CN210001323U - Suspension type package transfer trolley and automatic package transfer system - Google Patents

Abstract

The utility model discloses an suspension type package transfer car (buggy), including the automobile body, horizontal running gear, including walking drive, guider, support this automobile body and hang and with this walking drive matched with sky rail, and with this guider matched with ground rail, promote slip table mechanism, set up in this walking drive, including slip table, slip table track and hoisting device, this slip table track and this hoisting device and this automobile body fixed connection, this hoisting device drive this slip table along this slip table track vertical movement, package supporting mechanism sets up in this slip table, including accepting the pole and drive this accepting the forepoling device of pole along axial displacement, this accepting pole passes through this forepoling device and this slip table swing joint, package ejecting mechanism, set up in this accepting the pole, including the throw-out collar of cover on this accepting the pole, and drive this throw-out collar's throw-out ring drive, control mechanism, respectively with this horizontal running gear, promote slip table mechanism, accepting mechanism and package ejecting mechanism communication connection.

Description

Suspension type package transfer trolley and automatic package transfer system

Technical Field

The utility model relates to a chemical fiber production technical field especially relates to kinds of suspension type package transfer car (buggy) that possess package anti-drop mechanism to and adopt the automatic transfer system of package and the method of this suspension type package transfer car (buggy).

Background

The chemical fiber (chemical fiber for short) is basic raw materials with general functions and huge consumption in production and life, the yield of the chemical fiber in China is in the absolute leading position of the world, with the increase of labor cost, domestic chemical fiber production enterprises are gradually reducing dependence on labor force, and a great amount of automatic production equipment is increased, Chinese national patent CN208234289U and automatic doffing devices of spinning cakes disclose automatic doffing devices.

SUMMERY OF THE UTILITY MODEL

In order to solve the problem, the utility model discloses an install anti-falling device additional on the accepting rod to prevent the effect that blocks of weight tongue, when making suspension type package transfer car carrier package removal, can not take place the condition that the package falls.

The utility model provides an suspension type package transfer car (buggy), including the automobile body, horizontal running gear, including the running gear through this rotation mechanism with this automobile body swing joint, the guider who sets up in this automobile body bottom, support this automobile body and hang and with this running gear matched with sky rail, and with this guider matched with ground rail, promote slip table mechanism, including slip table, the slip table track and the hoisting device of perpendicular to the horizontal plane, this slip table track and this hoisting device and this automobile body fixed connection, this hoisting device drive this slip table along this slip table track vertical movement, package receiving mechanism, set up in this slip table, including the horizontally arranged adapter rod, drive this adapter rod along the axial displacement's forestope device, this adapter rod passes through this forestope device and this slip table swing joint, this end of adapter rod is provided with the device, push-out mechanism, set up this adapter rod, including the push ring of cover on this adapter rod, and the push-out ring drive mechanism of this package receiving rod fore-and the package receiving mechanism of drive, this rotation mechanism, this horizontal running gear, anti-out mechanism and push-out mechanism are connected with this package receiving mechanism respectively.

, the anti-falling device comprises an L-shaped anti-falling tongue disposed in the receiving rod and near the receiving end of the receiving rod, including a horizontal driving part and a blocking part vertically connected to the driving part, the driving part having a th end, the th end including a inclined plane, the driving part movably connected to the receiving rod via a shaft disposed at the th end, the blocking part near the receiving end of the receiving rod, the blocking part having a second end higher than the upper edge of the receiving rod when the driving part is in a horizontal state, and being parallel to or lower than the upper edge of the receiving rod when the driving part is in a sagging state, a block disposed in the receiving rod and sliding along the axial direction of the receiving rod, the blocking part having a horizontal U-shaped groove, the U-shaped groove engaging with the inclined plane to make the driving part in a horizontal state when the driving part is in a th position, and the U being disengaged from the inclined plane to make the driving part in a sagging state when the block is in a second position, and the driving device disposed in the receiving rod and being connected to the blocking part and moving with the driving block.

Preferably, the stopper driving device is a push rod device, the push rod device includes a baffle, a shaft rod and a spring, the baffle is fixed on the adapting rod, the shaft rod is arranged in the adapting rod along the axial direction of the adapting rod, is fixedly connected with end of the spring, and is contacted with the baffle through the other end of the spring, end of the shaft rod is fixedly connected with the stopper, when the adapting rod is in a reset state, the spring is compressed, the shaft rod pushes the stopper to be in the position, when the adapting rod is in a forward detection state, the spring is extended, the other end of the shaft rod is separated from the contact with the baffle, and the shaft rod drives the stopper to be in the second position.

