CN113186682A - Automatic cheese loading and unloading device - Google Patents

Abstract

The invention relates to an automatic cheese loading and unloading device, which comprises a creel conveying mechanism, a cheese conveying mechanism, a truss mechanism, a lifting mechanism, a yarn stacking mechanism, a doffing mechanism, a rotating mechanism, an unloading mechanism and a yarn discharging mechanism, wherein the lifting mechanism comprises a first lifting component and a clamping mechanism for clamping cheese, the first lifting component is used for driving the clamping mechanism to move vertically, the yarn stacking mechanism is fixed on the truss mechanism and used for transferring the cheese on the lifting mechanism to the doffing mechanism, the rotating platform is provided with a yarn receiving station and a yarn loading station, the rotating mechanism comprises a rotating platform, the rotating platform is provided with a yarn rod for positioning the cheese, the rotating platform rotates the yarn rod of the yarn receiving station to the yarn loading station, the unloading mechanism is fixed on the truss mechanism and can move along the truss mechanism, the unloading mechanism is used for loading the cheese on the yarn rod of the rotating platform to the yarn rod on a creel, or taking the dyed cheese on the creel out of the yarn rod of the creel and transferring the dyed cheese to a yarn outlet mechanism.

Description

Automatic cheese loading and unloading device

Technical Field

The invention belongs to the technical field of printing and dyeing equipment, and particularly relates to an automatic cheese loading and unloading device.

Background

At present, the automation degree of a workshop in the textile industry is not high, particularly in a cheese dyeing workshop in a printing and dyeing factory, all cheeses are manually placed on a creel one by one, the maximum diameter of the creel is 3 meters at present, and the cheeses cannot be basically placed in a yarn rod on the creel manually.

The conventional cheese dyeing production line in China basically finishes the loading and unloading of cheese through manual labor, and the cheese is grabbed manually, so that the manual yarn grabbing efficiency is low, the working environment is very severe, and the condition of wasted labor in most areas of the whole country is caused along with the reduction of social labor in recent years, so that the labor cost in production is gradually increased year by year, and the trend is continuously expanded in the next several years or even tens of years, so that the cost of a printing and dyeing factory is also increased.

In summary, it is desirable to provide an automatic cheese loading and unloading device which has a compact structure, low cost, and convenient maintenance, is suitable for yarn trays of various specifications, and can simultaneously realize the yarn loading and unloading functions.

Disclosure of Invention

The invention aims to provide an automatic cheese loading and unloading device which is compact in structure, low in cost, convenient to maintain, suitable for yarn discs of various specifications and capable of realizing the functions of loading and unloading yarns simultaneously.

The above purpose is realized by the following technical scheme: an automatic cheese loading and unloading device comprises a creel conveying mechanism, a cheese conveying mechanism, a truss mechanism, a lifting mechanism, a cheese stacking mechanism, a doffing mechanism, a rotating mechanism, an loading and unloading mechanism and a yarn discharging mechanism, wherein the creel conveying mechanism is used for loading and unloading a station and a yarn unloading station, the yarn unloading station extends into the truss mechanism, the lifting mechanism comprises a first lifting component and a clamping mechanism used for clamping cheese, the first lifting component is used for driving the clamping mechanism to move vertically, a plurality of jigs used for fixing the cheese are arranged on the cheese conveying mechanism, the cheese conveying mechanism is arranged on one side of the truss mechanism and used for conveying the cheese to the lower part of the clamping mechanism, the cheese stacking mechanism is fixed on the truss mechanism and used for transferring the cheese on the lifting mechanism to the doffing mechanism, the rotating platform is provided with a yarn receiving station and a yarn loading station, the rotating mechanism comprises a rotating platform, the rotating platform is provided with a yarn rod used for positioning cheese, the rotating platform is used for rotating the yarn rod of the yarn receiving station to the yarn loading station, the doffing mechanism comprises a second lifting member, a telescopic mechanism and a doffing plate used for receiving the cheese, the fixed end of the telescopic mechanism is connected with the second lifting member, the doffing plate is connected with the movable end of the telescopic mechanism, the second lifting member is used for driving the telescopic mechanism and the doffing plate to integrally move vertically, the doffing plate is provided with a notch, the telescopic mechanism is used for driving the doffing plate to move horizontally so as to enable the yarn rod to extend into or leave the notch, and the loading and unloading mechanism is fixed on the truss mechanism and can move along the truss mechanism, the loading and unloading mechanism is used for loading the cheese on the yarn rod of the rotary platform onto the yarn rod of the creel or taking out the dyed cheese on the creel from the yarn rod of the creel and transferring the dyed cheese to the yarn outlet mechanism.

