An automatic loading and unloading device for yarn packages

Abstract

This invention relates to an automatic yarn loading and unloading device, comprising a yarn frame conveying mechanism, a yarn conveying mechanism, a truss mechanism, a lifting mechanism, a yarn stacking mechanism, a yarn dropping mechanism, a rotating mechanism, a loading and unloading mechanism, and a yarn output mechanism. The lifting mechanism includes a first lifting member and a clamping mechanism for holding the yarn package. The first lifting member is used to drive the clamping mechanism to move vertically. The yarn stacking mechanism is fixed on the truss mechanism and is used to transfer the yarn package on the lifting mechanism to the yarn dropping mechanism. The rotating mechanism has a yarn receiving station and a yarn loading station. The rotating mechanism includes a rotating platform with a yarn rod for positioning the yarn package. The rotating platform rotates to rotate the yarn rod at the yarn receiving station to the yarn loading station. 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 to load the yarn package on the yarn rod of the rotating platform onto the yarn rod on the yarn frame, or to remove the dyed yarn package from the yarn rod of the yarn frame and transfer it to the yarn output mechanism.

Description

Technical Field

[0001] This invention belongs to the field of dyeing and printing equipment technology, and specifically relates to an automatic loading and unloading device for yarn packages. Background Technology

[0002] Currently, the level of automation in textile workshops is not high, especially in the yarn dyeing workshop of printing and dyeing factories. All yarn packages are manually placed one by one onto the yarn rack. Currently, the largest diameter of the yarn rack is 3 meters, and it is basically impossible for manual labor to put the yarn packages into the yarn rods on the yarn rack.

[0003] Currently, most domestic yarn dyeing production lines rely on manual labor for loading and unloading yarn packages, with manual handling of the yarn packages. This manual handling is inefficient and the working environment is extremely harsh. Furthermore, with the decrease in the social labor force in recent years, most parts of the country have experienced labor shortages, leading to a year-on-year increase in labor costs in production. This trend is expected to continue to expand in the coming years and even decades, further increasing the costs for dyeing and printing factories.

[0004] In summary, there is an urgent need for an automatic yarn loading and unloading device that is compact, low-cost, easy to maintain, applicable to various specifications of yarn trays, and capable of simultaneously loading and unloading yarn. Summary of the Invention

[0005] The purpose of this invention is to provide an automatic yarn loading and unloading device that is compact, low-cost, easy to maintain, applicable to various specifications of yarn trays, and can simultaneously perform yarn loading and unloading functions.

[0006] The above objective is achieved through the following technical solution: an automatic yarn loading and unloading device, comprising a yarn frame conveying mechanism, a yarn conveying mechanism, a truss mechanism, a lifting mechanism, a yarn stacking mechanism, a yarn dropping mechanism, a rotating mechanism, a loading and unloading mechanism, and a yarn discharging mechanism. The yarn frame conveying mechanism includes loading / unloading stations and a yarn unloading station, the yarn unloading station extending into the truss mechanism. The lifting mechanism includes a first lifting component and a clamping mechanism for holding the yarn package. The first lifting component drives the clamping mechanism to move vertically. The yarn conveying mechanism is equipped with multiple fixtures for fixing the yarn packages. The yarn conveying mechanism is located on one side of the truss mechanism and is used to convey the yarn packages below the clamping mechanism. The yarn stacking mechanism is fixed to the truss mechanism and is used to transfer the yarn packages on the lifting mechanism to the yarn dropping mechanism. The rotating mechanism has a yarn receiving station and a yarn loading station. The mechanism includes a rotating platform with a yarn rod for positioning the yarn package. The rotating platform rotates to rotate the yarn rod at the yarn receiving station to the yarn loading station. The doffing mechanism includes a second lifting component, a telescopic mechanism, and a doffing plate for receiving the yarn package. The fixed end of the telescopic mechanism is connected to the second lifting component, and the doffing plate is connected to the movable end of the telescopic mechanism. The second lifting component drives the telescopic mechanism and the doffing plate to move vertically as a whole. The doffing plate has a notch, and the telescopic mechanism drives the doffing plate to move horizontally, allowing the yarn rod to extend into or leave the notch. The loading and unloading mechanism is fixed to the truss mechanism and can move along the truss mechanism. The loading and unloading mechanism is used to load the yarn package on the yarn rod of the rotating platform onto the yarn rod on the yarn rack, or to remove the dyed yarn package from the yarn rod on the yarn rack and transfer it to the yarn exiting mechanism.

