets back in pallet storage equipment, the piston rod withdrawal of correction cylinder drives the cylinder arm of force and rotates, the cylinder arm of force drives the pivot and rotates, the pivot drives the pivot arm and rotates, the pivot arm drives the relative open one side of support of correction axle pressure pallet, the pallet is compressed tightly at the relative its open opposite side of support, thereby rectify the position of a plurality of pallet to stacking in the pallet storage equipment, with this operating personnel can follow the same height in the pallet storage equipment at every turn, the pallet is taken away to the same position.

In summary, the present application includes at least one of the following beneficial technical effects:

1. the AGV trolley replaces manual work to realize intelligent transportation, and the cooperation robot replaces manual work to realize automatic loading and unloading, so that the labor intensity of operators is reduced;

2. the cooperative robot can take out the partition boards from the same height in the partition board storing device each time.

Drawings

FIG. 1 is a schematic structural diagram for embodying the present application;

FIG. 2 is a schematic diagram of an AGV for embodying the present application when fully loaded;

FIG. 3 is a schematic diagram of an empty AGV configuration embodying the present application;

FIG. 4 is a schematic structural diagram for embodying the connection relationship among the cooperative robots, the fork seats and the fork arms in the present application;

FIG. 5 is a schematic structural diagram illustrating the connection relationship between the support arm, the support plate and the motor in the present application;

FIG. 6 is an exploded view of the motor, driving wheel, driven wheel and timing belt used in the present application;

FIG. 7 is a schematic structural diagram for showing the connection relationship among the lifting slide plate, the bearing cylinder and the bracket in the present application;

FIG. 8 is a schematic structural diagram for showing the connection relationship among the inserting plate, the bracket and the lifting chain in the present application;

FIG. 9 is a schematic structural diagram for showing the connection relationship among the pulling slide block, the lifting chain and the lifting cylinder in the present application;

fig. 10 is a schematic structural diagram for embodying the connection relationship among the correction shaft, the pivot arm, and the pivot in the present application.

Description of reference numerals: 1. a twisting zone; 2. a fabric weaving area; 3. a twisting machine; 4. a creel; 5. an AGV trolley; 6. a collaborative robot; 7. a pallet; 8. an elevator; 9. a partition plate; 10. a support plate; 1100. a frame body; 1101. a fixing plate; 1102. a motor; 1103. a drive wheel; 1104. a lifting screw rod; 1106. a driven wheel; 1107. a synchronous belt; 1108. a nut block; 1009. a support plate; 1110. a mounting seat; 1111. a support arm; 12. a first guide bar; 13. a first guide block; 1400. a support; 1401. a lifting slide plate; 1402. a load bearing cylinder; 1403. inserting plates; 1404. a second guide bar; 1405. a second guide block; 1406. a lifting cylinder; 1407. pulling the sliding block; 1408. lifting the hoist chain; 1409. a first reversing sprocket; 1410. a second reversing sprocket; 1411. a correction cylinder; 1412. a cylinder moment arm; 1413. a rotating shaft; 1414. positioning blocks; 1415. a pivot arm; 1416. a correction axis; 15. a laser obstacle avoidance sensor; 16. a guide sleeve; 17. a guide bar; 18. a limiting ring; 19. a hydraulic shock absorber; 20. a third guide bar; 21. a third guide block; 221. a fork seat; 222. a first motor; 223. a gear; 224. a rack; 225. a second motor; 226. lifting the screw rod; 227. a screw driving block; 228. a carrier plate; 229. a yoke arm.

Detailed Description

The present application is described in further detail below with reference to figures 1-10.

The embodiment of the application discloses unloading and intelligent transportation system on compound robot of multiplex kind intelligence. Referring to fig. 1, the multi-species intelligent composite robot feeding, discharging and intelligent transportation system comprises a twisting area 1 and a cloth weaving area 2, wherein a twisting machine 3 is placed in the twisting area 1, a creel 4 is placed in the cloth weaving area 2, and the twisting machine 3 and the creel 4 are of the types commonly used in the prior art.