The invention is used for loading and unloading cheese in textile industry, during the specific application process, a creel is loaded on a creel conveying mechanism at an upper and lower material loading station and conveyed to a yarn unloading station, workers place disordered cheese on a jig of the creel conveying mechanism one by one and convey the disordered cheese to the lower part of a clamping mechanism by the creel conveying mechanism, a first lifting member of a lifting mechanism drives the clamping mechanism to move downwards, after the yarns fall to a preset position, the clamping mechanism clamps the cheese on the jig, the first lifting member drives the clamping mechanism to move upwards to take the cheese out of the jig and then continuously lift to the preset position, then a yarn stacking mechanism transfers the cheese on the clamping mechanism to a yarn dropping mechanism, specifically, the telescopic mechanism is in an extension state at the moment, a yarn rod of a yarn receiving station on a rotary platform extends into a gap of a yarn dropping plate, the yarn dropping plate is at a high position, and when the cheese stacking mechanism releases the cheese, the cheese passes through the yarn rod and then falls onto the yarn falling plate, then the second lifting component drives the yarn falling plate to descend for a preset distance to receive another cheese sent by the yarn stacking mechanism, the operation is repeated until the yarn rod on the rotary platform receives a preset number of cheeses, the yarn falling plate is at a low position, the telescopic mechanism retracts to move the yarn receiving plate, then the rotary platform rotates to rotate the yarn rod, which is provided with the cheese, of the yarn receiving station to a yarn loading station, the loading and unloading mechanism integrally loads the cheeses on the yarn rod of the rotary platform onto the yarn rod of the creel, the creel conveying mechanism outputs the creel provided with the cheeses for dyeing, after dyeing, the creel needing yarn unloading is hoisted onto the creel conveyor to be conveyed to the yarn unloading station, and the mechanism takes out the dyed cheese on the creel from the yarn rod of the creel and transfers the dyed cheese to the yarn discharging mechanism for outputting.

The loading and unloading mechanism comprises a fixed frame, the fixed frame is connected with the truss mechanism, the centering component and the yarn holding component are fixed on the fixed frame, the centering component and the yarn holding component are arranged on the fixed frame, the centering component comprises a third lifting component, a centering piece and a penetrating rod piece, the third lifting component is used for driving the centering piece and the penetrating rod piece to integrally move vertically, the centering piece comprises a rack, a centering frame, a centering claw and a centering driving piece, the centering frame and the centering driving piece are fixed on the rack, the centering claw is hinged with the centering frame, the centering driving piece is in transmission connection with the centering claw and is used for driving the centering claw to open and close, the penetrating rod piece comprises a penetrating rod frame, a penetrating rod driving piece and a penetrating pipe, the penetrating rod frame is connected with the rack, the penetrating rod driving piece is fixed on the penetrating rod frame and is in transmission connection with the penetrating pipe, the utility model discloses a yarn, including the drive of threading pole driving piece, it includes the fourth lifting component and embraces the yarn piece to embrace the yarn piece, the drive of threading pole driving piece the vertical motion of threading pipe and then dock with the yarn pole, it includes fourth lifting component and embraces the yarn piece to embrace the yarn piece, fourth lifting component with it connects and is used for the drive to embrace the transmission of yarn piece embrace yarn piece vertical motion, embrace the yarn piece including horizontal drive piece, embrace the yarn pole and embrace the yarn board, embrace the one end of yarn pole with horizontal drive piece links to each other, and the other end is equipped with embrace the yarn board, embrace the yarn board be equipped with cheese assorted radian.

In the cheese grabbing process, for example, cheese is grabbed on a yarn rod of a creel, when the cheese grabbing device is in an initial position, a righting claw and the righting frame form an included angle of a preset angle, a third lifting component drives the righting piece and the penetrating rod piece to move vertically integrally, after the yarn rod and the penetrating pipe fall to a corresponding position, the yarn rod and the penetrating pipe are centered at the moment, the righting driving piece uses a preset stroke, the righting claw is driven to rotate around a hinge point of the righting frame and form a certain included angle, so that the yarn rod beside the yarn rod needing centering on the creel can be squeezed open, an avoidance notch is formed in the preferentially righting frame, the position of a center column of the creel can be effectively avoided, and the positioning and righting of each yarn rod on the creel are realized. When the whole centering piece and the rod penetrating piece descend to proper positions, the centering driving piece continues to use a preset stroke, so that the centering claws continue to close to grab the yarn rods and correct the yarn rods to preset positions, the yarn rods are centered to be ensured to be vertical to the bottom surface of the creel, then the rod penetrating driving piece starts to act to drive the yarn penetrating pipes to descend, the yarn rods are just sleeved in the centering pipes, and the yarn rod positioning and centering function is realized; after the yarn rod with the cheese is positioned and centered, the fourth lifting component drives the yarn holding piece to move downwards integrally, after the yarn rod descends to the right position, the horizontal driving piece drives the yarn holding piece to move horizontally, the yarn holding plate is attached to the side face of the cheese, then the second lifting component drives the yarn holding piece to move upwards integrally, and the cheese on the yarn rod is held onto the yarn threading tube and is removed.

A further technical scheme is, truss mechanism includes the frame construction who comprises stand and crossbeam, the crossbeam includes Y axle crossbeam and X axle crossbeam, X axle crossbeam with the stand links to each other, Y axle crossbeam with X axle crossbeam sliding connection, truss mechanism is equipped with first driving motor, second driving motor and gyration supporting platform, gyration supporting platform with Y axle crossbeam sliding connection, first driving motor is used for the drive Y axle crossbeam is followed X axle crossbeam removes, second driving motor is used for the drive gyration supporting platform is followed Y axle crossbeam removes, the mount with gyration supporting platform links to each other, gyration supporting platform can drive loading and unloading mechanism carries out rotary motion. According to the arrangement, the loading and unloading mechanism can move horizontally along the truss mechanism, and the rotary supporting platform can drive the loading and unloading mechanism to perform rotary motion to meet corresponding operation requirements.