[0007] This invention is used for loading and unloading yarn packages in the textile industry. In specific application, the yarn frame is loaded onto the yarn frame conveying mechanism at the loading / unloading station and transported to the unloading station. Workers place the disordered yarn packages one by one onto the fixture of the yarn package conveying mechanism, which then transports them to below the clamping mechanism. The first lifting component of the lifting mechanism drives the clamping mechanism downwards. After falling to a predetermined position, the clamping mechanism clamps the yarn packages on the fixture. The first lifting component then drives the clamping mechanism upwards to remove the yarn packages from the fixture and continue to rise to the predetermined position. Then, the yarn stacking mechanism takes the yarn packages from the clamping mechanism and transfers them to the doffing mechanism. Specifically, at this time, the telescopic mechanism is in an extended state, and the yarn rod at the yarn receiving station on the rotating platform extends into the notch of the doffing plate. The doffing plate is in a high position, and the yarn stacking... When the mechanism releases the yarn package, the yarn passes through the yarn rod and falls onto the doffing plate. Then, the second lifting component drives the doffing plate to descend a predetermined distance to catch another yarn package sent by the stacking mechanism. This process is repeated until the yarn rod on the rotating platform receives a predetermined number of yarn packages. At this point, the doffing plate is in a low position, the telescopic mechanism retracts, and the receiving plate is removed. Then, the rotating platform rotates to rotate the yarn rod with yarn packages at the receiving station to the yarn loading station. The loading and unloading mechanism loads the yarn packages on the yarn rod of the rotating platform onto the yarn rod on the yarn frame. The yarn frame conveying mechanism outputs the yarn frame containing the yarn packages for dyeing. After dyeing, the yarn frame that needs to be unloaded is hoisted onto the yarn frame conveyor and transported to the unloading station. The loading and unloading mechanism removes the dyed yarn packages from the yarn rod of the yarn frame and transfers them to the output yarn mechanism.

[0008] A further technical solution is that the loading and unloading mechanism includes a fixed frame, a straightening component, and a yarn-holding component. The fixed frame is connected to the truss mechanism. The straightening component and the yarn-holding component are fixed to the fixed frame. The straightening component includes a third lifting component, a straightening member, and a through-rod member. The third lifting component is used to drive the straightening member and the through-rod member to move vertically as a whole. The straightening component includes a frame, a straightening frame, a straightening claw, and a straightening drive component. The straightening frame and the straightening drive component are fixed to the frame. The straightening claw is hinged to the straightening frame. The straightening drive component is drively connected to the straightening claw and is used to drive the straightening claw to open and close. The threading rod component includes a threading rod frame, a threading rod drive component, and a threading tube. The threading rod frame is connected to the machine frame. The threading rod drive component is fixed on the threading rod frame and is driven by the threading tube. The threading rod drive component drives the threading tube to move vertically and then dock with the yarn rod. The yarn holding component includes a fourth lifting component and a yarn holding component. The fourth lifting component is driven by the yarn holding component and is used to drive the yarn holding component to move vertically. The yarn holding component includes a horizontal drive component, a yarn holding rod, and a yarn holding plate. One end of the yarn holding rod is connected to the horizontal drive component, and the other end is provided with the yarn holding plate. The yarn holding plate has an arc that matches the yarn package.

[0009] During the yarn package grabbing process, taking the grabbing of yarn packages on the yarn rod of the yarn rack as an example, in the initial position, the straightening claw and the straightening frame form a predetermined angle. The third lifting component drives the straightening component and the threading component to move vertically as a whole. After falling to the corresponding position, the yarn rod and the threading tube are aligned. At this time, the straightening drive component uses a predetermined stroke to drive the straightening claw to rotate around the hinge point with the straightening frame and form a certain angle. This can push aside the yarn rods next to the yarn rods that need to be aligned on the yarn rack. Preferably, the straightening frame has a clearance notch, which can effectively avoid the position of the center column of the yarn rack and realize the positioning and straightening of each yarn rod on the yarn rack. When the entire straightening component and the threading component descend to the appropriate position, the straightening drive component continues to use the predetermined stroke, causing the straightening claw to continue to close and grasp the yarn rod and correct the yarn rod to the predetermined position, thus straightening the yarn rod to ensure that it is perpendicular to the bottom surface of the yarn frame. Then the threading drive component starts to move, driving the threading tube to descend, which fits into the aligned yarn rod, realizing the yarn rod positioning and straightening function. After the yarn rod containing the packaged yarn is positioned and aligned, the fourth lifting component drives the yarn holding component to move downward as a whole. After it descends to the position, the horizontal drive component drives the yarn holding component to move horizontally, with the yarn holding plate close to the side of the packaged yarn. Then the second lifting component drives the yarn holding component to move upward as a whole, grabbing the packaged yarn on the yarn rod and putting it into the threading tube for removal.

[0010] A further technical solution is that the truss mechanism includes a frame structure composed of columns and beams. The beams include a Y-axis beam and an X-axis beam. The X-axis beam is connected to the columns, and the Y-axis beam is slidably connected to the X-axis beam. The truss mechanism is equipped with a first drive motor, a second drive motor, and a rotary support platform. The rotary support platform is slidably connected to the Y-axis beam. The first drive motor drives the Y-axis beam to move along the X-axis beam, and the second drive motor drives the rotary support platform to move along the Y-axis beam. The fixed frame is connected to the rotary support platform, which can drive the loading and unloading mechanism to rotate. With this configuration, the loading and unloading mechanism can move horizontally along the truss mechanism, and the rotary support platform can also drive the loading and unloading mechanism to rotate to meet the corresponding operational needs.