Referring to fig. 2, the multi-species intelligent composite robot feeding and discharging and intelligent transportation system further comprises an AGV trolley 5 and a cooperative robot 6, the cooperative robot 6 is a six-axis robot commonly used in the prior art, and a base of the cooperative robot 6 is integrally arranged on a table top of the AGV trolley 5.

Referring to fig. 1 and 2, a pallet 7 is placed in the twisting zone 1, the pallet 7 being used to carry the yarn packages. AGV dolly 5 adopts laser SLAM navigation, and AGV dolly 5 removes to being close to pallet 7 department, is provided with the automatic fork that can fork pallet 7 on the AGV dolly 5.

Referring to fig. 3 and 4, the automatic fork includes a fork seat 221 disposed on the AGV cart 5, the fork seat 221 can slide on the AGV cart 5 through sliding fit of a slide rail and a slider, meanwhile, a first motor 222 is bolted to the fork seat 221, an output shaft of the first motor 222 is connected with a gear 223, a rack 224 meshed with the gear is bolted to the AGV cart 5, and the rack 224 points to the cooperative robot 6.

Referring to fig. 3 and 4, a second motor 225 is further bolted to the fork seat 221, an output shaft of the second motor 225 is coaxially connected with a vertically arranged lifting screw 226, a thread driving block 227 is connected to the lifting screw 226 in a threaded manner, the thread driving block 227 is bolted to a bearing plate 228, the bearing plate 228 and the fork seat 221 are in sliding fit through a sliding rail and a sliding block, and two horizontal and parallel fork arms 229 are bolted to the bearing plate 228.

Referring to fig. 2 and 4, under the control system, the AGV cart 5 is moved to insert the yoke 229 into the pallet 7, and then the second motor 225 is activated and the lift screw 226 is rotated to lift the pallet 7 via the yoke 229. And then the first motor 222 is started, the output shaft of the first motor 222 drives the gear 223 to rotate, and the pallet 7 is driven to move to a position close to the cooperative robot 6 through the meshing of the gear 223 and the rack 224, so that the automatic pallet 7 forking is realized.

Referring to fig. 2 and 4, the first motor 222 and the second motor 225 are both forward and reverse rotating motors, so that not only can the pallet 7 be forked, but also the empty pallet 7 after loading can be automatically placed on the ground.

Through the automatic pallet fork, under the cooperation of the horizontal movement and the vertical movement of the fork arms 229, the automatic pallet fork 7 can be automatically forked and stacked, so that the labor intensity of workers is reduced.

Referring to fig. 1 and 2, the AGV cart 5 can drive the cooperative robot 6 to move to be close to the twisting machine 3 through its own control system, and the cooperative robot 6 takes down a strand yarn drum wound with full strand yarns from the twisting machine 3 through its own control system and places the strand yarn drum on the pallet 7, so that the strand yarn drum can be conveniently and subsequently collected and stacked.

Referring to fig. 1 and 2, the AGV trolley 5 moves to the side of the creel 4 in the weaving area 2, and then the strand bobbins stacked on the pallet 7 are automatically installed on the creel 4 one by one through the cooperation robot 6, so that the unstacking of the strand bobbins is realized. After the strand yarn paying-off on the strand yarn barrel is completed, the cooperation robot 6 can take down the strand yarn barrel from the creel 4 one by one and stack the stack, and then transport the strand yarn barrel to the designated position in the weaving area 2, so that the stack storage of the strand yarn barrel is realized.

Referring to fig. 2, carrying on automatic fork and cooperation robot 6 through AGV dolly 5, both realized that the automatic fork of pallet 7 is got and is transported, realized moreover to the automatic unloading of a strand yarn section of thick bamboo, pile up neatly, unstacking, be favorable to reducing operation workman's intensity of labour, and have the advantage that improves production efficiency.

Referring to fig. 2, a plurality of laser obstacle avoidance sensors 15 are installed on the AGV 5, and the laser obstacle avoidance sensors 15 can detect objects within a certain distance range, so that the possibility of collision between the AGV 5 and the objects is reduced.

Referring to fig. 1 and 2, since the twisting zone 1 and the weaving zone 2 may be located on different floors or in different buildings, the twisting zone 1 is further provided with an elevator 8, thereby enabling the AGV cart 5 to be transported between different floors or different buildings.