, the advancing means comprises a receiving rod in-position sensor disposed on the receiving rod, the receiving rod in-position sensor being a proximity switch.

, the stop block driving device is a linear driving device, the linear driving device is arranged in the carrying rod, the driving end of the linear driving device is connected with the stop block, and the control mechanism controls the linear driving device to drive the stop block to be at the th position or the second position according to the carrying rod position information obtained by the carrying rod in-place sensor.

Preferably, the linear drive device is a linear motor.

Preferably, the linear drive is an electromagnetic device.

, the hanging type roll-to-roll transfer vehicle further comprises a turning mechanism including a turning device and a turning driving device arranged on the top of the vehicle body.

And , the ground rail is a ground rail groove, and the guide device is inserted into the ground rail groove to compensate the inclination error of the vehicle body perpendicular to the walking direction.

Preferably, the lifting device is a lifting sling device driven by a servo motor.

The utility model discloses it is still to provide kinds of packages automatic transfer systems, including the paper tube loading device for carrying out the package paper tube and loading, suspension type package transfer car (buggy) for transport the package to this package buffer table by this winder, package buffer table for the buffer package, loading robot for hang the package of this package buffer table on this creel car, and controlling means, respectively with this paper tube loading device, this suspension type package transfer car (buggy), this package buffer table and this loading robot communication connection.

, the control device comprises a paper tube loading module for determining the empty shaft state of the winding machine, controlling the hanging type package transfer vehicle to obtain the package paper tube from the paper tube loading device and load the package paper tube to the winding machine, a package receiving module for determining whether the winding machine is full of the package, controlling the hanging type package transfer vehicle to be in butt joint with the winding machine for package receiving operation, and controlling the hanging type package transfer vehicle to be in butt joint with the package buffer table for package buffer operation, a package buffer module for controlling the package buffer table to receive the package of the hanging type package transfer vehicle, a package loading module for controlling the loading robot to obtain the package from the package buffer table and to hang the package on the yarn vehicle, and a recording and transmitting module for obtaining, recording and transmitting the package information.

Drawings

Fig. 1A and 1B are schematic structural views of the suspension type package transfer trolley of the present invention.

Fig. 2 is a schematic structural view of the package receiving mechanism and the package ejecting mechanism of the suspension type package transfer vehicle according to the present invention.

Fig. 3 is a schematic view of the structure of the swing mechanism of the suspension type roll-to-roll transfer vehicle of the present invention.

Fig. 4A, 4B, 4C, 4D are schematic structural views of the anti-falling device of the suspension type package transfer vehicle of the present invention.

Fig. 5A and 5B are schematic structural diagrams of the automatic package transferring system of the present invention.

Fig. 6 is a control flow chart of the kinds of package automatic transfer systems according to the present invention.

Wherein the reference numerals are:

1: a winding machine 2: suspension type package transfer car (buggy)

3: and (4) yarn vehicle: control device

5: the loading robot 211: upright post

212: upper cross member 213: lower cross beam

221: the travel driving device 222: guiding device

223: the sky rail 224: ground rail

225: vehicle body stroke sensor 231: sliding table

232: the slide table rail 233: lifting device

234: sliding table displacement sensor 241: bearing rod

242: the advancing device 243: in-place sensor for bearing rod

245: l-shaped anti-falling tongue 245-1: driving part

245-2: blocking portion 245-3: inclined plane

246: stop block

247-1: baffle 247-2: shaft lever

247-3: spring 247-4: linear motor

247-5: electromagnetic device

251: the push ring 252: push ring driving device

26: the control mechanism 27: anti-collision scanner

281: turning device 282: rotary driving device

281-1: driven gear 281-2: driving gear

Detailed Description

The following detailed description of the specific embodiments of the present invention is made with reference to the accompanying drawings, and the described embodiments are only embodiments of the present invention, rather than all embodiments.

The utility model discloses an automatic transfer system of package is full-automatic systems, aims at realizing that the chemical fibre trade package is carried by the automatic of forming area to processes down to improve chemical fibre production technology, the controlgear cost reduces the labour and reduces workman intensity of labour.