[0011] A further technical solution is that the yarn frame conveying mechanism includes a moving trolley, a fixed roller conveyor, a rotating roller conveyor, and a yarn loading / unloading platform. The yarn loading / unloading platform is located within the truss mechanism. The input and output ends of the fixed roller conveyor are connected to the rotating roller conveyor and the yarn loading / unloading platform, respectively. The loading / unloading station includes a first loading / unloading station and a second loading / unloading station located on both sides of the rotating roller conveyor. The first and second loading / unloading stations are each equipped with a moving trolley. Thus, the moving trolley is used to load the yarn frame, and the rotating roller conveyor is used to rotate and receive the yarn frame from the first or second loading / unloading station, transferring the received yarn frame to the fixed roller conveyor, and then to the yarn loading / unloading platform. This saves waiting time, as one yarn frame can be loaded and unloaded simultaneously at another station.

[0012] A further technical solution is that the mobile trolley is equipped with positioning pins and positioning slots for positioning the yarn frame. The positioning pins and positioning slots are used to position and fix the yarn frame, preventing it from shifting from the mobile trolley during transportation.

[0013] A further technical solution is that the yarn ejection mechanism includes a yarn unloading frame, a yarn unloading channel, a first yarn ejection channel, a second yarn ejection channel, and a diverting plate. The yarn unloading channel, the first yarn ejection channel, and the second yarn ejection channel are disposed on the yarn unloading frame, and the diverting plate is movably disposed at the outlet of the yarn unloading channel. The angle of the diverting plate is adjustable. Thus, the yarn ejection mechanism has two channels, facilitating sorting.

[0014] A further technical solution is that the yarn feeding mechanism includes a circular conveyor. Below the clamping mechanism, the circular conveyor has a blocking component for stopping the fixture on the circular conveyor at a predetermined position. The circular conveyor is equipped with an alarm mechanism and a detection mechanism for detecting the orientation of the yarn packages placed on the fixture. The detection mechanism is electrically connected to the alarm mechanism. The blocking component serves a positioning function, ensuring the fixture stops below the clamping mechanism. Simultaneously, the detection device detects the orientation of the yarn packages mounted on the fixture. If the yarn packages are placed incorrectly, it will send a signal to the alarm mechanism, prompting a worker to intervene.

[0015] A further technical solution is that the yarn stacking mechanism includes a fifth lifting component, a yarn clamping cylinder, a transverse moving component, a lifting component, and a transverse moving cylinder. The yarn clamping cylinder is fixed on the lifting component, the lifting component is pulsatorically connected to the fifth lifting component, the fifth lifting component is fixed on the transverse moving component, and the transverse moving cylinder is pulsatorically connected to the transverse moving component and is used to drive the transverse moving component to move horizontally.

[0016] A further technical solution is that the clamping mechanism includes two clamping cylinders and a clamping member arranged in parallel. The clamping member is fixed on the clamping cylinders, and the clamping cylinders are used to drive the opening and closing of the clamping member. In this way, the lifting mechanism can lift two yarn bobbins at a time, increasing the cycle time by 100%. In specific installation, the lifting mechanism is mounted on a support column, and the first lifting component drives the clamping mechanism to move vertically along the support column.

[0017] A further technical solution is that the straightening claw includes a first straightening plate and a second straightening plate arranged opposite to each other, and the straightening drive includes a first straightening cylinder and a second straightening cylinder. The first straightening plate and the second straightening plate are respectively connected to the movable ends of the first straightening cylinder and the second straightening cylinder via a first connecting rod and a second connecting rod, respectively. The first connecting rod is hinged to the first straightening cylinder, and the second connecting rod is hinged to the movable ends of the second straightening cylinder. The connecting parts of the first straightening plate and the first connecting rod, and the second straightening plate and the second connecting rod, are hinged to the straightening frame. The first straightening cylinder and the second straightening cylinder have a double-stroke structure, and the ends of the first straightening plate and the second straightening plate are provided with V-shaped openings. In this way, the first straightening cylinder and the second straightening cylinder drive the first straightening plate and the second straightening plate independently. When the yarn rod is biased to one side, the straightening cylinder on that side can be used first to drive the straightening plate to move the yarn rod. When it rotates to the correct position, the straightening cylinder on the other side drives the straightening plate to move, and the two straightening plates close together to position the centered yarn rod. During the centering process, after the straightening claws close, the yarn rod passes right through the aforementioned V-shaped opening, and the first and second straightening plates are tangent to the yarn rod respectively, resulting in good positioning and centering effect.

[0018] Compared to existing technologies, this invention enables automatic loading and unloading of yarn packages, solving the problems of low efficiency, harsh working environment, and high labor costs associated with manual yarn handling in existing technologies. This invention features a compact structure, low cost, convenient maintenance, and simple control. The yarn doffing mechanism prevents the yarn packages from falling directly after entering the yarn rod, reducing damage to the yarn packages. It can automatically load and unload yarn packages even when the yarn rod of an old yarn frame is not vertical, and is particularly suitable when the center column of the yarn frame is higher than the yarn rod. Attached Figure Description

[0019] The accompanying drawings, which form part of this invention, are used to provide a further understanding of the invention. The illustrative embodiments of the invention and their descriptions are used to explain the invention and do not constitute an improper limitation of the invention.