Referring to fig. 2, the multiple layers are usually stacked on the strand bobbin on the pallet 7, when the multiple layers are vertically stacked on the strand bobbin, the stability of the top strand bobbin is poor, and in the moving process of the AGV trolley 5, the vibration easily causes shaking or even dropping from the AGV trolley 5.

Referring to fig. 1 and 2, in order to solve the above problem, a partition 9 is stacked in the twisting area 1, the partition 9 is used for partitioning two layers of strand bobbins which are vertically adjacent, and the partition 9 applies a pressure to the strand bobbin below the partition, so that the strand bobbin is not easy to fall off from the AGV 5 even if a certain vibration is generated in the moving process of the AGV 5.

Referring to fig. 1 and 2, in order to realize forking of materials, the material taking end of the cooperative robot 6 can directly adopt a clamp in the prior art, and the clamp can compatibly grab a strand bobbin and a partition plate 9, so that the strand bobbin can be automatically grabbed on the partition plate 9 to realize stacking. Meanwhile, the strand yarn barrel on the partition plate 9 can be grabbed onto the creel 4, so that feeding is realized.

Referring to fig. 1 and 2, when the cooperative robot 6 mounts the strand bobbins on the AGV 5 onto the creel 4, in order to achieve centralized placement of the plurality of partitions 9, a pallet 10 for placing the partitions 9 is integrally provided on the AGV 5, and the pallet 10 is in an "L" shape.

Referring to fig. 1 and 2, in the process of installing the strand bobbins, the partition boards 9 are firstly placed on the supporting plate 10 by the cooperation robot 6, after all the strand bobbins are installed, the partition boards 9 are moved to the recovery position through the AGV trolley 5, taken down from the AGV trolley 5 and stacked in a concentrated mode, and the partition boards 9 are manually conveyed back to the twisting area 1 by an operator.

Referring to fig. 1 and 5, a partition storing device is arranged in the twisting zone 1, and the partition storing device includes a frame body 1100, a fixing plate 1101 is bolted on the frame body 1100, the fixing plate 1101 is horizontally arranged, a motor 1102 is bolted on the fixing plate 1101, and the motor 1102 is a forward and reverse motor.

Referring to fig. 5 and 6, an output shaft of the motor 1102 penetrates through the fixing plate 1101 and is fixedly sleeved with a driving wheel 1103, a lifting screw 1104 vertically penetrates through the fixing plate 1101 in a rotating manner, a driven wheel 1106 is fixedly sleeved at the bottom end of the lifting screw 1104, and a synchronous belt 1107 is sleeved between the driving wheel 1103 and the driven wheel 1106.

Referring to fig. 5, a nut block 1108 is connected to the lifting screw 1104 through a thread, a support plate 1009 is bolted to one side of the nut block 1108, the support plate 1009 is horizontally arranged, and two sets of support portions are arranged on the support plate 1009 along the length direction thereof. The support portion includes a mounting seat 1110 bolted to the support plate 1009, and a support arm 1111 bolted to the mounting seat 1110, the support arm 1111 being horizontally disposed and configured to carry the partition board 9.

Referring to fig. 5, two vertically arranged first guide bars 12 are bolted to the frame body 1100, two first guide blocks 13 are bolted to the support plate 1009, and one first guide bar 12 corresponds to one first guide block 13 and is in sliding fit with the first guide block 13.

Referring to fig. 2 and 6, after the partition boards 9 are stacked in the partition board storing device, the cooperative robot 6 forks the uppermost partition board 9 from the top of the partition board storing device, the motor 1102 is started, the output shaft of the motor 1102 drives the driving wheel 1103 to rotate, and the driving wheel 1103 drives the driven wheel 1106 to rotate through the synchronous belt 1107, so as to drive the lifting screw 1104 to rotate.

Referring to fig. 2 and 5, since the lifting screw 1104 is in threaded fit with the nut block 1108, the nut block 1108 can move vertically, the nut block 1108 drives the support plate 1009 to move, and under the sliding fit of the first guide bar 12 and the first guide block 13, the support plate 1009 drives the support arm 1111 to ascend through the mounting seat 1110, so that the cooperative robot 6 can fork the partition board 9 at the same height and the same position each time.

