CN114715725B

CN114715725B - Yarn package feeding system

Info

Publication number: CN114715725B
Application number: CN202210465481.8A
Authority: CN
Inventors: 江嗣雄; 袁子良; 赖赠华; 曾凤燕; 林陈鸿; 郭文彬; 叶煌城
Original assignee: Xiamen Aerospace Siert Robot System Co Ltd
Current assignee: Xiamen Aerospace Siert Robot System Co Ltd
Priority date: 2022-04-29
Filing date: 2022-04-29
Publication date: 2023-09-29
Anticipated expiration: 2042-04-29
Also published as: CN114715725A

Abstract

The application provides a yarn roll feeding system, and relates to the technical field of yarn roll automatic feeding. Wherein, this kind of yarn package feeding system contains AGV dolly, yarn package loading attachment and controlling means. AGV dolly removes in yarn package material loading region. The AGV includes two ranging members, a locating member. The yarn package feeding device is arranged on the AGV trolley and used for placing the yarn package and feeding the yarn package on the yarn package rack. The yarn package feeding device comprises a first moving component which can move along a first direction and is configured on the AGV trolley, a second moving component which can move along a second direction and is configured on the first moving component, a third moving component which can move along a third direction, and a feeding component which is configured on the third moving component and is used for placing yarn packages and feeding the yarn packages on a yarn frame. The first direction, the second direction and the third direction are perpendicular. The control device is in communication connection with the AGV trolley and the yarn roll feeding device and is used for controlling the AGV trolley and the yarn roll feeding device. The automatic feeding device can accurately and automatically feed materials, and has good practical significance.

Description

Yarn package feeding system

Technical Field

The application relates to the technical field of automatic feeding of reels, in particular to a reel feeding system.

Background

Traditional yarn package material loading mainly relies on artifical transport, and yarn package weight is big, and the manual work is gone up yarn package creel and is met the eminence, needs to use the ladder, this just increases the degree of difficulty of artifical transport.

The existing automatic yarn winding device is characterized in that a robot is adopted to automatically wind the yarn, so that the cost is high, and the control difficulty is high. There is rail mounted automatic yarn package dolly yet, but need install the track in subaerial and just can fix a position, not only transformation volume is big during the installation, and control accuracy is not high moreover, and difficult accurate with yarn package transport in place, have shortcomings such as delivery deviation, need improve.

In view of the above, the applicant has studied the prior art and has made the present application.

Disclosure of Invention

The application provides a yarn package feeding system, and aims to improve the technical problems.

In order to solve the technical problems, the application provides a yarn roll feeding system which comprises an AGV trolley, a yarn roll feeding device and a control device.

AGV dolly is used for removing in yarn package material loading region. The AGV includes two ranging members, a locating member.

The yarn package feeding device is arranged on the AGV trolley and used for placing the yarn package and feeding the yarn package on the yarn package rack. The yarn package feeding device comprises a first moving component which can move along a first direction and is configured on the AGV trolley, a second moving component which can move along a second direction and is configured on the first moving component, a third moving component which can move along a third direction, and a feeding component which is configured on the third moving component and is used for placing yarn packages and feeding the yarn packages on a yarn frame. The first direction, the second direction and the third direction are perpendicular.

In an alternative embodiment, the distance measuring means is a laser distance measuring sensor.

In an alternative embodiment, the positioning member is a two-dimensional code reader. The two-dimensional code reader can shoot the continuous posted two-dimensional code on the creel for obtain the current actual position of AGV dolly in the second direction.

In an alternative embodiment, the four corners of the AGV are provided with chamfers and the perimeter is provided with a protective protrusion.

In an alternative embodiment, the AGV trolley includes two laser sensors diagonally disposed at the chamfer, two ultrasonic sensors disposed front and back, and four scram buttons and four running lights respectively disposed at the four chamfer. Wherein, two laser sensors that set up diagonally are used for carrying out SLAM and do not have the reflection laser navigation, and two ultrasonic sensor that set up in front and back are used for detecting the barrier.

In an alternative embodiment, the loading assembly includes a loading base configured to the third movement assembly, and an active loading member coupled to the loading base.

The initiative material loading component is including disposing in the first creel of material loading base, rotatable disposes in the first lead screw of first creel, and the transmission is connected in the fourth motor of first lead screw, transmission is connected in first lead screw and can be along the first drive plate of first creel activity, through the first push pedal of first guide arm slidable joint in first drive plate to and dispose the first elastic component between first drive plate and first push pedal.

In an alternative embodiment, the loading assembly further comprises a driven loading member coupled to the loading base, and a connector.