[0020] Figure 1 This is a schematic diagram of the structure of an automatic yarn loading and unloading device according to one embodiment of the present invention;

[0021] Figure 2 This is a top view of an automatic yarn loading and unloading device according to one embodiment of the present invention;

[0022] Figure 3 This is a schematic diagram of the structure of a yarn frame conveyor according to one embodiment of the present invention;

[0023] Figure 4 This is a schematic diagram of the structure of a bobbin conveyor according to one embodiment of the present invention;

[0024] Figure 5 This is a schematic diagram of the lifting mechanism according to one embodiment of the present invention;

[0025] Figure 6 This is a schematic diagram of the yarn stacking mechanism according to one embodiment of the present invention;

[0026] Figure 7 This is a schematic diagram of the doffing mechanism according to one embodiment of the present invention;

[0027] Figure 8 This is a schematic diagram of the structure of a rotating mechanism according to one embodiment of the present invention;

[0028] Figure 9 This is a schematic diagram of the truss mechanism according to one embodiment of the present invention;

[0029] Figure 10 This is a schematic diagram of the loading and unloading mechanism according to one embodiment of the present invention;

[0030] Figure 11 This is a schematic diagram of the structure of the straightening component according to one embodiment of the present invention;

[0031] Figures 12-14 These are schematic diagrams showing the three states of the straightening claw of the straightening component according to one embodiment of the present invention.

[0032] Figure 15 This is a side view of a straightening member according to one embodiment of the present invention;

[0033] Figure 16 This is a schematic diagram illustrating the working process of the straightening component according to one embodiment of the present invention;

[0034] Figure 17 for Figure 16 An enlarged diagram of part A in the diagram;

[0035] Figure 18 This is a schematic diagram of the yarn feeding mechanism according to one embodiment of the present invention.

[0036] In the picture:

[0037] 1. Yarn Frame Conveying Mechanism 2. Bundle Yarn Conveying Mechanism 3. Lifting Mechanism 4. Yarn Stacking Mechanism

[0038] 5. Doffing mechanism 6. Rotating mechanism 7. Truss mechanism 8. Loading and unloading mechanism

[0039] 9. Yarn feeding mechanism; 10. First loading / unloading station; 11. Yarn frame; 12. Second loading / unloading station

[0040] 13 Yarn loading and unloading platform; 14 Rotary roller conveyor; 15 Moving trolley; 16 Positioning pin.

[0041] 17 Fixed roller line 18 Positioning groove 19 Blocking component 20 Fixture

[0042] 21 Testing agency 22 Circular conveyor 23 First lifting component 24 Clamping cylinder

[0043] 25 Clamping component 26 Fifth lifting component 27 Yarn clamping cylinder 28 Lifting assembly

[0044] 29 Lateral cylinder; 30 Lateral assembly; 31 Second lifting component; 32 Telescopic mechanism

[0045] 33 Doffing plate 34 Yarn cone 35 Yarn splicing station 36 Rotary cylinder

[0046] 37 Yarn loading station; 38 Y-axis crossbeam; 39 Rotary support platform; 40 X-axis crossbeam.

[0047] 41 Straightening component 42 Yarn-holding component 43 Yarn-holding board 44 Straightening claw

[0048] 45 Third lifting component; 46 Frame; 47 Straightening frame; 48 First straightening cylinder

[0049] 49 First straightening plate 50 Second straightening cylinder 51 Second straightening plate 52 Servo motor

[0050] 53 Coupling 54 Nut 55 Lead Screw 56 Connecting Plate

[0051] 57. Pole threading frame; 58. Fourth lifting component; 59. Yarn threading tube; 60. Yarn rod

[0052] 61 Central column 62 V-shaped opening 63 Support column 64 First connecting rod

[0053] 65 Second connecting rod; 70 Yarn unloading channel; 71 First yarn exit channel; 72 Second yarn exit channel

[0054] 73 splitter Detailed Implementation

[0055] The present invention will now be described in detail with reference to the accompanying drawings. This description is merely illustrative and explanatory, and should not be construed as limiting the scope of protection of the present invention. Furthermore, those skilled in the art can combine the features in the embodiments described herein and in different embodiments accordingly based on the description in this document.