The technical scheme is that the creel conveying mechanism comprises a movable trolley, a fixed roller line, a rotary roller line and a yarn loading and unloading platform, the yarn loading and unloading platform is arranged in the truss mechanism, the input end and the output end of the fixed roller line are respectively connected with the rotary roller line and the yarn loading and unloading platform, the material loading and unloading station comprises a first material loading and unloading station and a second material loading and unloading station which are arranged on two sides of the rotary roller line, and the movable trolley is respectively arranged on the first material loading and unloading station and the second material loading and unloading station. So, the travelling car is used for loading the creel, and rotatory bobbin thread is used for rotatory creel that receives first unloading station or the unloading station of second in the position to shift the creel of receiving to fixed bobbin thread, shift to loading and unloading yarn platform through fixed bobbin thread. Therefore, waiting time can be saved, and when one creel is used for hanging and unloading yarns, the creel can be hoisted at another station.

The further technical scheme is that the movable trolley is provided with a positioning pin and a positioning groove for positioning the creel. The locating pin and the locating groove are arranged for locating and fixing the creel, and deviation between the transportation process and the moving trolley is prevented.

The yarn discharging mechanism comprises a yarn discharging frame, a yarn discharging channel, a first yarn discharging channel, a second yarn discharging channel and a splitter plate, wherein the yarn discharging channel, the first yarn discharging channel and the second yarn discharging channel are arranged on the yarn discharging frame, the splitter plate is movably arranged at an outlet of the yarn discharging channel, and the angle of the splitter plate is adjustable. So, it is equipped with two passageways to go out yarn mechanism, is convenient for sort.

The technical scheme is that the cheese conveying mechanism comprises a ring conveyor, a blocking piece used for blocking a jig on the ring conveyor at a preset position is arranged below the clamping mechanism of the ring conveyor, the ring conveyor is provided with an alarm mechanism and a detection mechanism used for detecting the direction of the cheese placed on the jig, and the detection mechanism is electrically connected with the alarm mechanism. The stop piece plays the effect of location, guarantees that the tool stops in clamping mechanism's below, and detection device can detect its direction of installing the cheese on the tool simultaneously, has placed when the cheese and has reversed, can feed back to alarm mechanism and report to the police and indicate the workman to enter the processing.

The yarn stacking mechanism comprises a fifth lifting member, a yarn clamping cylinder, a traversing assembly, a lifting assembly and a traversing cylinder, wherein the yarn clamping cylinder is fixed on the lifting assembly, the lifting assembly is in transmission connection with the fifth lifting member, the fifth lifting member is fixed on the traversing assembly, and the traversing cylinder is in transmission connection with the traversing assembly and is used for driving the traversing assembly to move horizontally.

The further technical scheme is that the clamping mechanism comprises two clamping cylinders and a clamping piece which are arranged in parallel, the clamping piece is fixed on the clamping cylinders, and the clamping cylinders are used for driving the clamping piece to open and close. So, hoist mechanism once promotes two section of thick bamboo yarns, and the beat improves 1 doubly, and during concrete installation, hoist mechanism installs on the support column, and first lifting means drive clamping mechanism is along the vertical motion of support column.

The further technical scheme is that the righting claw comprises a first righting plate and a second righting plate which are oppositely arranged, the righting driving piece comprises a first righting cylinder and a second righting cylinder, the first righting plate and the second righting plate are connected with the movable ends of the first righting cylinder and the second righting cylinder through a first connecting rod and a second connecting rod respectively, the first connecting rod is hinged with the first righting cylinder and the second connecting rod is hinged with the movable end of the second righting cylinder, the connecting portions of the first righting plate, the first connecting rod and the second righting plate, and the second connecting rod are hinged with the righting frame, the first righting cylinder and the second righting cylinder are of a double-stroke structure, and the tail ends of the first righting plate and the second righting plate are provided with V-shaped ports. So, first righting cylinder and second righting cylinder drive first righting board and second righting board alone, when yarn pole is partial to certain one side like this, can use the cylinder drive of righting of that one side to right the board and drive the yarn pole motion earlier, after it rotated to target in place, the board motion was right in the cylinder drive of righting of opposite side, and two righting boards are foldd and are fixed a position the yarn pole of centering. In the centering process, the yarn rod just penetrates through the V-shaped opening after the centering claws are closed, the first centering plate and the second centering plate are respectively tangent to the yarn rod, and the positioning and centering effects are good.

Compared with the prior art, the automatic yarn loading and unloading device can realize automatic yarn loading and unloading of the cheese, and solves the problems of low efficiency of manual yarn grabbing, severe working environment and high labor cost in the prior art. The automatic bobbin loading and unloading device is compact in structure, low in cost, convenient to maintain and simple to control, the bobbin can be prevented from being directly knocked down after the bobbin penetrates into the yarn rod by the aid of the doffing mechanism, damage of the bobbin is reduced, automatic loading and unloading of the bobbin by equipment can be realized under the condition that the yarn rod of an old creel cage is not vertical, and the automatic bobbin loading and unloading device is particularly suitable for the condition that the center column of the creel is higher than the yarn rod.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate an embodiment of the invention and, together with the description, serve to explain the invention and not to limit the invention.