The driven feeding component comprises a second yarn package arranged on the feeding base, a second guide rod arranged on the second yarn package, a second driving plate slidably arranged on the second guide rod, a second pushing plate slidably connected with the second driving plate through a third guide rod, and a second elastic piece arranged between the second driving plate and the second pushing plate. The connecting piece is connected to the first driving plate and the second driving plate so as to enable the second driving plate and the first driving plate to synchronously move.

In an alternative embodiment, the package feeding system further comprises a package handling device, wherein the package handling device comprises a manipulator and a package grabbing assembly configured on the manipulator.

The yarn package grabbing assembly comprises a grabbing seat connected to the manipulator, at least two clamping jaws slidably arranged on the grabbing seat, and a telescopic piece arranged on the grabbing seat and used for driving the clamping jaws to slide. The clamping jaw is used for grabbing the yarn package.

In an alternative embodiment, the feeding assembly includes one driving feeding member and two driven feeding members.

The yarn package grabbing assembly comprises three clamping jaws, two telescopic pieces, a first connecting rod and two second connecting rods. The three clamping jaws are arranged at intervals, and the clamping jaw positioned in the middle is hinged in the middle of the first connecting rod. Two ends of the two second connecting rods are respectively connected with the end parts of the first connecting rods and clamping jaws on two sides. The two telescopic pieces are respectively connected with clamping jaws on two sides in a transmission way.

In an alternative embodiment, the first movement assembly is movably disposed with the AGV in a first direction by a first rail slide member. The second moving assembly is movably arranged on the first moving assembly along a second direction through a second guide rail sliding block component. The third moving assembly is movably arranged on the second moving assembly along a third direction through a third guide rail sliding block component.

In an alternative embodiment, the first movement assembly is drivingly connected to the AGV carriage by a first rack and pinion member and driven by a first motor. The second moving assembly is in transmission connection with the first moving assembly through a second gear rack component and is driven by a second motor. The second moving assembly comprises a screw rod sliding block component, a third motor connected to the screw rod sliding block component in a transmission mode and a top block arranged on the screw rod sliding block component. The third moving assembly is supported on the top block, and the screw rod sliding block can drive the top block to move up and down under the drive of the third motor, so that the first moving assembly is driven to move up and down.

And the control device is in communication connection with the AGV trolley and the yarn roll feeding device. The control device is used for controlling the AGV trolley and the yarn roll feeding device to realize the steps S1 to S8:

s1, controlling the AGV trolley to move to the yarn winding position.

S2, acquiring initial distances from the two distance measuring components to the creel, and controlling the AGV trolley to move according to the initial distances so that an included angle between the AGV trolley and the creel is smaller than a preset angle.

S3, obtaining correction distances from the two distance measuring components to the creel, and calculating a first offset distance of the feeding assembly in a first direction according to the correction distances.

S4, controlling the first moving assembly to move along the first direction according to the first offset distance, so that the distance between the feeding assembly and the creel is a preset distance.

S5, positioning data of the positioning component are obtained, and a second offset distance of the feeding component in a second direction is calculated according to the positioning data.

S6, controlling the second moving assembly to move along the second direction according to the second offset distance, so that the feeding assembly and the creel are aligned in the vertical direction.

S7, acquiring the height of a yarn roll placing shaft on the creel, and controlling the third moving assembly to move along the third direction according to the height so that the yarn roll on the feeding assembly is equal to the yarn roll placing shaft on the creel.

S8, controlling the feeding assembly, and moving the yarn package on the feeding assembly to the yarn frame.

In an alternative embodiment, step S2 specifically includes steps S21 to S24:

s21, acquiring a first initial distance from the first distance measuring component to the creel.

S22, acquiring a second initial distance from the second distance measuring component to the creel.

S23, calculating the offset angle of the AGV according to the first initial distance and the second initial distance.

S24, judging whether the offset angle is larger than a preset angle, and controlling the AGV trolley to move when the offset angle is judged to be larger than the preset angle, so that the included angle between the AGV trolley and the creel is smaller than the preset angle. Wherein the predetermined angle is 3 degrees.

In an alternative embodiment, step S3 specifically includes steps S31 to S34:

s31, obtaining a first correction distance Y from the first distance measuring component to the creel ₃ 。

S32, obtaining a second correction distance Y from the second distance measuring component to the creel ₄ 。

S33, acquiring the horizontal distance Y from the yarn roll on the feeding assembly to the creel according to the first correction distance and the second correction distance ₅ . Which is a kind ofIn (1), Y ₅ ＝(Y ₃ +Y ₄ )÷2。

S34, acquiring the safety distance Y from the yarn roll on the feeding assembly to the creel ₀ And calculating a first offset distance delta Y of the feeding assembly in the first direction according to the safety distance and the horizontal distance. Wherein Δy=y ₅ -Y ₀ 。