[0056] The embodiments of the present invention are as follows, with reference to Figures 1-10 as well as Figure 18 An automatic yarn loading and unloading device includes a yarn frame conveying mechanism 1, a yarn conveying mechanism 2, a truss mechanism 7, a lifting mechanism 3, a yarn stacking mechanism 4, a yarn dropping mechanism 5, a rotating mechanism 6, a loading and unloading mechanism 8, and a yarn discharging mechanism 9. The yarn frame conveying mechanism 1 includes loading / unloading stations and a yarn unloading station, the yarn unloading station extending into the truss mechanism 7. The lifting mechanism 3 includes a first lifting component 23 and a clamping mechanism for holding the yarn package 34. The first lifting component 23 drives the clamping mechanism to move vertically. The yarn feeding mechanism 2 is equipped with multiple fixtures 20 for fixing the yarn packages 34. The yarn feeding mechanism 2 is located on one side of the truss mechanism 7 and is used to feed the yarn packages 34 to the area below the clamping mechanism. The yarn stacking mechanism 4 is fixed to the truss mechanism 7 and is used to transfer the yarn packages 34 from the lifting mechanism 3 to the doffing mechanism 5. The rotating mechanism 6 has a yarn receiving station 35 and a yarn loading station 37. The rotating mechanism 6 includes a rotating platform, which is equipped with a mechanism for positioning the yarn packages 34. The yarn rod 60 is provided with a rotating platform equipped with a rotating cylinder 36. The rotating platform rotates to rotate the yarn rod 60 at the yarn receiving station 35 to the yarn loading station 37. The doffing mechanism 5 includes a second lifting component 31, a telescopic mechanism 32, and a doffing plate 33 for receiving the yarn package 34. The fixed end of the telescopic mechanism 32 is connected to the second lifting component 31, and the doffing plate 33 is connected to the movable end of the telescopic mechanism 32. The second lifting component 31 is used to drive the telescopic mechanism 32 and the doffing plate 33 as a whole. The doffing plate 33 has a notch for vertical movement. The telescopic mechanism 32 is used to drive the doffing plate 33 to move horizontally, so that the yarn rod 60 can 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. The loading and unloading mechanism 8 is used to load the yarn package 34 on the yarn rod 60 of the rotating platform onto the yarn rod 60 on the yarn frame 11, or to remove the dyed yarn package 34 from the yarn rod 60 of the yarn frame 11 and transfer it to the yarn exit mechanism 9.

[0057] This invention is used for loading and unloading of yarn packages 34 in the textile industry. In specific applications, such as... Figures 1-10The yarn frame 11 is loaded onto the yarn frame conveying mechanism 1 at the loading and unloading station and transported to the unloading station. Workers place the disordered yarn packages 34 one by one onto the fixture 20 of the yarn package conveying mechanism 2. The yarn package conveying mechanism 2 then transports the yarn packages to below the clamping mechanism. The first lifting component 23 of the lifting mechanism 3 drives the clamping mechanism downwards. After falling to a predetermined position, the clamping mechanism clamps the yarn packages 34 on the fixture 20. The first lifting component 23 drives the clamping mechanism upwards to remove the yarn packages 34 from the fixture 20 and then continues to rise to the predetermined position. Then, the stacking mechanism 4 takes the yarn packages 34 from the clamping mechanism and transfers them to the doffing mechanism 5. Specifically, at this time, the telescopic mechanism 32 is in an extended state, and the yarn rod 60 of the yarn receiving station 35 on the rotating platform extends into the notch of the doffing plate 33. The doffing plate 33 is in a high position. When the stacking mechanism 4 releases the yarn packages 34, the yarn packages 34 pass through the yarn rod 60... The yarn falls onto the doffing plate 33. Then, the second lifting component 31 drives the doffing plate 33 to descend a predetermined distance to catch another bobbin of yarn 34 sent by the stacking mechanism 4. This process is repeated until the yarn rod 60 on the rotating platform receives a predetermined number of bobbins of yarn 34. At this time, the doffing plate 33 is in a low position, the telescopic mechanism 32 retracts, and the receiving plate is removed. Then, the rotating platform rotates the yarn rod 60 with bobbins of yarn 34 loaded at the receiving station 35 to the loading station 37. The loading and unloading mechanism 8 loads the bobbins of yarn 34 on the yarn rod 60 of the rotating platform onto the yarn rod 60 on the yarn frame 11. The yarn frame conveying mechanism 1 outputs the yarn frame 11 with bobbins of yarn 34 for dyeing. After dyeing, the yarn frame 11 that needs to be unloaded is hoisted onto the yarn frame 11 conveyor 1 and transported to the unloading station. The loading and unloading mechanism 8 removes the dyed bobbins of yarn 34 from the yarn rod 60 of the yarn frame 11 and transfers them to the output mechanism 9 for output.

[0058] Based on the above embodiments, in another embodiment of the present invention, such as... Figures 10-17The loading and unloading mechanism 8 includes a fixed frame straightening component 41 and a yarn-holding component 42. The fixed frame is connected to the truss mechanism 7. The straightening component 41 and the yarn-holding component 42 are fixed on the fixed frame. The mechanism also includes a third lifting component 45, a straightening member, and a rod-through member. The third lifting component 45 is used to drive the straightening member and the rod-through member to move vertically as a whole. The straightening member includes a frame 46, a straightening frame 47, a straightening claw 44, and a straightening drive component. The straightening frame 47 and the straightening drive component are fixed on the frame 46. The straightening claw 44 is hinged to the straightening frame 47. The straightening drive component is drively connected to the straightening claw 44 and is used to drive the straightening claw 44 to open and close. The rod-through member includes a rod-through member. The machine includes a frame 57, a threading rod drive, and a threading tube 59. The threading rod frame 57 is connected to the machine frame 46. The threading rod drive is fixed on the threading rod frame 57 and is connected to the threading tube 59. The threading rod drive drives the threading tube 59 to move vertically and then dock with the yarn rod 60. The yarn holding component 42 includes a fourth lifting component 58 and a yarn holding component. The fourth lifting component 58 is connected to the yarn holding component and is used to drive the yarn holding component to move vertically. The yarn holding component includes a horizontal drive, a yarn holding rod 60, and a yarn holding plate 43. One end of the yarn holding rod 60 is connected to the horizontal drive, and the other end is provided with the yarn holding plate 43. The yarn holding plate 43 has an arc that matches the yarn package 34.