FIG. 1 is a schematic structural view of an automatic bobbin loading and unloading device according to an embodiment of the present invention;

FIG. 2 is a plan view of an automatic bobbin loading and unloading device according to an embodiment of the present invention;

FIG. 3 is a schematic view of a creel conveyor according to an embodiment of the present invention;

FIG. 4 is a schematic structural view of a cheese conveyor according to an embodiment of the present invention;

FIG. 5 is a schematic diagram of a lifting mechanism according to an embodiment of the present invention;

FIG. 6 is a schematic structural view of a yarn stacking mechanism according to an embodiment of the present invention;

FIG. 7 is a schematic structural view of a doffing mechanism according to an embodiment of the present invention;

fig. 8 is a schematic structural view of a rotating mechanism according to an embodiment of the present invention;

fig. 9 is a schematic structural view of a truss mechanism according to an embodiment of the present invention;

fig. 10 is a schematic structural view of a mounting and demounting mechanism according to an embodiment of the present invention;

FIG. 11 is a schematic structural view of a centering member according to an embodiment of the present invention;

fig. 12 to 14 are schematic structural views of a straightening claw of a straightening member according to an embodiment of the present invention in three states, respectively;

FIG. 15 is a side view of a centering member according to an embodiment of the present invention;

FIG. 16 is a schematic illustration of the operation of a centering member according to an embodiment of the present invention;

FIG. 17 is an enlarged view of portion A of FIG. 16;

fig. 18 is a schematic configuration diagram of a yarn discharging mechanism according to an embodiment of the present invention.

In the figure:

1 creel conveying mechanism 2 cheese conveying mechanism 3 hoisting mechanism 4 yarn folding mechanism

5 doffing mechanism 6 rotating mechanism 7 truss mechanism 8 loading and unloading mechanism

9 yarn discharging mechanism 10, first feeding and discharging station 11 creel 12 and second feeding and discharging station

13 loading and unloading platform 14 rotating roller line 15 moving trolley 16 positioning pin

17 fixed roller line 18 positioning groove 19 stop piece 20 jig

21 detection mechanism 22 loop conveyor 23 first lifting member 24 clamping cylinder

25 gripper 26 fifth lifting member 27 gripper cylinder 28 lifting assembly

29 traversing cylinder 30 traversing assembly 31 second lifting member 32 telescoping mechanism

33 doffing plate 34 cheese 35 yarn-receiving station 36 rotating cylinder

37 dress yarn station 38Y axle crossbeam 39 gyration supporting platform 40X axle crossbeam

41 righting component 42 yarn-holding component 43 yarn-holding plate 44 righting claw

45 third lifting member 46, frame 47, righting frame 48, first righting cylinder

49 first righting plate 50 second righting cylinder 51 second righting plate 52 servo motor

53 coupling 54 nut 55 lead screw 56 connecting plate

57 threading bar rack 58 fourth lifting member 59 threading tube 60 yarn bar

61 center post 62V-shaped port 63 support column 64 first link

65 second connecting rod 70 yarn unloading channel 71 first yarn outlet channel 72 second yarn outlet channel

73 splitter plate

Detailed Description

The present invention will now be described in detail with reference to the drawings, which are given by way of illustration and explanation only and should not be construed to limit the scope of the present invention in any way. Furthermore, features from embodiments in this document and from different embodiments may be combined accordingly by a person skilled in the art from the description in this document.

The embodiment of the invention is as follows, referring to fig. 1-10 and fig. 18, an automatic cheese loading and unloading device comprises a creel conveying mechanism 1, a cheese conveying mechanism 2, a truss mechanism 7, a lifting mechanism 3, a yarn stacking mechanism 4, a doffing mechanism 5, a rotating mechanism 6, an loading and unloading mechanism 8 and a yarn discharging mechanism 9, wherein the creel conveying mechanism 1 comprises a loading and unloading station and a yarn discharging station, the yarn discharging station extends into the truss mechanism 7, the lifting mechanism 3 comprises a first lifting member 23 and a clamping mechanism for clamping cheese 34, the first lifting member 23 is used for driving the clamping mechanism to move vertically, a plurality of jigs 20 for fixing the cheese 34 are arranged on the cheese conveying mechanism 2, the cheese conveying mechanism 2 is arranged on one side of the truss mechanism 7 and used for conveying the cheese 34 to the lower part of the clamping mechanism, the yarn stacking mechanism 4 is fixed on the truss mechanism 7 and used for transferring the cheese 34 on the lifting mechanism 3 to the doffing mechanism 5, the rotating platform is provided with a yarn receiving station 35 and a yarn loading station 37, the rotating mechanism 6 comprises a rotating platform, the rotating platform is provided with a yarn rod 60 used for positioning the cheese 34, the rotating platform is provided with a rotating cylinder 36, the rotating platform rotates to rotate the yarn rod 60 of the yarn receiving station 35 to the yarn loading station 37, the doffing mechanism 5 comprises a second lifting member 31, a telescopic mechanism 32 and a doffing plate 33 used for bearing the cheese 34, the fixed end of the telescopic mechanism 32 is connected with the second lifting member 31, the doffing plate 33 is connected with the movable end of the telescopic mechanism 32, and the second lifting member 31 is used for driving the telescopic mechanism 32 and the doffing plate 33 to integrally move vertically, the yarn falling plate 33 is provided with a notch, the telescopic mechanism 32 is used for driving the yarn falling plate 33 to move horizontally so as to enable the yarn rod 60 to extend into or leave the notch, the loading and unloading mechanism 8 is fixed on the truss mechanism 7 and can move along the truss mechanism 7, and the loading and unloading mechanism 8 is used for loading the cheese 34 on the yarn rod 60 of the rotary platform onto the yarn rod 60 of the creel 11 or taking out the dyed cheese 34 on the creel 11 from the yarn rod 60 of the creel 11 and transferring the dyed cheese to the yarn outlet mechanism 9.