Fig. 1A and 1B are schematic diagrams of a structure of a suspension type package transfer vehicle according to the present invention, as shown in fig. 1A and 1B, the suspension type package transfer vehicle of the present invention employs a crown block structure, which includes a vehicle body, a swing mechanism, a horizontal traveling mechanism, a lifting slide mechanism, a package receiving mechanism, a package pushing mechanism and a control mechanism 26, the vehicle body is a double-column frame structure, which includes columns 211, an upper beam 212 and a lower beam 213, the columns 211 are perpendicular to a horizontal plane, an upper beam 212 and a lower beam 213 are disposed between the columns 211, a swing device 281 of the swing mechanism and a lifting device 233 of the lifting slide mechanism are disposed on the upper beam 212, a guide device 222 of the horizontal traveling mechanism is disposed on the lower beam 213, a slide rail 232 is disposed on the columns 211, or more reinforcing beams may be disposed between the columns 211 to enhance the structural strength of the vehicle body 21, the swing mechanism includes a swing device 281 and a swing drive device 282, the swing drive device 282 is disposed on the travel drive device 221 of the horizontal traveling mechanism, the horizontal traveling mechanism includes a horizontal traveling mechanism, the horizontal traveling mechanism including a drive device 221, the horizontal traveling device 221 and a drive device 223, the drive device 221, the horizontal traveling device 221, the drive device 221 and a drive device 223, the vertical traveling device 221 are disposed to compensate for a horizontal traveling error of the vertical traveling device, the vertical traveling device.

The lifting slide table mechanism comprises a slide table 231, a slide table rail 232 and a lifting device 233, the slide table 231 is a mounting platform of the package receiving mechanism and the package pushing mechanism, the slide table rail 232 is arranged on the upright post 211, the slide table 231 moves up and down along the slide table rail 232 under the driving of the lifting device 233 to drive the package receiving mechanism 24 and the package pushing mechanism 25 to move up and down, so that the package receiving mechanism 24 can be aligned with the winding machine in the vertical direction to receive the package; in this embodiment, the lifting device 233 adopts a manner of two sets of reels driven by a servo motor and lifting straps to lift the sliding table 231, so as to meet the accuracy requirement that the vertical sliding error of the sliding table 231 is within 5 mm, and achieve the effects of simplifying the structure, reducing noise, making the operation more stable and reducing the equipment cost; other linear drive modes can also be adopted to hoist mechanism, for example be wire rope lifting means, hinge lifting means, linear electric motor lifting means or screw slider lifting means etc, the utility model discloses not use this as the limit.

Fig. 2 is a schematic structural diagram of a package receiving mechanism and a package ejecting mechanism of a suspension type package transfer vehicle according to the present invention, as shown in fig. 2, the package receiving mechanism includes a receiving rod 241 and a front probe 242, the horizontally arranged receiving rod 241 is connected to a sliding table 231 through the front probe 242, and performs a traverse front probe to receive a package during a wire dropping operation under the driving of the front probe 242, the receiving rod 241 is connected to the sliding table 231 in a rail slider manner, the front probe 242 adopts a rack and pinion manner driven by a servo motor, or other linear driving manners, such as a linear motor, a cylinder piston or a screw slider, etc., the present invention is not limited thereto, the ejecting mechanism includes a push ring 251 and a push ring driving device 252, wherein the push ring 251 is sleeved on the receiving rod 241, and moves along the axial direction of the receiving rod 241 under the driving of the push ring driving device 252 to eject a package on the hanging receiving rod 241, and the package transfer vehicle can directly hang the yarn of the suspension type package transfer vehicle on the hanging rod 241 and eject the temporary storage rod 241 or the temporary storage rod to a temporary loading platform.

Referring again to fig. 1B, the control mechanism 26 is respectively connected to the revolving mechanism, the horizontal traveling mechanism, the lifting slide mechanism, the package receiving mechanism and the package pushing mechanism in communication, so as to respectively control the horizontal movement of the suspended type package transfer vehicle along the top rail, the vertical movement of the slide along the slide track, the forward probing of the butt joint of the receiving rod and the winding machine, the package pushing action on the receiving rod, and the like; in this embodiment, the control mechanism 26 is disposed at the lower portion of the vehicle body between the pillars 211, or may be disposed at other positions that do not interfere with the receiving operation of the suspension type roll-to-roll transfer vehicle.