[0059] like Figures 10-17During the yarn package 34 grabbing process, taking the grabbing of the yarn package 34 on the yarn rod 60 of the yarn frame 11 as an example, in the initial position, the straightening claw 44 and the straightening frame 47 form a predetermined angle. The third lifting component 45 drives the straightening component and the threading component to move vertically as a whole. After falling to the corresponding position, the yarn rod 60 and the threading tube 59 are aligned. At this time, the straightening drive component uses a predetermined stroke to drive the straightening claw 44 to rotate around the hinge point with the straightening frame 47 and form a certain angle. This can push aside the yarn rods 60 next to the yarn rods 60 that need to be aligned on the yarn frame 11. Preferably, the straightening frame 47 has a clearance notch, which can effectively avoid the position of the central column 61 of the yarn frame 11, so as to realize the positioning and straightening of each yarn rod 60 on the yarn frame 11. When the entire straightening component and the threading component descend to the appropriate position, the straightening drive component continues to use the predetermined stroke, so that the straightening claw 44 continues to close and grasp the yarn rod 60 and correct the yarn rod 60 to the predetermined position, thereby straightening the yarn rod 60 to ensure that it is perpendicular to the bottom surface of the yarn frame 11. Then the threading drive component starts to move, driving the threading tube 59 to descend, which just fits into the aligned yarn rod 60, realizing the positioning and straightening function of the yarn rod 60. After the yarn rod 60 with the package yarn 34 is positioned and aligned, the fourth lifting component 58 drives the yarn holding component to move downward as a whole. After it descends to the position, the horizontal drive component drives the yarn holding component to move horizontally, and the yarn holding plate 43 is close to the side of the package yarn 34. Then the second lifting component 31 drives the yarn holding component to move upward as a whole, grabbing the package yarn 34 on the yarn rod 60 into the threading tube 59 and then removing it.

[0060] Based on the above embodiments, in another embodiment of the present invention, such as... Figure 1 and Figure 9 The truss mechanism 7 includes a frame structure composed of columns and 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, and the Y-axis beam 38 is slidably connected to the X-axis beam 40. The truss mechanism 7 is equipped with a first drive motor, a second drive motor, and a rotary support platform 39. The rotary support platform 39 is slidably connected to the Y-axis beam 38. The first drive motor drives the Y-axis beam 38 to move along the X-axis beam 40, and the second drive motor drives the rotary support platform 39 to move along the Y-axis beam 38. The fixed frame is connected to the rotary support platform 39, which can drive the loading / unloading mechanism 8 to rotate. With this configuration, the loading / unloading mechanism 8 can move horizontally along the truss mechanism 7, and the rotary support platform 39 can also drive the loading / unloading mechanism 8 to rotate to meet corresponding operational needs.

[0061] Based on the above embodiments, in another embodiment of the present invention, such as... Figure 3The yarn frame conveying mechanism 1 includes a moving trolley 15, a fixed roller line 17, a rotating roller line 14, and a yarn loading / unloading platform 13. The yarn loading / unloading platform 13 is disposed within the truss mechanism 7. The input and output ends of the fixed roller line 17 are respectively connected to the rotating roller line 14 and the yarn loading / unloading platform 13. The loading / unloading stations include a first loading / unloading station 10 and a second loading / unloading station 12 disposed on both sides of the rotating roller line 14. The first loading / unloading station 10 and the second loading / unloading station 12 are respectively equipped with a moving trolley 15. Thus, the moving trolley 15 is used to load the yarn frame 11, and the rotating roller line 14 is used to rotate and receive the yarn frame 11 at the first loading / unloading station 10 or the second loading / unloading station 12, and transfer the received yarn frame 11 to the fixed roller line 17, and then to the yarn loading / unloading platform 13. This saves waiting time, as one yarn rack 11 can be used for hanging and unloading yarn while another workstation can hoist the yarn rack 11.

[0062] Based on the above embodiments, in another embodiment of the present invention, such as... Figure 3 The mobile trolley 15 is equipped with positioning pins 16 and positioning grooves 18 for positioning the yarn frame 11. The positioning pins 16 and positioning grooves 18 are used to position and fix the yarn frame 11 to prevent it from shifting from the mobile trolley 15 during transportation.

[0063] Based on the above embodiments, in another embodiment of the present invention, such as... Figure 18 The yarn discharging mechanism 9 includes a yarn unloading frame 11, a yarn unloading channel 70, a first yarn discharging channel 71, a second yarn discharging channel 72, and a diverting plate 73. The yarn unloading channel 70, the first yarn discharging channel 71, and the second yarn discharging channel 72 are mounted on the yarn unloading frame 11. The diverting plate 73 is movably mounted at the outlet of the yarn unloading channel 70, and the angle of the diverting plate 73 is adjustable. Thus, the yarn discharging mechanism 9 has two channels, facilitating sorting.