The invention is used for loading and unloading the cheese 34 in the textile industry, in the specific application process, as shown in figures 1-10, a creel 11 is loaded on a creel conveying mechanism 1 at an upper and lower material loading station and conveyed to a yarn unloading station, a worker places disordered cheese 34 on a jig 20 of the cheese conveying mechanism 2 one by one, the cheese conveying mechanism 2 conveys the disordered cheese to the lower part of a clamping mechanism, a first lifting member 23 of a lifting mechanism 3 drives the clamping mechanism to move downwards, after the cheese falls to a preset position, the clamping mechanism clamps the cheese 34 on the jig 20, the first lifting member 23 drives the clamping mechanism to move upwards to take the cheese 34 out of the jig 20 and then continuously rise to the preset position, then a yarn stacking mechanism 4 is transferred to a yarn dropping mechanism 5 through the cheese 34 on the clamping mechanism, specifically, at the moment, a telescopic mechanism 32 is in an extension state, a yarn rod 60 of a yarn receiving station 35 on a rotary platform extends into a gap of a yarn dropping plate 33, the doffing plate 33 is in a high position, when the creel mechanism 4 releases the cheese 34, the cheese 34 passes through the yarn rod 60 and falls onto the doffing plate 33, then the second lifting member 31 drives the doffing plate 33 to descend for a preset distance to catch another cheese 34 sent by the stacking mechanism 4, the reciprocating is carried out until the yarn rod 60 on the rotary platform receives a preset number of the cheeses 34, the doffing plate 33 is in a low position, the telescopic mechanism 32 retracts to move the yarn receiving plate, then the rotary platform rotates to rotate the yarn rod 60 of the yarn receiving station 35, which is provided with the cheese 34, to the yarn loading station 37, the loading and unloading mechanism 8 integrally loads the cheese 34 on the yarn rod 60 of the rotary platform onto the yarn rod 60 on the creel 11, the creel conveying mechanism 1 outputs the creel 11 provided with the cheeses 34 for dyeing, and after dyeing, the creel 11 needing to be unloaded is hoisted onto the creel 11 conveyor 1 and conveyed to the yarn unloading station, the loading and unloading mechanism 8 takes out the dyed cheese 34 on the creel 11 from the yarn bar 60 of the creel 11 and transfers the cheese to the yarn discharging mechanism 9 for output.

On the basis of the above embodiment, in another embodiment of the present invention, as shown in fig. 10 to 17, the handling mechanism 8 includes a fixed frame, the fixed frame is connected to the truss mechanism 7, the centering member 41 and the yarn holding member 42 are fixed on the fixed frame, the centering member 41 and the yarn holding member 42 include a third lifting member 45, a centering member, and a threading member, the third lifting member 45 is used to drive the centering member and the threading member to integrally move vertically, the centering member includes a frame 46, a centering frame 47, a centering claw 44, and a centering driving member, the centering frame 47 and the centering driving member are fixed on the frame 46, the centering claw 44 is hinged to the centering frame 47, the centering driving member is in transmission connection with the centering claw 44 and is used to drive the centering claw 44 to open and close, the threading member includes a threading frame 57, a threading rod driving member, and a threading tube 59, the utility model discloses a yarn taking machine, including frame 46, wearing rod frame 57 with the frame 46 links to each other, the wearing rod driving piece is fixed on wearing rod frame 57 and with the transmission of wearing tube 59 is connected, the driving of wearing rod driving piece the vertical motion of wearing tube 59 and then dock with yarn pole 60, it includes fourth lifting component 58 and embraces the yarn piece to embrace yarn component 42, fourth lifting component 58 with embrace the yarn piece transmission and be connected and be used for the drive embrace yarn piece vertical motion, embrace the yarn piece including horizontal drive spare, embrace yarn pole 60 and embrace yarn board 43, the one end of embracing yarn pole 60 with horizontal drive spare links to each other, and the other end is equipped with embrace yarn board 43, embrace yarn board 43 and be equipped with the radian that matches with cheese 34.