In an alternative embodiment, step S5 specifically includes steps S51 to S53:

s51, acquiring the actual position X of the AGV trolley in the second direction according to the positioning data ₁ 。

S52, acquiring theoretical position X of yarn roll on AGV trolley ₀ 。

S53, calculating a second offset distance delta X of the feeding assembly in a second direction according to the actual position and the theoretical position. Wherein Δx=x ₁ -X ₀ 。

In an alternative embodiment, step S8 is specifically:

the fourth motor is controlled to rotate so as to drive the first driving plate to move the yarn feeding distance to push the yarn roll on the yarn roll frame to the yarn roll placing shaft. Wherein, the distance of movement of the first drive plate is greater than the distance from the end of the yarn package to the root of the yarn package placement shaft.

By adopting the technical scheme, the application can obtain the following technical effects:

by the yarn roll feeding system provided by the embodiment of the application, accurate automatic feeding of the yarn roll can be realized on the premise of not greatly modifying the production field, and the yarn roll feeding system has good practical significance.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the embodiments will be briefly described below, it being understood that the following drawings only illustrate some examples of the present application and therefore should not be considered as limiting the scope, and other related drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

Fig. 1 is an isometric view of an AGV trolley and a package loading device.

Fig. 2 is an exploded view of the AGV trolley and the package loading mechanism.

Fig. 3 is an isometric view of a loading assembly.

Fig. 4 is an isometric view of a package handling device.

Fig. 5 is an isometric view of a package grasping assembly.

The marks in the figure: 1-yarn package loading attachment, 2-AGV dolly, 3-material loading subassembly, 4-third remove the subassembly, 5-second remove the subassembly, 6-first remove the subassembly, 7-scram button, 8-ultrasonic sensor, 9-laser sensor, 10-driving indicator lamp, 11-protection arch, 12-chamfer, 13-range finding component, 14-locating component, 15-material loading base, 16-connecting piece, 17-second drive plate, 18-third guide arm, 19-second elastic component, 20-second yarn package frame, 21-second guide arm, 22-second push pedal, 23-first drive plate, 24-first guide arm, 25-first elastic component, 26-first yarn package frame, 27-first lead screw, 28-first push pedal, 29-fourth motor, 30-manipulator, 31-yarn package snatchs the subassembly, 32-telescoping component, 33-snatch seat, 34-clamping jaw, 35-second connecting rod, 36-first connecting rod.

Detailed Description

For the purpose of making the objects, technical solutions and advantages of the embodiments of the present application more apparent, the technical solutions of the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application, and it is apparent that the described embodiments are some embodiments of the present application, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present application without making any inventive effort, are intended to fall within the scope of the present application. Thus, the following detailed description of the embodiments of the application, as presented in the figures, is not intended to limit the scope of the application, as claimed, but is merely representative of selected embodiments of the application. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present application without making any inventive effort, are intended to fall within the scope of the present application.

In the description of the present application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings are merely for convenience in describing the present application and simplifying the description, and do not indicate or imply that the apparatus or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present application.

Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature. In the description of the present application, the meaning of "a plurality" is two or more, unless explicitly defined otherwise.

In the present application, unless explicitly specified and limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communicated with the inside of two elements or the interaction relationship of the two elements. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art according to the specific circumstances.

In the present application, unless expressly stated or limited otherwise, a first feature "above" or "below" a second feature may include both the first and second features being in direct contact, as well as the first and second features not being in direct contact but being in contact with each other through additional features therebetween. Moreover, a first feature being "above," "over" and "on" a second feature includes the first feature being directly above and obliquely above the second feature, or simply indicating that the first feature is higher in level than the second feature. The first feature being "under", "below" and "beneath" the second feature includes the first feature being directly under and obliquely below the second feature, or simply means that the first feature is less level than the second feature.

The application is described in further detail below with reference to the attached drawings and detailed description:

as shown in fig. 1 to 5, an embodiment of the present application provides a yarn roll feeding system, which includes an AGV trolley 2, a yarn roll feeding device 1, and a control device. AGV dolly 2 is used for removing in yarn package material loading region. The AGV 2 includes two ranging members 13, a locating member 14. The yarn package feeding device 1 is arranged on the AGV trolley 2 and is used for placing yarn packages and feeding the yarn packages onto a yarn frame. The yarn package feeding device 1 comprises a first moving component 6 which is arranged on the AGV trolley 2 and can move along a first direction, a second moving component 5 which is arranged on the first moving component 6 and can move along a second direction, a third moving component 4 which can move along a third direction, and a feeding component 3 which is arranged on the third moving component 4 and is used for placing yarn packages and feeding yarn packages on a yarn frame. The first direction, the second direction and the third direction are perpendicular.