Referring to fig. 2 and 6, after all the separators 9 in the separator magazine are forked away by the cooperative robot 6, the output shaft of the motor 1102 is rotated in the reverse direction, whereby the separator magazine is returned to the initial state, and the operator can newly stack a plurality of separators 9 into the separator magazine.

Referring to fig. 5, a fixing seat (not shown in the figure) is bolted to the bracket 1400, the top end of the lifting screw 1104 is rotatably inserted into the fixing seat, and the fixing seat is arranged to enhance the stability of the lifting screw 1104 in the rotating process and reduce the possibility of shaking of the lifting screw 1104.

Referring to fig. 1 and 7, a pallet storing device is arranged in the twisting zone 1, and the pallet storing device includes a support 1400, a bearing portion arranged on the support 1400, and a driving portion for driving the bearing portion to ascend and descend. The operator stacks the pallet 7 returned from the weaving shed 2 in the pallet stocker.

Referring to fig. 2 and 7, the rack 1400 is open on one side, and an operator can vertically stack a plurality of pallets 7 into the pallet storage apparatus through the open side of the rack 1400. From this, AGV dolly 5 moves to the open one side of relative support 1400, and automatic fork can be followed the open one side of support 1400 from the top down and take out pallet 7 in proper order automatically.

Referring to fig. 7, the carrying part includes two horizontally disposed lifting slides 1401, two sides adjacent to the open side of the support 1400 are respectively corresponding to one lifting slide 1401, and the lifting slides 1401 are horizontally disposed.

Referring to fig. 7, four vertically arranged second guide bars 1404 are bolted to the bracket 1400, one lifting slide 1401 corresponds to two second guide bars 1404, and a second guide block 1405 in sliding fit with the second guide bars 1404 is bolted to the lifting slide 1401.

Referring to fig. 7 and 8, two bearing cylinders 1402 are respectively bolted to the opposite side walls of the two lifting sliding plates 1401, the two bearing cylinders 1402 on the lifting sliding plates 1401 are arranged along the length direction of the lifting sliding plates, and the piston rods of the bearing cylinders 1402 penetrate through the lifting sliding plates 1401 and are in threaded connection with the inserting plates 1403.

Referring to fig. 7 and 8, an operator first pre-positions a pallet 7 in the pallet stocker, extends the piston rods of the load cylinders 1402 to insert the boards 1403 into the pallet 7, and then stacks a plurality of pallets 7 on the pallet 7.

Referring to fig. 7 and 8, four guide sleeves 16 are bolted to the elevator slide 1401, and the guide sleeves 16 pass through the elevator slide 1401. One insert plate 1403 corresponds to two guide sleeves 16, two guide rods 17 parallel to the piston rod of the bearing cylinder 1402 are bolted on the insert plate 1403, one guide sleeve 16 corresponds to one guide rod 17, and the guide rods 17 are slidably arranged in the corresponding guide sleeves 16 in a penetrating manner.

Referring to fig. 7 and 8, the guide rods 17 are slidably disposed through the guide sleeves 16, so as to guide the movement of the board 1403, and the board 7 is supported by the auxiliary board 1403, which is beneficial to increasing the number of the boards 7 that can be supported.

Referring to fig. 8 and 9, the driving part includes a lifting cylinder 1406 bolted to the top of the bracket 1400, and a piston rod of the lifting cylinder 1406 is horizontally disposed and parallel to a connecting line between the two lifting sliding plates 1401. A piston rod of the lifting cylinder 1406 is threadedly connected with a pulling slider 1407. Two lifting chains 1408 are threadedly connected to one side of the pulling slide 1407 opposite to the lifting cylinder 1406.

Referring to fig. 8 and 9, two first direction changing sprockets 1409 are bolted to the top of the bracket 1400, one first direction changing sprocket 1409 is respectively arranged on both sides of the sliding direction of the pulling slider 1407, and a lifting chain 1408 firstly passes around the first direction changing sprocket 1409 on one side of the pulling slider 1407 opposite to the lifting cylinder 1406 and then passes around the other first direction changing sprocket 1409 and is screwed on a lifting sliding plate 1401.