[0064] Based on the above embodiments, in another embodiment of the present invention, such as... Figure 4 The yarn conveying mechanism 2 includes a ring conveyor 22. Below the clamping mechanism, the ring conveyor 22 has a blocking component 19 for stopping the fixture 20 on the ring conveyor 22 at a predetermined position. The ring conveyor 22 is equipped with an alarm mechanism and a detection mechanism 21 for detecting the orientation of the yarn package 34 placed on the fixture 20. The detection mechanism 21 is electrically connected to the alarm mechanism. The blocking component serves a positioning function, ensuring that the fixture 20 stops below the clamping mechanism. Simultaneously, the detection device detects the orientation of the yarn package 34 mounted on the fixture 20. If the yarn package 34 is placed incorrectly, it will send a signal to the alarm mechanism, prompting a worker to intervene.

[0065] Based on the above embodiments, in another embodiment of the present invention, such as... Figure 6 The yarn stacking mechanism 4 includes a fifth lifting component 26, a yarn clamping cylinder 27, a transverse moving component 30, a lifting component 28, and a transverse moving cylinder 29. The yarn clamping cylinder 27 is fixed on the lifting component 28. The lifting component 28 is pulsatorically connected to the fifth lifting component 26. The fifth lifting component 26 is fixed on the transverse moving component 30. The transverse moving cylinder 29 is pulsatorically connected to the transverse moving component 30 and is used to drive the transverse moving component 30 to move horizontally.

[0066] Based on the above embodiments, in another embodiment of the present invention, such as... Figure 5 The clamping mechanism includes two clamping cylinders 24 arranged side by side and a clamping member 25. The clamping member 25 is fixed on the clamping cylinders 24, and the clamping cylinders 24 are used to drive the opening and closing of the clamping member 25. In this way, the lifting mechanism 3 can lift two yarn packages at a time, increasing the cycle time by 1 time. In specific installation, the lifting mechanism 3 is mounted on the support column 63, and the first lifting component 23 drives the clamping mechanism to move vertically along the support column 63.

[0067] Based on the above embodiments, in another embodiment of the present invention, such as... Figures 11-15 The straightening claw 44 includes a first straightening plate 49 and a second straightening plate 51 arranged opposite to each other. The straightening drive includes a first straightening cylinder 48 and a second straightening cylinder 50. The first straightening plate 49 and the second straightening plate 51 are respectively connected to the movable ends of the first straightening cylinder 48 and the second straightening cylinder 50 through a first connecting rod 64 and a second connecting rod 65. The first connecting rod 64 is hinged to the movable end of the first straightening cylinder 48 and the second connecting rod 65 is hinged to the straightening frame 47. The first straightening cylinder 48 and the second straightening cylinder 50 are double-stroke structures. The ends of the first straightening plate 49 and the second straightening plate 51 are provided with V-shaped openings 62. Thus, the first straightening cylinder 48 and the second straightening cylinder 50 independently drive the first straightening plate 49 and the second straightening plate 51. When the yarn rod 60 is biased to one side, the straightening cylinder on that side can be used first to drive the straightening plate, causing the yarn rod 60 to move. Once it reaches its position, the straightening cylinder on the other side drives the straightening plate, and the two straightening plates close together to position the centered yarn rod 60. During the centering process, after the straightening claw 44 closes, the yarn rod 60 passes precisely through the aforementioned V-shaped opening 62, and the first straightening plate 49 and the second straightening plate 51 are tangent to the yarn rod 60, resulting in good positioning and centering. Figure 15The third lifting component 45 includes a servo motor 52, a coupling 53, a nut 54, and a lead screw 55. The lead screw 55 is connected to the output shaft of the servo motor 52 via the coupling 53. The round nut 54 is fixed to the frame 46 via a connecting plate 56, and the lead screw 55 is threadedly connected to the nut 54. Specifically, the rotation of the servo motor 52 drives the lead screw 55 to rotate, and the frame 46 connected to the nut 54 moves vertically along the lead screw 55 to complete the overall lifting movement.

[0068] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principle of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. An automatic loading and unloading device for yarn packages, characterized in that, The system includes a yarn carrier conveying mechanism, a bobbin conveying mechanism, a truss mechanism, a lifting mechanism, a yarn stacking mechanism, a yarn doffing mechanism, a rotating mechanism, a loading and unloading mechanism, and a yarn output mechanism. The yarn carrier conveying mechanism includes loading / unloading stations and a yarn unloading station, with the yarn unloading station extending into the truss mechanism. The lifting mechanism includes a first lifting component and a clamping mechanism for holding the bobbins. The first lifting component drives the clamping mechanism to move vertically. The bobbin conveying mechanism is equipped with multiple fixtures for fixing the bobbins. The bobbin conveying mechanism is located on one side of the truss mechanism and is used to convey the bobbins to below the clamping mechanism. The yarn stacking mechanism is fixed to the truss mechanism and is used to transfer the bobbins from the lifting mechanism to the yarn doffing mechanism. The rotating mechanism includes a yarn receiving station and a yarn loading station, and includes a rotating platform. The platform is equipped with a yarn rod for positioning the yarn package. The rotating platform rotates to rotate the yarn rod at the yarn receiving station to the yarn loading station. The doffing mechanism includes a second lifting component, a telescopic mechanism, and a doffing plate for receiving the yarn package. The fixed end of the telescopic mechanism is connected to the second lifting component, and the doffing plate is connected to the movable end of the telescopic mechanism. The second lifting component drives the telescopic mechanism and the doffing plate to move vertically as a whole. The doffing plate has a notch, and the telescopic mechanism drives the doffing plate to move horizontally, allowing the yarn rod to extend into or leave the notch. The loading and unloading mechanism is fixed to the truss mechanism and can move along the truss mechanism. The loading and unloading mechanism is used to load the yarn package on the yarn rod of the rotating platform onto the yarn rod on the yarn rack, or to remove the dyed yarn package from the yarn rod on the yarn rack and transfer it to the yarn exiting mechanism.