Specifically, the yarn package on the yarn package feeding device 1 can be moved to the front of the yarn package rack through the AGV trolley 2, the position of the yarn package can be adjusted through the yarn package feeding device 1, the yarn package can be aligned with the yarn package placing shaft on the yarn package rack, and then the yarn package is pushed into the yarn package placing shaft through the feeding assembly 3, so that the feeding is completed. According to the yarn roll feeding system, the AGV trolley 2 is used for coarse positioning, and the yarn roll feeding device 1 is used for fine positioning, so that accurate feeding of the yarn roll is completed. In particular, the accurate automatic feeding of the yarn package can be realized on the premise of not greatly modifying the production field, and the method has good practical significance.

In an alternative embodiment of the present application, as shown in fig. 2, based on the above embodiment, the ranging member 13 is a laser ranging sensor. It will be appreciated that in other embodiments, the ranging member 13 may be another type of ranging sensor, such as an ultrasonic ranging sensor, a millimeter wave ranging sensor, etc., which is not particularly limited in the present application.

As shown in fig. 2, in an alternative embodiment of the present application, the positioning member 14 is a two-dimensional code reader. The two-dimensional code reader can shoot the continuously posted two-dimensional codes on the creel, and is used for acquiring the actual position of the AGV trolley 2 in the second direction. In other embodiments, other positioning schemes used in the AGV 2 may be used, as the application is not specifically limited in this regard.

In an alternative embodiment of the present application, as shown in fig. 2, four corners of the AGV car 2 are provided with chamfers 12 and the peripheral ring is provided with a guard protrusion 11, on the basis of the above embodiment. Specifically, the protection protrusion 11 is provided with an adhesive tape to form a safety touch edge.

Preferably, the AGV 2 includes two laser sensors 9 diagonally disposed at the chamfers 12, two ultrasonic sensors 8 disposed front and back, and four scram buttons 7 and four running lights 10 respectively disposed at the four chamfers 12. Wherein, two laser sensors 9 arranged diagonally are used for SLAM non-reflection laser navigation, and two ultrasonic sensors 8 arranged front and back are used for detecting obstacles.

The obstacle in the production site, such as pedestrians, can be effectively found through the scram buttons 7 at four corners, the driving indicator lamps 10 and the ultrasonic sensors 8 at the front side and the rear side, and the possibility of collision of the AGV trolley 2 is effectively avoided. And through the protection protruding 11, can effectually avoid bumping the time, AGV dolly 2 takes place to damage. Preferably, the protective projection 11 is provided at the bottom of the AGV 2.

Specifically, the combination of the diagonal area sensor, the full-surrounding safe touch edge, the front and rear low-level ultrasonic sensors 8 and the emergency stop buttons 7 around the car body can enable the AGV equipment to be protected in 360-degree dead-angle-free mode. Can effectively ensure the safety of surrounding personnel and equipment.

Diagonal laser sensor 9 layout reasons: because the car body is longer and the car body needs to move forward, backward, laterally move, rotate and the like, the double laser head technology is adopted, and the precision control in the running process of the equipment is ensured by comparing the changes of the front environment and the back environment.

As shown in fig. 3, in an alternative embodiment of the present application, the feeding assembly 3 includes a feeding base 15 disposed on the third moving assembly 4, and an active feeding member coupled to the feeding base 15. The active feeding member comprises a first yarn package 26 arranged on the feeding base 15, a first screw rod 27 rotatably arranged on the first yarn package 26, a fourth motor 29 connected to the first screw rod 27 in a transmission manner, a first driving plate 23 connected to the first screw rod 27 in a transmission manner and capable of moving along the first yarn package 26, a first push plate 28 slidably connected to the first driving plate 23 through a first guide rod 24, and a first elastic member 25 arranged between the first driving plate 23 and the first push plate 28.

Specifically, the first creel 26 is configured to support a yarn package, and the first push plate 28 can push the yarn package out along the creel under the driving of the motor. And the first elastic piece 25 moving to the root of the yarn roll placing shaft is a wire spring sleeved on the first guide rod 24 by the elastic piece between the first push plate 28 and the first driving plate 23.

As shown in fig. 3, in an alternative embodiment of the present application, the feeding assembly 3 further includes a driven feeding member coupled to the feeding base 15, and a connecting member 16. The driven feeding member includes a second creel 20 disposed on the feeding base 15, a second guide bar 21 disposed on the second creel 20, a second driving plate 17 slidably disposed on the second guide bar 21, a second push plate 22 slidably coupled to the second driving plate 17 through a third guide bar 18, and a second elastic member 19 disposed between the second driving plate 17 and the second push plate 22. The connection member 16 is coupled to the first and second driving plates 23 and 17 to move the second and first driving plates 17 and 23 in synchronization.