In order to make the receiving operation more accurate, the suspension type package transfer trolley of the utility model is also provided with a plurality of sensors, as shown in fig. 1A and 1B, a vehicle body stroke sensor 225 for controlling the horizontal traveling range of the vehicle body is provided on the travel driving device 221, a slide table displacement sensor 234 for controlling the vertical sliding range of the slide table 231, is provided on the column 211, a bearing rod in-position sensor 243 for controlling the bearing rod 241 to butt against the winding machine is arranged on the sliding table 231, and a collision avoidance scanner 27 for detecting a human body or an object, provided at a lower portion of the column 211, the car body travel sensor 225 and the sliding table displacement sensor 234 are travel switches, the in-place receiving rod sensor 243 is a proximity switch, the anti-collision scanner 27 is an infrared scanner or an ultrasonic scanner, and the above sensors can also be other sensors with corresponding functions.

Fig. 3 is a schematic diagram of a swing mechanism of a suspended type package transfer vehicle according to the present invention, as shown in fig. 3, the swing mechanism includes a swing device 281 and a swing driving device 282, the swing device 281 is disposed between the traveling driving device 221 and the upper cross beam 212, the vehicle body can rotate with its rotation axis perpendicular to the horizontal plane under the support of the swing device 281 to perform a wire dropping operation on the winders at both sides of the track under tracks (sky track + earth track), or perform a reversing operation of axle package by using two suspended type single axle swing suspended type package transfer vehicles for butt joint under tracks (sky track + earth track), the swing driving device 282 drives the vehicle body to rotate along the vertical axis by driving the swing device 281, in this embodiment, the swing device 281 is a gear transmission structure, a driven gear 281-1 of the swing device 281 is fixedly connected with the upper cross beam 212 of the vehicle body and movably connected with the traveling driving device 221, an axis of the driven gear 281-1 coincides with a plumb rotation axis of the vehicle body, an output shaft of the swing driving device 281-2 of the swing device is connected with an output shaft of the swing driving device 282, and the swing device 281 is transmitted to the output torque of the vehicle.

The invention is illustrated in fig. 4A, 4B, 4C, 4D, which are schematic views of the anti-falling device structure of the lift-type transfer trolley according to the present invention, wherein the anti-falling device is disposed in the receiving rod 241, as shown in fig. 4A, and includes an L-shaped anti-falling tongue 245, a stopper 246, and a stopper driving device, wherein the L-shaped anti-falling tongue 245 is disposed near the receiving end of the receiving rod 241, the L-shaped anti-falling tongue 245 includes a horizontally disposed driving portion 245-1 and a vertically disposed stopper portion 245-2 connected to the driving portion 245-1, the end of the driving portion 245-1 includes inclined surfaces 245-3, the driving portion 245-1 is movably connected to the receiving rod 241 through a rotating shaft disposed at the end of the receiving rod , the stopper 245-2 is disposed near the receiving end of the receiving rod 241, the stopper 246 is disposed in the receiving rod 241, the stopper 246 is slidable along the receiving rod axis direction of the receiving rod 241, the receiving rod 241-247, the rod 246 is slidable along the receiving rod axis direction of the receiving rod axis, the receiving rod 241-247, the receiving rod 245, the linear movement of the linear driving device 245, the linear driving device, the electromagnetic driving device, the linear driving device is configured to drive device, the linear driving device is configured to move the receiving rod 247, the stopper 247, the linear driving device when the receiving rod 247, the stopper 247, the linear driving device is configured as shown in the linear driving device, the linear driving device is configured as shown in fig. 1-247, the linear driving device, the.