Referring to fig. 8 and 9, a second direction changing sprocket 1410 is bolted to the top of the stand 1400, the second direction changing sprocket 1410 is located on the side of the pull block 1407 opposite the lift cylinder 1406, and another lifting chain 1408 passes around the second direction changing sprocket 1410 and is threaded onto another lift slide 1401.

Referring to fig. 7 and 9, the piston rod of the lifting cylinder 1406 extends to push the pulling slide 1407 to move, the pulling slide 1407 drives the two hoisting chains 1408 to move, and the two hoisting chains 1408 drive the two lifting skids 1401 to synchronously vertically ascend through the first reversing sprocket 1409 and the second reversing sprocket 1410, so as to drive the pallet 7 to ascend through the carrying portion.

With reference to fig. 2 and 9, in the manner described above, the automatic forks are able to fork different pallets 7 from the same height position in the pallet magazine. Of course, the lift cylinder 1406 has a limited extension of the piston rod, thus requiring the operator to replenish the pallet 7 in the pallet magazine at any time.

Referring to fig. 9, the top of the bracket 1400 is bolted with two third guide bars 20 parallel to the piston rod of the lifting cylinder 1406, the lower surface of the pull block 1407 is bolted with two third guide blocks 21, one third guide bar 20 corresponds to and is in sliding engagement with one third guide block 21, and the sliding engagement of the third guide bars 20 and the third guide blocks 21 guides the movement of the pull block 1407.

Referring to fig. 9, the hydraulic damper 19 is connected to the holder 1400 on the side of the pulling slider 1407 facing away from the elevating cylinder 1406, and the hydraulic damper 19 can convert kinetic energy generated by the movement of the pulling slider 1407 into thermal energy and release the thermal energy to the atmosphere, thereby stably stopping the pulling slider 1407.

Referring to fig. 10, a set of calibration assemblies is respectively disposed on two sides of the bracket 1400 adjacent to the open side thereof, and for a single calibration assembly, the calibration assembly includes a calibration cylinder 1411 rotatably connected to the bracket 1400, and a piston rod of the calibration cylinder 1411 is horizontally disposed.

Referring to fig. 10, two positioning blocks 1414 are bolted on the bracket 1400, a vertically arranged rotating shaft 1413 is rotatably inserted between the two positioning blocks 1414, a cylinder force arm 1412 is sleeved on the rotating shaft 1413, and the cylinder force arm 1412 is rotatably connected to a piston rod of the correction cylinder 1411.

Referring to fig. 7 and 10, a plurality of pivot arms 1415 are sleeved on the pivot 1413, the pivot arms 1415 are arranged along the length direction of the pivot 1413, the pivot arms 1415 are bolted with a vertically arranged correction shaft 1416, and the correction shaft 1416 abuts against the open side of the pallet 7 opposite to the support 1400.

Referring to fig. 7 and 10, the piston rod of the calibration cylinder 1411 retracts, so as to drive the rotating shaft 1413 to rotate through the cylinder arm 1412, and the rotating shaft 1413 drives the calibration shaft 1416 to abut against one side of the pallet 7, which is relatively open to the support 1400, through the rotating shaft arm 1415, so as to cause the pallet 7 to abut against the other side of the support 1400, which is relatively open to the support 1400, thereby implementing the calibration of the positions of the plurality of pallets 7 stacked in the pallet storage device.

Referring to fig. 2 and 10, in order for the automatic pallet forks to be able to remove the pallet 7 from the pallet 7 magazine, the piston rods of the calibration cylinders 1411 need to be extended before the pallet 7 can be removed, so that the calibration shafts 1416 are moved apart so as not to impede the removal of the pallet 7.

Referring to fig. 10, the cross section of the rotating shaft 1413 is regular hexagon, the cross section of the cylinder arm 1412 at the position where the rotating shaft 1413 passes through and the cross section of the rotating shaft arm 1415 at the position where the rotating shaft 1413 passes through are regular hexagon and matched with the rotating shaft 1413, so that the possibility of relative rotation between the rotating shaft arm 1415 and the rotating shaft 1413 and between the cylinder arm 1412 and the rotating shaft 1413 is reduced.