Specifically, the number of the primary loads of the yarn package feeding device 1 can be increased by providing the driven feeding member. Has good practical significance.

As shown in fig. 4 and 5, in an alternative embodiment of the present application, the yarn package feeding system further includes a yarn package handling device, which includes a manipulator 30, and a yarn package grabbing component 31 disposed on the manipulator 30. The package grabbing assembly 31 includes a grabbing seat 33 engaged with the manipulator 30, at least two clamping jaws 34 slidably disposed on the grabbing seat 33, and a telescopic member 32 disposed on the grabbing seat 33 for driving the clamping jaws 34 to slide. The gripping jaw 34 is used to grip the reels. Preferably, the feeding assembly 3 comprises one driving feeding member and two driven feeding members. The package grasping assembly 31 includes three jaws 34 and two telescoping members 32, as well as a first link 36 and two second links 35. Three jaws 34 are spaced apart, with the centrally located jaw 34 being hinged in the middle of a first link 36. Two ends of the two second links 35 meet the ends of the first link 36 and the jaws 34 on both sides, respectively. The two telescopic members 32 are respectively connected with clamping jaws 34 in a driving way.

Specifically, the reels are stacked through the partition plates, the shaft in the middle of the reels is longer than the reels by a little, the reels are integrally shaped like Chinese character 'zhong', through holes are formed in the middle of the partition plates, and the middle shafts of the reels are embedded into the through holes, so that the stacked placement is completed, and one layer of 3x3 is arranged.

By means of the first and second links 36, 35, the distance between the three clamping jaws 34 can be ensured, so that a yarn package can be accurately clamped. The clamping jaw 34 can be slidably installed, so that the yarn package carrying device can be adapted to yarn packages of various types, and the yarn package carrying device has good practical significance.

In an alternative embodiment of the present application, as shown in fig. 2, the first moving assembly 6 is movably disposed on the AGV carriage 2 in the first direction by a first rail-slider member. The second moving unit 5 is disposed on the first moving unit 6 so as to be movable in the second direction by a second rail-slider member. The third moving assembly 4 is movably disposed on the second moving assembly 5 along the third direction by a third rail-slider member. Preferably, the first moving assembly 6 is drivingly connected to the AGV 2 by a first rack and pinion member and driven by a first motor. The second moving assembly 5 is in transmission connection with the first moving assembly 6 through a second gear rack member and is driven by a second motor. The second moving assembly 5 comprises a screw rod sliding block component, a third motor connected to the screw rod sliding block component in a transmission mode, and a top block arranged on the screw rod sliding block component. The third moving assembly 4 is supported on the top block, and the screw rod sliding block can drive the top block to move up and down under the drive of the third motor, so that the first moving assembly 6 is driven to move up and down.

In this embodiment, the control device is communicatively connected to the AGV 2 and the yarn roll feeding device 1. The control device comprises a processor and a memory; the processor is configured to execute a computer program in the memory to control the AGV trolley 2 and the yarn package feeding device 1 to implement steps S1 to S8:

s1, controlling the AGV trolley 2 to move to the yarn winding position.

S2, acquiring initial distances from the two distance measuring members 13 to the creel, and controlling the AGV trolley 2 to move according to the initial distances so that an included angle between the AGV trolley 2 and the creel is smaller than a preset angle.

In an alternative embodiment, step S2 specifically includes steps S21 to S24:

s21, acquiring a first initial distance from the first ranging member 13 to the creel.

S22, acquiring a second initial distance from the second distance measuring component 13 to the creel.

S23, calculating the offset angle of the AGV trolley 2 according to the first initial distance and the second initial distance.

S24, judging whether the offset angle is larger than a preset angle, and controlling the AGV trolley 2 to move when judging that the offset angle is larger than the preset angle so that the included angle between the AGV trolley 2 and the creel is smaller than the preset angle. Wherein the predetermined angle is 3 degrees.

And S3, acquiring correction distances from the two distance measuring members 13 to the creel, and calculating a first offset distance of the feeding assembly 3 in the first direction according to the correction distances.

In an alternative embodiment, step S3 specifically includes steps S31 to S34:

s31, obtaining a first correction distance Y from the first distance measuring component 13 to the creel ₃ 。

S32, obtaining a second correction distance Y from the second distance measuring component 13 to the creel ₄ 。

S33, acquiring the horizontal distance Y from the yarn roll on the feeding assembly 3 to the creel according to the first correction distance and the second correction distance ₅ . Wherein Y is ₅ ＝(Y ₃ +Y ₄ )÷2。

S34, acquiring the safety distance Y from the yarn roll on the feeding component 3 to the creel ₀ And according to the safety distance and the horizontal distance, calculating a first offset distance delta Y of the feeding assembly 3 in the first direction. Wherein Δy=y ₅ -Y ₀ 。

And S4, controlling the first moving assembly 6 to move along the first direction according to the first offset distance, so that the distance between the feeding assembly 3 and the creel is a preset distance.