As shown in fig. 10 to 17, in the process of grabbing the cheese 34, taking grabbing the cheese 34 on the yarn bar 60 of the creel 11 as an example, when the creel 11 is in the initial position, the centering claw 44 forms a predetermined angle with the centering frame 47, the third lifting member 45 drives the centering member and the threading member to integrally move vertically, after the yarn bar 60 and the threading tube 59 are centered after the landing position reaches the corresponding position, the centering driving member uses a predetermined stroke to drive the centering claw 44 to rotate around a hinge point with the centering frame 47 and form a certain angle, so that the yarn bar 60 beside the yarn bar 60 that needs to be centered on the creel 11 can be squeezed open, and preferably, the centering frame 47 has a clearance gap, which can effectively avoid the position of the center pillar 61 of the creel 11, thereby achieving the positioning and centering of each yarn bar 60 on the creel 11. When the whole centering piece and the threading piece are lowered to proper positions, the centering driving piece continues to use a preset stroke, so that the centering claw 44 continues to close to grab the yarn rod 60 and correct the yarn rod 60 to a preset position, the yarn rod 60 is centered to be ensured to be vertical to the bottom surface of the creel 11, then the threading driving piece starts to act, the threading tube 59 is driven to descend to be just sleeved into the centered yarn rod 60, and the positioning and centering functions of the yarn rod 60 are realized; when the yarn rod 60 with the cheese 34 is positioned and centered, the fourth lifting member 58 drives the whole yarn holding piece to move downwards, and when the yarn rod is lowered to the proper position, the horizontal driving piece drives the yarn holding piece to move horizontally, the yarn holding plate 43 is attached to the side surface of the cheese 34, and then the second lifting member 31 drives the whole yarn holding piece to move upwards, so that the cheese 34 on the yarn rod 60 is held onto the yarn threading tube 59 to be removed.

In another embodiment of the present invention, based on the above-mentioned embodiments, as shown in fig. 1 and 9, the truss mechanism 7 includes a frame structure composed of vertical columns and horizontal beams, the beams include a Y-axis beam 38 and an X-axis beam 40, the X-axis beam 40 is connected to the columns, the Y-axis beam 38 is connected with the X-axis beam 40 in a sliding manner, the truss mechanism 7 is provided with a first driving motor, a second driving motor and a rotary supporting platform 39, the rotary supporting platform 39 is connected with the Y-axis beam 38 in a sliding manner, the first driving motor is used for driving the Y-axis beam 38 to move along the X-axis beam 40, the second driving motor is used for driving the rotary supporting platform 39 to move along the Y-axis beam 38, the fixed frame is connected with the rotary supporting platform 39, and the rotary supporting platform 39 can drive the assembling and disassembling mechanism 8 to perform rotary motion. With the arrangement, the loading and unloading mechanism 8 can move horizontally along the truss mechanism 7, and the rotary supporting platform 39 can drive the loading and unloading mechanism 8 to perform rotary motion to meet corresponding operation requirements.

On the basis of the above embodiment, in another embodiment of the present invention, as shown in fig. 3, the creel conveying mechanism 1 includes a movable trolley 15, a fixed roller line 17, a rotating roller line 14, and a yarn handling platform 13, the yarn handling platform 13 is disposed in the truss mechanism 7, an input end and an output end of the fixed roller line 17 are respectively connected to the rotating roller line 14 and the yarn handling platform 13, the feeding and discharging stations include a first feeding and discharging station 10 and a second feeding and discharging station 12 disposed on two sides of the rotating roller line 14, and the first feeding and discharging station 10 and the second feeding and discharging station 12 are respectively provided with the movable trolley 15. In this way, the movable trolley 15 is used for loading the creel 11, the rotary bobbin thread 14 is used for rotating the creel 11 which is positioned to receive the first loading and unloading station 10 or the second loading and unloading station 12, and the received creel 11 is transferred to the fixed bobbin thread 17 and transferred to the loading and unloading platform 13 through the fixed bobbin thread 17. Therefore, waiting time can be saved, and the creel 11 can be hoisted at another station while one creel 11 is used for hanging and unloading yarns.

On the basis of the above embodiment, in another embodiment of the present invention, as shown in fig. 3, the moving trolley 15 is provided with a positioning pin 16 and a positioning slot 18 for positioning the creel 11. The positioning pins 16 and the positioning grooves 18 are arranged for positioning and fixing the creel 11, and the deviation of the transportation process and the movable trolley 15 is prevented.

On the basis of the above embodiment, in another embodiment of the present invention, as shown in fig. 18, the yarn discharging mechanism 9 includes a yarn discharging frame 11, a yarn discharging channel 70, a first yarn discharging channel 71, a second yarn discharging channel 72 and a splitter plate 73, the yarn discharging channel 70, the first yarn discharging channel 71 and the second yarn discharging channel 72 are disposed on the yarn discharging frame 11, the splitter plate 73 is movably disposed at an outlet of the yarn discharging channel 70, and an angle of the splitter plate 73 is adjustable. So, the yarn discharging mechanism 9 is provided with two channels, which is convenient for sorting.

On the basis of the above embodiment, in another embodiment of the present invention, as shown in fig. 4, the cheese conveying mechanism 2 includes a loop conveyor 22, a blocking member 19 for blocking a jig 20 on the loop conveyor 22 at a predetermined position is disposed below the clamping mechanism of the loop conveyor 22, the loop conveyor 22 is provided with an alarm mechanism and a detection mechanism 21 for detecting the direction of a cheese 34 placed on the jig 20, and the detection mechanism 21 is electrically connected to the alarm mechanism. The stop piece plays the effect of location, guarantees that tool 20 stops in clamping mechanism's below, and detection device can detect its direction of installing cheese 34 on tool 20 simultaneously, has placed when cheese 34 and has reversed, can feed back to alarm mechanism and report to the police and indicate the workman to enter the processing.