Referring to fig. 10, a limiting member is disposed on the rotating shaft 1413 below each rotating shaft arm 1415, the limiting member includes two semi-circular limiting rings 18, the two limiting rings 18 in the same group are bolted, the limiting rings 18 limit the rotating shaft arm 1415, and the possibility that the rotating shaft arm 1415 slides down vertically to cause the vertical movement of the correcting shaft 1416 is reduced.

The implementation principle of the multi-station intelligent composite robot feeding and discharging and intelligent transportation system in the embodiment of the application is as follows:

the AGV trolley 5 moves to the pallet storage equipment, and the pallet 7 at the top in the pallet storage equipment is taken through the automatic pallet fork.

The piston rod of lift cylinder 1406 stretches out to promote the pulling slider 1407 and remove, pulling slider 1407 drives two chains of lifting 1408 and removes, and two chains of lifting 1408 drive two synchronous vertical rises of lift slide 1401 through first switching-over sprocket 1409 and second switching-over sprocket 1410, thereby drive the pallet 7 through the bearing part and rise, and the automatic fork can fork different pallets 7 from the position of the same height in the pallet storage equipment.

Then, AGV dolly 5 removes to twisting machine 3 department, takes off a thigh yarn section of thick bamboo from twisting machine 3 through cooperation robot 6 to place on pallet 7, put full one deck after, AGV dolly 5 removes to baffle storage facilities department, cooperation robot 6 takes away the baffle 9 of the top from the support body 1100 top. Starter motor 1102, the output shaft of motor 1102 drives drive wheel 1103 and rotates, drive wheel 1103 drives from the driving wheel 1106 through hold-in range 1107 and rotates, with this drive lift lead screw 1104 and rotate, nut piece 1108 can vertical motion, nut piece 1108 drives the motion of backup pad 1009, under the sliding fit of first gib block 12 and first guide block 13, backup pad 1009 drives the support arm 1111 through mount pad 1110 and rises, consequently cooperation robot 6 can both be at the same height at every turn, baffle 9 is got to the same position fork.

The AGV trolley 5 moves to the side of the twisting machine 3 again to take off the strand bobbin, the operation process of the fork taking partition board 9 is repeated, and multiple layers of the strand bobbin are stacked on the AGV trolley 5.

AGV dolly 5 sends into a strand yarn section of thick bamboo in the zone 2 of weaving, then moves to creel 4 other, installs a strand yarn section of thick bamboo to creel 4 through cooperation robot 6 is automatic, and baffle 9 between the upper and lower floor strand yarn section of thick bamboo is got and is placed on layer board 10 by cooperation robot 6 fork, treats the material loading and accomplishes the back, and cooperation robot 6 can concentrate a plurality of baffles 9 on layer board 10 and place in the recovery district. Meanwhile, the strand bobbins discharged from the creel 4 can be taken down by the cooperative robot 6 and accumulated in the weaving area 2, and then manually fed back into the twisting area 1.

After the pallet 7 is replenished into the pallet storage equipment by an operator, the piston rod of the correction cylinder 1411 retracts, so that the rotating shaft 1413 is driven to rotate by the cylinder force arm 1412, the rotating shaft 1413 drives the correction shaft 1416 to abut against one side, which is opposite to the opening of the support 1400, of the pallet 7, so that the pallet 7 abuts against the other side, which is opposite to the opening, of the support 1400, so that the positions of a plurality of pallets 7 stacked in the pallet storage equipment are corrected, after the correction is completed, the piston rod of the correction cylinder 1411 stretches out again, and the correction shaft 1416 is removed from one side, which is opposite to the opening of the support 1400, of the pallet 7.

The above embodiments are preferred embodiments of the present application, and the protection scope of the present application is not limited by the above embodiments, so: all equivalent changes made according to the structure, shape and principle of the present application shall be covered by the protection scope of the present application.