S5, positioning data of the positioning member 14 are obtained, and a second offset distance of the feeding assembly 3 in a second direction is calculated according to the positioning data.

In an alternative embodiment, step S5 specifically includes steps S51 to S53:

s51, acquiring the actual position X of the AGV 2 in the second direction according to the positioning data ₁ 。

S52, acquiring a theoretical position X of a yarn roll on the AGV trolley 2 ₀ 。

And S53, calculating a second offset distance delta X of the feeding assembly 3 in a second direction according to the actual position and the theoretical position. Wherein Δx=x ₁ -X ₀ 。

And S6, controlling the second moving assembly 5 to move along the second direction according to the second offset distance, so that the feeding assembly 3 and the creel are aligned in the vertical direction.

S7, acquiring the height of a yarn roll placing shaft on the creel, and controlling the third moving assembly 4 to move along the third direction according to the height so that the yarn roll on the feeding assembly 3 is equal to the yarn roll placing shaft on the creel.

S8, controlling the feeding assembly 3, and moving the yarn package on the feeding assembly 3 to the yarn frame.

In an alternative embodiment, step S8 is specifically:

the fourth motor 29 is controlled to rotate so as to drive the first driving plate 23 to move the yarn feeding distance to push the yarn package on the package holder onto the package placing shaft. Wherein the moving distance of the first driving plate 23 is larger than the distance from the end of the package to the root of the package placing shaft.

Specifically, the steps S1 to S8 can be divided into steps A1 to A4.

A1: correction deviation in Y-axis direction:

two laser ranging sensors (one is arranged opposite to the head and the tail of the creel) are arranged at the bottom of the AGV, the measured values Y1 and Y2 can be obtained through the laser ranging sensors, the current offset angle theta 1 of the vehicle body can be calculated by combining the installation distance of the two sensors, when the theta 1 is larger than the debugging experience angle theta, the steering wheel needs to be restarted to adjust the offset angle of the vehicle body, the offset angle of the vehicle body is smaller than theta, the AGV body is adjusted to be in a state close to being parallel to the creel,

after the offset position is adjusted, the laser ranging sensor is read to sense the deviation Y3 and Y4 of the Y-axis position where the current AGV is located, the average value Y5 of the Y3 and the Y4 is taken, the distance delta Y required to move in the Y direction of the platform is obtained by subtracting Y0 (the safe distance between the yarn roll and the creel shaft after the platform moves forwards) from Y5, a motor for controlling the Y-axis movement is started, the motor drives a rack, and the adjustment delta Y in the Y-axis direction of the mobile platform is controlled, so that the distance between the yarn roll and the creel shaft of the mobile platform is a fixed value Y0.

A2, correction deviation in X axis direction:

the AGV bottom is equipped with two-dimensional code reader (right against the creel), the horizontal setting of creel bottom posts continuous two-dimensional code (not shown in the figure), when the AGV reaches the assigned position through well accuse instruction, two-dimensional code reader reads the X axle position X1 at present AGV on the AGV, with the position feedback for well accuse system, well accuse system carries out data comparison with this position theoretical position numerical value X with this position reading numerical value X, calculate the numerical value DeltaX (having the direction) that will remove the adjustment, start control X axial movement's motor, motor drive rack, control mobile platform X axial direction's adjustment, make the vertical direction of yarn package on the AGV dolly 2 list in the X axial direction alignment with the corresponding creel vertical direction.

A3: correction deviation in Z-axis direction:

the Z axis is finely adjusted according to the heights of different stations (measured and recorded in a system during debugging) through a servo motor driving screw mechanism (the stations can be defined by the user, and the application takes 3 vertical reels as a unit, namely one station), so that the center of the reels on the AGV is equal to the height of the creel shaft on the creel.

A4: pushing out the yarn package:

the pushing mechanism drives the screw nut to push forwards through the servo motor, the screw nut is fixedly arranged on the pushing plate, and the pushing plate is guided through 2 guide rods. And 3 spring devices are arranged on one push-out plate, each spring device corresponds to one yarn roll, and the three yarn rolls are used as a unit and are vertically placed. The pushing plate forwards sends the reels to a fixed distance Y10, and the Y10 value is larger than the distances Y11, Y12 and Y13 between the three reels and the tail end of the creel shaft, so that errors are compensated by the shrinkage of the springs, and the end face of the reels is flatly attached to the tail end of the creel shaft after the reels are pushed into the creel shaft.

