The application relates to a top lock locking and unlocking device for a cheese, a
manipulator, equipment and a locking and unlocking method. The device comprises a righting
assembly, a rotary driving
assembly, a guide
assembly and a top lock clamping assembly in a coaxial relationship. The guide assembly comprises a fixed cylinder and a guide
pipe. The guide
pipe is arranged in the middle of the fixed cylinder in a liftable manner. The lower part of the guide
pipe is provided with a flared mouth. The righting assembly comprises two righting blocks. The two righting blocks right the top end of the
yarn spindle rod from both sides. The righting height of the two righting blocks is relatively located below the top lock clamping assembly. The
manipulator comprises the device. The equipment comprises the
manipulator. The method uses the device to complete the locking and unlocking of the top lock on the upper part of the
yarn spindle rod. The device first straightens the
yarn spindle rod through the righting assembly, preliminarily aligns the yarn spindle rod with the top lock, then releases the yarn spindle rod through the righting assembly, continues to let the yarn spindle rod pass through the guide pipe to be completely centered, and finally tightens the top lock, so that the top lock is smoothly matched with the yarn spindle rod, manual operation is replaced, and the
automation level of work is improved.