In another embodiment of the present invention based on the above embodiment, as shown in fig. 6, the yarn stacking mechanism 4 includes a fifth lifting member 26, a yarn clamping cylinder 27, a traverse unit 30, a lifting member 28, and a traverse cylinder 29, wherein the yarn clamping cylinder 27 is fixed on the lifting member 28, the lifting member 28 is in transmission connection with the fifth lifting member 26, the fifth lifting member 26 is fixed on the traverse unit 30, and the traverse cylinder 29 is in transmission connection with the traverse unit 30 and is used for driving the traverse unit 30 to move horizontally.

On the basis of the above embodiment, in another embodiment of the present invention, as shown in fig. 5, the clamping mechanism includes two clamping cylinders 24 and a clamping member 25, which are arranged in parallel, the clamping member 25 is fixed on the clamping cylinders 24, and the clamping cylinders 24 are used for driving the clamping member 25 to open and close. So, hoist mechanism 3 once promotes two section of thick bamboo yarns, and the beat improves 1 doubly, and during concrete installation, hoist mechanism 3 installs on support column 63, and first lifting means 23 drive clamping mechanism is along support column 63 vertical motion.

In another embodiment of the present invention based on the above embodiment, as shown in fig. 11 to 15, the righting claw 44 includes a first righting plate 49 and a second righting plate 51 which are oppositely arranged, the righting driving piece comprises a first righting cylinder 48 and a second righting cylinder 50, the first righting plate 49 and the second righting plate 51 are respectively connected with the movable ends of the first righting cylinder 48 and the second righting cylinder 50 through a first connecting rod 64 and a second connecting rod 65, the first connecting rod 64 is hinged with the first righting cylinder 48 and the second connecting rod 65 is hinged with the movable end of the second righting cylinder 50, the connecting parts of the first righting plate 49 and the first connecting rod 64 and the second righting plate 51 and the second connecting rod 65 are hinged with the righting frame 47, the first righting cylinder 48 and the second righting cylinder 50 are of a double-stroke structure, and the tail ends of the first righting plate 49 and the second righting plate 51 are provided with V-shaped openings 62. Therefore, the first righting cylinder 48 and the second righting cylinder 50 drive the first righting plate 49 and the second righting plate 51 independently, so that when the yarn rod 60 is deviated to one side, the righting cylinder on the side can drive the righting plate to drive the yarn rod 60 to move, when the yarn rod 60 rotates in place, the righting cylinder on the other side drives the righting plate to move, and the two righting plates are folded to position the centered yarn rod 60. In the centering process, after the centering claw 44 is closed, the yarn rod 60 just passes through the V-shaped opening 62, and the first centering plate 49 and the second centering plate 51 are respectively tangent to the yarn rod 60, so that the positioning and centering effects are good. As shown in fig. 15, the third lifting member 45 includes a servo motor 52, a coupling 53, a nut 54 and a screw 55, the screw 55 is connected to an output shaft of the servo motor 52 through the coupling 53, the round nut 54 is fixed to the frame 46 through a connecting plate 56, and the screw 55 is in threaded connection with the nut 54. Specifically, the servo motor 52 rotates to drive the screw rod 55 to rotate, and the frame 46 connected with the nut 54 vertically moves along the screw rod 55 to complete the overall lifting movement.

The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and decorations can be made without departing from the principle of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.

Claims (10)

1. An automatic cheese loading and unloading device is characterized by comprising a creel conveying mechanism, a cheese conveying mechanism, a truss mechanism, a lifting mechanism, a yarn stacking mechanism, a doffing mechanism, a rotating mechanism, an loading and unloading mechanism and a yarn discharging mechanism, wherein the yarn loading and unloading station and the yarn discharging station of the creel conveying mechanism extend into the truss mechanism, the lifting mechanism comprises a first lifting member and a clamping mechanism used for clamping cheese, the first lifting member is used for driving the clamping mechanism to move vertically, a plurality of jigs used for fixing cheese are arranged on the cheese conveying mechanism, the cheese conveying mechanism is arranged on one side of the truss mechanism and used for conveying cheese to the position below the clamping mechanism, the yarn stacking mechanism is fixed on the truss mechanism and used for transferring the cheese on the lifting mechanism to the doffing mechanism, the rotating platform is provided with a yarn receiving station and a yarn loading station, the rotating mechanism comprises a rotating platform, the rotating platform is provided with a yarn rod used for positioning cheese, the rotating platform is used for rotating the yarn rod of the yarn receiving station to the yarn loading station, the doffing mechanism comprises a second lifting member, a telescopic mechanism and a doffing plate used for receiving the cheese, the fixed end of the telescopic mechanism is connected with the second lifting member, the doffing plate is connected with the movable end of the telescopic mechanism, the second lifting member is used for driving the telescopic mechanism and the doffing plate to integrally move vertically, the doffing plate is provided with a notch, the telescopic mechanism is used for driving the doffing plate to move horizontally so as to enable the yarn rod to extend into or leave the notch, and the loading and unloading mechanism is fixed on the truss mechanism and can move along the truss mechanism, the loading and unloading mechanism is used for loading the cheese on the yarn rod of the rotary platform onto the yarn rod of the creel or taking out the dyed cheese on the creel from the yarn rod of the creel and transferring the dyed cheese to the yarn outlet mechanism.