It should be noted that: the number of the upper reels can be adaptively adjusted according to actual conditions, the number of the upper reels is not limited to 9, and the number of the motors can be controlled through a central control system.

The above description is only of the preferred embodiments of the present application and is not intended to limit the present application, and various modifications and variations may be made to the present application by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the protection scope of the present application.

Claims

1. A package feeding system, comprising:

the AGV trolley (2) is used for moving in a yarn roll feeding area; the AGV trolley (2) comprises two distance measuring components (13) and a positioning component (14);

the yarn roll feeding device (1) is arranged on the AGV trolley (2) and is used for placing yarn rolls and feeding yarn rolls on a yarn frame; the yarn roll feeding device (1) comprises a first moving component (6) which is arranged on the AGV trolley (2) and can move along a first direction, a second moving component (5) which is arranged on the first moving component (6) and can move along a second direction, a third moving component (4) which can move along a third direction, and a feeding component (3) which is arranged on the third moving component (4) and is used for placing yarn rolls and feeding yarn rolls on a yarn frame; the first direction, the second direction and the third direction are perpendicular;

the control device is in communication connection with the AGV trolley (2) and the yarn roll feeding device (1); the control device is used for:

controlling the AGV trolley (2) to move to a yarn winding position;

acquiring initial distances from the two distance measuring members (13) to the creel, and controlling the AGV trolley (2) to move according to the initial distances so that an included angle between the AGV trolley (2) and the creel is smaller than a preset angle;

obtaining correction distances from the two distance measuring members (13) to the creel, and calculating a first offset distance of the feeding assembly (3) in a first direction according to the correction distances;

controlling the first moving assembly (6) to move along a first direction according to the first offset distance, so that the distance between the feeding assembly (3) and the creel is a preset distance;

positioning data of the positioning member (14) are acquired, and a second offset distance of the feeding assembly (3) in a second direction is calculated according to the positioning data;

controlling the second moving assembly (5) to move along a second direction according to the second offset distance so as to align the feeding assembly (3) and the creel in the vertical direction;

the method comprises the steps of obtaining the height of a yarn roll placing shaft on a yarn frame, and controlling the third moving assembly (4) to move along a third direction according to the height so that the yarn roll on the feeding assembly (3) is equal to the yarn roll placing shaft on the yarn frame;

controlling the feeding assembly (3) to move the yarn roll on the feeding assembly (3) to the yarn frame;

acquiring initial distances from the two distance measuring members (13) to the creel, and controlling the AGV trolley (2) to move according to the initial distances so that an included angle between the AGV trolley (2) and the creel is smaller than a preset angle, wherein the method specifically comprises the following steps:

acquiring a first initial distance from a first ranging component to a creel;

acquiring a second initial distance from a second ranging component to the creel;

calculating an offset angle of the AGV trolley (2) according to the first initial distance and the second initial distance;

judging whether the offset angle is larger than a preset angle, and controlling the AGV trolley (2) to move when the offset angle is judged to be larger than the preset angle so that the included angle between the AGV trolley (2) and the creel is smaller than the preset angle; wherein the predetermined angle is 3 degrees;

the method for obtaining the correction distance between the two distance measuring members (13) and the creel, and calculating the first offset distance of the feeding assembly (3) in the first direction according to the correction distance specifically comprises the following steps:

acquiring a first correction distance Y from a first distance measuring member to a creel ₃ ；

Obtaining a second correction distance Y from the second distance measuring component to the creel ₄ ；

According to the first correction distance and the second correction distance, obtaining the horizontal distance Y from the yarn roll on the feeding component (3) to the creel ₅ The method comprises the steps of carrying out a first treatment on the surface of the Wherein Y is ₅ ＝(Y ₃ +Y ₄ )÷2；

Acquiring a safe distance Y from a yarn roll on the feeding assembly (3) to a yarn frame ₀ According to the safety distance and the horizontal distance, a first offset distance delta Y of the feeding assembly (3) in a first direction is calculated; wherein Δy=y ₅ -Y ₀ 。

2. A package feeding system according to claim 1, wherein positioning data of the positioning member (14) is obtained, and wherein calculating a second offset distance of the feeding assembly (3) in a second direction based on the positioning data comprises:

acquiring the actual position X of the AGV trolley (2) in the second direction according to the positioning data ₁ ；

Acquiring a theoretical position X of a yarn roll on the AGV trolley (2) ₀ ；

Calculating a second offset distance delta X of the feeding assembly (3) in a second direction according to the actual position and the theoretical position; wherein Δx=x ₁ -X ₀ 。

3. A package feeding system according to any one of claims 1 to 2, wherein the distance measuring member (13) is a laser distance measuring sensor;

the positioning component (14) is a two-dimensional code reader; the two-dimensional code reader can shoot continuous posted two-dimensional codes on the creel, and is used for acquiring the actual position of the AGV trolley (2) in the current second direction.