Claims

1. The utility model provides a unloading and intelligent transportation system on compound robot of multiplex kind which characterized in that: the yarn twisting machine comprises a twisting area (1) and a weaving area (2), wherein a twisting machine (3) is arranged in the twisting area (1), and a creel (4) is arranged in the weaving area (2); still include AGV dolly (5), be provided with cooperation robot (6) on AGV dolly (5), still placed pallet (7) that are used for bearing a thigh yarn section of thick bamboo on AGV dolly (5).

2. The multi-seed intelligent composite robot feeding, discharging and intelligent transportation system as claimed in claim 1, wherein: the twisting area (1) is provided with an elevator (8).

3. The multi-seed intelligent composite robot feeding, discharging and intelligent transportation system as claimed in claim 1, wherein: the twisting area (1) is stacked with a clapboard (9) used for separating the strand yarn cylinder.

4. The multi-seed intelligent composite robot feeding, discharging and intelligent transportation system as claimed in claim 3, wherein: the AGV comprises an AGV trolley (5) and is characterized in that a supporting plate (10) used for placing a partition plate (9) is connected to the AGV trolley (5).

5. The multi-seed intelligent composite robot feeding, discharging and intelligent transportation system as claimed in claim 3, wherein: be equipped with baffle storage equipment in twisting district (1), baffle storage equipment includes support body (1100), install fixed plate (1101) on support body (1100), install motor (1102) on fixed plate (1101), the output shaft of motor (1102) passes fixed plate (1101) and is connected with drive wheel (1103), vertical rotation wears to be equipped with lift lead screw (1104) on fixed plate (1101), the fixed cover in bottom of lift lead screw (1104) is equipped with from driving wheel (1106), the cover is equipped with hold-in range (1107) between drive wheel (1103) and follow driving wheel (1106), threaded connection has nut piece (1108) on lift lead screw (1104), one side of nut piece (1108) is connected with backup pad (1009), one side of backup pad (1009) is connected with support arm (1111) that are used for placing baffle (9) through mount pad (1110), support arm (1111) are equipped with two along the length direction of backup pad (1009), be connected with first gib block (12) of vertical setting on support body (1100), be connected with on backup pad (1009) with first gib block (13) sliding fit.

6. The multi-seed intelligent composite robot feeding, discharging and intelligent transportation system as claimed in claim 1, wherein: be equipped with pallet storage equipment in twisting district (1), pallet storage equipment includes support (1400), be equipped with two lift slide (1401) that are parallel to each other on support (1400), be connected with respectively on two lift slide (1401) the lateral wall that backs on the back mutually and bear cylinder (1402), the piston rod that bears cylinder (1402) passes lift slide (1401) and is connected with picture peg (1403) that are used for inserting in pallet (7), be equipped with the drive division of two lift slides (1401) synchronous lifting movement of drive on support (1400).

7. The multi-seed intelligent composite robot feeding, discharging and intelligent transportation system as claimed in claim 6, wherein: the driving part comprises a lifting cylinder (1406) connected to the top of the support (1400), a piston rod of the lifting cylinder (1406) is horizontally arranged, the piston rod of the lifting cylinder (1406) is connected with a pulling slider (1407), two lifting chains (1408) are connected to the same side of the pulling slider (1407), one lifting chain (1408) is connected to one lifting sliding plate (1401) through two first reversing chain wheels (1409), the other lifting chain (1408) is connected to the other lifting sliding plate (1401) through a second reversing chain wheel (1410), and the first reversing chain wheel (1409) and the second reversing chain wheel (1410) are both connected to the support (1400).

8. The multi-seed intelligent multi-robot feeding, discharging and intelligent transportation system as claimed in claim 7, wherein: still be equipped with the correction subassembly that is used for rectifying the position of pallet (7) on support (1400), the correction subassembly is including rotating correction cylinder (1411) of connection on support (1400), the piston rod level setting and the rotation of correction cylinder (1411) are connected with the cylinder arm of force (1412), vertically wear to be equipped with pivot (1413) on the cylinder arm of force (1412), be connected with two locating pieces (1414) on support (1400), the tip of pivot (1413) is rotated and is worn to establish in locating piece 1414), the cover is equipped with pivot arm (1415) on pivot (1413), be connected with correction axle (1416) on pivot arm (1415).