The utility model discloses a kinds of package automatic transfer systems still provide, set up between winder and yarn car fig. 5A, 5B are the utility model discloses a package automatic transfer systems structure sketch map fig. 5A shows, the utility model discloses a package automatic transfer systems includes winder 1, suspension type package transfer car 2, yarn car 3, controlling means 4, paper tube loading device 5, package buffer platform 6 and loading robot 7, wherein yarn car 3 sets up in transfer station P1, controlling means 4 respectively with suspension type package transfer car 2, paper tube loading device 5, package buffer platform 6 and loading robot 7 communication connection, when carrying out package paper tube loading operation, suspension type package transfer car 2 under controlling means 4's control, butt joint with paper tube loading device 5, accept paper tube 51, then with the winder 1 butt joint of the idle axle, load paper tube 51 to the winding shaft 11 of winder 1, when carrying out package paper tube loading operation, suspension type package transfer car 2 under controlling means 4's control, the buffer card receives paper tube 51, then with the winder 1 butt joint of the idle axle, can all set up the buffer card with the buffer card on the package pole of loading robot 2, the buffer card on the package transfer car 2, can all with the buffer card by the specified by the push pedal 3, the specified package pole on the cart 2, the buffer card on the cart 2, the specified by the specified package transfer car on the specified package transfer car, the card buffer card specified by the specified package transfer car on the card specified by the card.

Fig. 6 is a schematic diagram of a control device of the automatic package transfer system according to the present invention, as shown in fig. 6, the automatic package transfer system of the present invention is controlled by the control device to perform package transfer control, the control device includes a paper tube loading module 41, a package receiving module 42, a package buffer module 43, a package loading module 44 and a record transfer module 45, wherein the paper tube loading module 41 is used for determining an empty shaft state ① of the winding machine 1, when the winding machine 1 is in the empty shaft state, the paper tube loading module 41 sends a paper tube loading command ② to the suspension package transfer vehicle 2 and the paper tube loading device 5, the suspension package transfer vehicle 2 runs to the paper tube loading device 5 to receive a paper tube, and then runs to the winding machine 1 of the empty shaft to load the paper tube onto the winding shaft of the winding machine 1, the package receiving module 42 is used for determining whether the package on the winding machine 1 is full of the package buffer ③, if the package on the winding machine 1 is full, the suspension package transfer vehicle 2 sends a buffer command ④ to the suspension package transfer vehicle 2 to control buffer module to control the buffer module to receive the package buffer record transfer information, and send the buffer command 3876 to the package buffer when the package receiving module and the package transfer module is used for receiving module to receive the package buffer, the package buffer record transfer information, the package transfer vehicle, the package receiving module, the package buffer record transfer vehicle, the package buffer module is used for receiving module to monitor the package buffer of the package transfer vehicle, the package buffer module 3, the package receiving module 6, the package buffer module 6, when the package receiving module is used for receiving module, the package buffer module, the package transferring module 6, the package transferring module is used for receiving module, the package transferring module 6, the package transferring module is used for transferring module, the package transferring module 6, the package transferring module is used for transferring module, the package transferring module is used for transferring module, the package transferring.

The description and applications of the present invention are illustrative and are not intended to limit the scope of the invention to the embodiments described above. Variations and modifications of the embodiments disclosed herein are possible, and alternative and equivalent various components of the embodiments will be apparent to those skilled in the art. It will be clear to those skilled in the art that the present invention may be embodied in other forms, structures, arrangements, proportions, and with other components, materials, and parts, without departing from the spirit or essential characteristics thereof. Thus, if such modifications and variations of the present invention fall within the scope of the claims and their equivalents, the present invention is also intended to include such modifications and variations.

Claims (12)

1. A hanging type roll-to-roll transfer vehicle, comprising:

   a vehicle body;

   the horizontal travelling mechanism comprises a travelling driving device movably connected with the vehicle body through the swing mechanism, a guiding device arranged at the bottom of the vehicle body, a top rail supporting the vehicle body to be suspended and matched with the travelling driving device, and a ground rail matched with the guiding device;

   the lifting sliding table mechanism comprises a sliding table, a sliding table track perpendicular to the horizontal plane and a lifting device, the sliding table track and the lifting device are fixedly connected with the vehicle body, and the lifting device drives the sliding table to vertically move along the sliding table track;

   the package receiving mechanism is arranged on the sliding table and comprises a horizontally arranged receiving rod and a front detection device for driving the receiving rod to move along the axial direction, and the receiving rod is movably connected with the sliding table through the front detection device;

   the package pushing mechanism is arranged on the bearing rod and comprises a push ring sleeved on the bearing rod and a push ring driving device for driving the push ring to move back and forth relative to the package bearing rod;

   and the control mechanism is respectively in communication connection with the rotating mechanism, the horizontal travelling mechanism, the lifting sliding table mechanism, the package receiving mechanism and the package pushing-out mechanism.
2. 2. The hanging roll transfer car as defined in claim 1 wherein the fall arrest device comprises:

   the L-shaped anti-falling tongue is arranged in the bearing rod and close to the bearing end of the bearing rod, and comprises a transverse driving part and a blocking part vertically connected with the driving part, wherein the driving part is provided with an th end, the th end comprises a inclined plane, and the driving part is movably connected with the bearing rod through a rotating shaft arranged at the th end;

   the stop block is arranged in the bearing rod and slides along the axial direction of the bearing rod, the stop block is provided with a transverse U-shaped groove, when the stop block is positioned at the th position, the U-shaped groove is meshed with the inclined plane to enable the driving part to be in a horizontal state, and when the stop block is positioned at the second position, the U-shaped groove is separated from the inclined plane to enable the driving part to be in a sagging state;

   the stop block driving device is arranged in the bearing rod, is connected with the stop block and drives the stop block to move.
3. 3. The hanging-type package transfer vehicle as claimed in claim 2, wherein the driving device is a push rod device, the push rod device comprises a baffle plate, a shaft rod and a spring, the baffle plate is fixed on the receiving rod, the shaft rod is arranged in the receiving rod along the axial direction of the receiving rod, is fixedly connected with end of the spring and is contacted with the baffle plate through the other end of the spring, the end of the shaft rod is fixedly connected with the baffle plate, when the receiving rod is in a reset state, the spring is compressed, the shaft rod pushes the baffle plate to be in the position, when the receiving rod is in a forward state, the spring is stretched, the other end of the shaft rod is separated from the baffle plate, and the shaft rod drives the baffle plate to be in the second position.
4. 4. The hanging form-package transfer vehicle as defined in claim 2 wherein the advancing means includes a catcher pin in-position sensor mounted on the catcher pin, the catcher pin in-position sensor being a proximity switch.
5. 5. The hanging type package transfer vehicle according to claim 4, wherein the stopper driving device is a linear driving device, the linear driving device is disposed in the receiving rod, and the driving end of the linear driving device is connected to the stopper, and the control mechanism controls the linear driving device to drive the stopper to the th position or the second position according to the receiving rod position information obtained by the receiving rod position sensor.
6. 6. The hanging roll transfer car according to claim 5 wherein the linear drive is a linear motor.
7. 7. The hanging roll transfer car according to claim 5 wherein the linear drive is an electromagnetic device.
8. 8. The hanging package transfer vehicle as defined in any one of claims 1-7 and , further comprising a swing mechanism including a swing mechanism and a swing drive mechanism disposed on top of the vehicle body.
9. 9. The hanging package transfer vehicle of claim 1, wherein the ground rail is a ground rail groove, and the guide means is inserted into the ground rail groove to compensate for a tilt error of the vehicle body perpendicular to a traveling direction.
10. 10. The hanging roll transfer car according to claim 1 wherein the lifting device is a servo motor driven lifting sling device.
11. An automatic transfer system for packages of , disposed between a winding machine and a yarn car, for loading a paper tube package into the winding machine and taking down the package from the winding machine to be hung on the yarn car, comprising:

    the paper tube filling device is used for filling the rolled paper tubes;

    the hanging package transfer car as described in any one of claims 1-10 to for transferring a package from the winder to the package buffer;

    a package buffer stage for buffering packages;

    the loading robot is used for hanging the package of the package buffer platform on the yarn vehicle; and

    and the control device is respectively in communication connection with the paper tube filling device, the suspension type package transfer trolley, the package buffer platform and the loading robot.
12. 12. The automatic package transfer system of claim 11, wherein the control device comprises:

    the paper tube filling module is used for judging the empty shaft state of the winding machine, controlling the suspension type package transfer vehicle to obtain a package paper tube from the paper tube filling device and filling the package paper tube to the winding machine;

    the package receiving module is used for judging whether the winding machine is fully wound with a package, controlling the suspension type package transfer trolley to be in butt joint with the winding machine so as to carry out package receiving operation, and controlling the suspension type package transfer trolley to be in butt joint with the package buffer platform so as to carry out package buffer operation;

    the package buffer module is used for controlling the package buffer platform to receive the package of the suspension type package transfer trolley;

    the package loading module is used for controlling the loading robot to acquire the package from the package caching platform and hang the package on a yarn vehicle; and

    and the recording and transmitting module is used for acquiring, recording and transmitting the package information.

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