4. A yarn package feeding system as in claim 1, characterised in that the four corners of the AGV trolley (2) are provided with chamfers (12) and the circumference is provided with protective protrusions (11);

the AGV trolley (2) comprises two laser sensors (9) diagonally arranged at the chamfer angles (12), two ultrasonic sensors (8) arranged front and back, four scram buttons (7) respectively arranged at the four chamfer angles (12) and four driving indicator lamps (10); wherein, two laser sensors (9) arranged diagonally are used for carrying out SLAM non-reflection laser navigation, and two ultrasonic sensors (8) arranged front and back are used for detecting obstacles.

5. A package feeding system according to claim 1, wherein the feeding assembly (3) comprises a feeding base (15) arranged on the third movement assembly (4), an active feeding member being coupled to the feeding base (15);

the active feeding component comprises a first yarn package frame (26) arranged on the feeding base (15), a first screw rod (27) rotatably arranged on the first yarn package frame (26), a fourth motor (29) connected with the first screw rod (27) in a transmission manner, a first driving plate (23) connected with the first screw rod (27) in a transmission manner and capable of moving along the first yarn package frame (26), a first pushing plate (28) slidably connected with the first driving plate (23) through a first guide rod (24), and a first elastic piece (25) arranged between the first driving plate (23) and the first pushing plate (28);

the control material loading subassembly (3), with the yarn package on material loading subassembly (3) removes to the creel on, specifically include:

controlling the fourth motor (29) to rotate so as to drive the first driving plate (23) to move a yarn feeding distance to push the yarn roll on the yarn roll frame to the yarn roll placing shaft; wherein the moving distance of the first driving plate (23) is larger than the distance from the end of the yarn roll to the root of the yarn roll placing shaft.

6. A package feeding system according to claim 5, wherein the feeding assembly (3) further comprises a driven feeding member joined to the feeding base (15), and a connecting piece (16);

the driven feeding component comprises a second yarn package frame (20) arranged on the feeding base (15), a second guide rod (21) arranged on the second yarn package frame (20), a second driving plate (17) slidably arranged on the second guide rod (21), a second pushing plate (22) slidably jointed with the second driving plate (17) through a third guide rod (18), and a second elastic piece (19) arranged between the second driving plate (17) and the second pushing plate (22); the connecting member (16) is coupled to the first drive plate (23) and the second drive plate (17) so as to move the second drive plate (17) and the first drive plate (23) in synchronization.

7. A package feeding system according to claim 6, further comprising a package handling device comprising a robot (30), and a package gripping assembly (31) arranged to the robot (30);

the yarn package grabbing assembly (31) comprises a grabbing seat (33) connected to the manipulator (30), at least two clamping jaws (34) slidably arranged on the grabbing seat (33), and a telescopic piece (32) arranged on the grabbing seat (33) and used for driving the clamping jaws (34) to slide; the clamping jaw (34) is used for grabbing a yarn roll.

8. A package feeding system according to claim 7, wherein the feeding assembly (3) comprises one driving feeding member and two driven feeding members;

the package grabbing assembly (31) comprises three clamping jaws (34) and two telescopic pieces (32), a first connecting rod (36) and two second connecting rods (35); the three clamping jaws (34) are arranged at intervals, and the clamping jaw (34) positioned in the middle is hinged to the middle of the first connecting rod (36); two ends of the two second connecting rods (35) are respectively connected with the end parts of the first connecting rods (36) and clamping jaws (34) at two sides; the two telescopic pieces (32) are respectively connected with clamping jaws (34) on two sides in a transmission way.

9. A package feeding system according to any one of claims 4 to 8,

the first moving assembly (6) is arranged on the AGV trolley (2) and can move along a first direction through a first guide rail sliding block component; the second moving assembly (5) is arranged on the first moving assembly (6) and can move along a second direction through a second guide rail sliding block component; the third moving assembly (4) is movably arranged on the second moving assembly (5) along a third direction through a third guide rail sliding block component;

the first moving assembly (6) is in transmission connection with the AGV trolley (2) through a first gear-rack component and is driven by a first motor; the second moving assembly (5) is in transmission connection with the first moving assembly (6) through a second gear rack component and is driven by a second motor; the second moving assembly (5) comprises a screw rod sliding block component, a third motor in transmission connection with the screw rod sliding block component and a top block arranged on the screw rod sliding block component; the third moving assembly (4) is supported on the top block, and the screw rod sliding block can drive the top block to move up and down under the drive of the third motor, so that the first moving assembly (6) is driven to move up and down.