2. The automatic cheese loading and unloading device according to claim 1, wherein the loading and unloading mechanism comprises a fixed frame, the fixed frame is connected with the truss mechanism, the centering member and the yarn holding member are fixed on the fixed frame, the centering member and the yarn holding member comprise a third lifting member, a centering member and a threading member, the third lifting member is used for driving the centering member and the threading member to integrally move vertically, the centering member comprises a frame, a centering claw and a centering driving member, the centering frame and the centering driving member are fixed on the frame, the centering claw is hinged with the centering frame, the centering driving member is in transmission connection with the centering claw and is used for driving the centering claw to open and close, the threading member comprises a threading frame, a threading driving member and a threading bobbin, and the threading frame is connected with the frame, the utility model discloses a yarn threading frame, including the frame, the frame is connected with the drive of threading pipe, the drive of threading pipe vertical motion and then dock with the yarn pole, it includes fourth lifting means and embraces the yarn piece to embrace the yarn component, fourth lifting means with it is connected and is used for the drive to embrace yarn piece transmission embrace yarn piece vertical motion, embrace the yarn piece including horizontal drive spare, embrace the yarn pole and embrace the yarn board, embrace the one end of yarn pole with horizontal drive spare links to each other, and the other end is equipped with embrace the yarn board, embrace the yarn board be equipped with cheese assorted radian.

3. The automatic cheese loading and unloading device according to claim 2, wherein the truss mechanism comprises a frame structure consisting of an upright post and a cross beam, the cross beam comprises a Y-axis cross beam and an X-axis cross beam, the X-axis cross beam is connected with the upright post, the Y-axis cross beam is connected with the X-axis cross beam in a sliding manner, the truss mechanism is provided with a first driving motor, a second driving motor and a rotary supporting platform, the rotary supporting platform is connected with the Y-axis cross beam in a sliding manner, the first driving motor is used for driving the Y-axis cross beam to move along the X-axis cross beam, the second driving motor is used for driving the rotary supporting platform to move along the Y-axis cross beam, the fixing frame is connected with the rotary supporting platform, and the rotary supporting platform can drive the loading and unloading mechanism to perform rotary motion.

4. The automatic cheese loading and unloading device according to claim 1, wherein the creel conveying mechanism comprises a moving trolley, a fixed roller line, a rotating roller line and a loading and unloading platform, the loading and unloading platform is arranged in the truss mechanism, the input end and the output end of the fixed roller line are respectively connected with the rotating roller line and the loading and unloading platform, the loading and unloading stations comprise a first loading and unloading station and a second loading and unloading station which are arranged on two sides of the rotating roller line, and the moving trolley is respectively arranged on the first loading and unloading station and the second loading and unloading station.

5. The automatic cheese handling device according to claim 4, wherein the moving cart is provided with a positioning pin and a positioning groove for positioning the creel.

6. The automatic cheese loading and unloading device according to claim 4, wherein the yarn discharging mechanism comprises a yarn discharging frame, a yarn discharging channel, a first yarn discharging channel, a second yarn discharging channel and a splitter plate, the yarn discharging channel, the first yarn discharging channel and the second yarn discharging channel are arranged on the yarn discharging frame, the splitter plate is movably arranged at an outlet of the yarn discharging channel, and the angle of the splitter plate is adjustable.

7. The automatic cheese loading and unloading device according to claim 6, wherein the cheese conveying mechanism comprises a loop conveyor, a blocking member for blocking a jig on the loop conveyor at a predetermined position is arranged below the clamping mechanism of the loop conveyor, the loop conveyor is provided with an alarm mechanism and a detection mechanism for detecting the direction of the cheese placed on the jig, and the detection mechanism is electrically connected with the alarm mechanism.

8. The automatic cheese loading and unloading device according to any one of claims 4 to 7, wherein the yarn stacking mechanism comprises a fifth lifting member, a yarn clamping cylinder, a traverse assembly, a lifting assembly and a traverse cylinder, the yarn clamping cylinder is fixed on the lifting assembly, the lifting assembly is in transmission connection with the fifth lifting member, the fifth lifting member is fixed on the traverse assembly, and the traverse cylinder is in transmission connection with the traverse assembly and is used for driving the traverse assembly to move horizontally.

9. The automatic cheese loading and unloading device according to claim 8, wherein the clamping mechanism comprises two clamping cylinders and a clamping piece which are arranged in parallel, the clamping piece is fixed on the clamping cylinders, and the clamping cylinders are used for driving the clamping pieces to open and close.

10. The automatic cheese loading and unloading device according to claim 2 or 3, wherein the centering claw comprises a first centering plate and a second centering plate which are arranged oppositely, the centering driving member comprises a first centering cylinder and a second centering cylinder, the first centering plate and the second centering plate are connected with the movable ends of the first centering cylinder and the second centering cylinder through a first connecting rod and a second connecting rod respectively, the first connecting rod is hinged with the first centering cylinder and the second connecting rod is hinged with the movable end of the second centering cylinder, the connecting portions of the first centering plate, the first connecting rod, the second centering plate and the second connecting rod are hinged with the centering frame, the first centering cylinder and the second centering cylinder are of a double-stroke structure, and the tail ends of the first centering plate and the second centering plate are provided with V-shaped openings.

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