2. The automatic yarn loading and unloading device according to claim 1, characterized in that, The loading and unloading mechanism includes a fixed frame, a straightening component, and a yarn-holding component. The fixed frame is connected to the truss mechanism. The straightening component and the yarn-holding component are fixed to the fixed frame. The straightening component includes a third lifting component, a straightening member, and a through-rod member. The third lifting component is used to drive the straightening member and the through-rod member to move vertically as a whole. The straightening component includes a frame, a straightening frame, a straightening claw, and a straightening drive component. The straightening frame and the straightening drive component are fixed to the frame. The straightening claw is hinged to the straightening frame. The straightening drive component is driven by the straightening claw and is used to drive the straightening claw to open and close. The through-rod member includes... The machine includes a threading frame, a threading drive, and a threading tube. The threading frame is connected to the machine frame. The threading drive is fixed to the threading frame and is driven by the threading tube. The threading drive drives the threading tube to move vertically and then dock with the yarn rod. The yarn holding component includes a fourth lifting component and a yarn holding component. The fourth lifting component is driven by the yarn holding component and is used to drive the yarn holding component to move vertically. The yarn holding component includes a horizontal drive, a yarn holding rod, and a yarn holding plate. One end of the yarn holding rod is connected to the horizontal drive, and the other end is provided with the yarn holding plate. The yarn holding plate has an arc that matches the yarn package.

3. The automatic yarn loading and unloading device according to claim 2, characterized in that, The truss mechanism includes a frame structure composed of columns and beams. The beams include a Y-axis beam and an X-axis beam. The X-axis beam is connected to the columns, and the Y-axis beam is slidably connected to the X-axis beam. The truss mechanism is equipped with a first drive motor, a second drive motor, and a rotary support platform. The rotary support platform is slidably connected to the Y-axis beam. The first drive motor drives the Y-axis beam to move along the X-axis beam, and the second drive motor drives the rotary support platform to move along the Y-axis beam. The fixed frame is connected to the rotary support platform, and the rotary support platform can drive the loading and unloading mechanism to rotate.

4. The automatic yarn loading and unloading device according to claim 1, characterized in that, The yarn conveying mechanism includes a moving trolley, a fixed roller line, a rotating roller line, and a yarn loading and unloading platform. The yarn loading and unloading platform is located within the truss mechanism. The input and output ends of the fixed roller line are respectively connected to the rotating roller line and the yarn loading and unloading platform. The loading and unloading stations include a first loading and unloading station and a second loading and unloading station located on both sides of the rotating roller line. The first loading and unloading station and the second loading and unloading station are respectively equipped with a moving trolley.

5. The automatic yarn loading and unloading device according to claim 4, characterized in that, The mobile trolley is equipped with positioning pins and positioning slots for positioning the yarn frame.

6. The automatic yarn loading and unloading device according to claim 4, characterized in that, The yarn feeding mechanism includes a yarn unloading frame, a yarn unloading channel, a first yarn feeding channel, a second yarn feeding channel, and a diverting plate. The yarn unloading channel, the first yarn feeding channel, and the second yarn feeding channel are arranged on the yarn unloading frame. The diverting plate is movably arranged at the outlet of the yarn unloading channel, and the angle of the diverting plate is adjustable.

7. The automatic yarn loading and unloading device according to claim 6, characterized in that, The yarn feeding mechanism includes a ring conveyor. The ring conveyor is provided below the clamping mechanism with a blocking component for blocking the fixture on the ring conveyor at a predetermined position. The ring conveyor is provided with an alarm mechanism and a detection mechanism for detecting the direction of the yarn placed on the fixture. The detection mechanism is electrically connected to the alarm mechanism.

8. The automatic yarn loading and unloading device according to any one of claims 4 to 7, characterized in that, The yarn stacking mechanism includes a fifth lifting component, a yarn clamping cylinder, a transverse moving component, a lifting component, and a transverse moving cylinder. The yarn clamping cylinder is fixed on the lifting component. The lifting component is drivenly connected to the fifth lifting component. The fifth lifting component is fixed on the transverse moving component. The transverse moving cylinder is drivenly connected to the transverse moving component and is used to drive the transverse moving component to move horizontally.

9. The automatic yarn loading and unloading device according to claim 8, characterized in that, The clamping mechanism includes two clamping cylinders and a clamping member arranged in parallel. The clamping member is fixed on the clamping cylinders, and the clamping cylinders are used to drive the clamping member to open and close.

10. The automatic yarn loading and unloading device according to claim 2 or 3, characterized in that, The straightening claw includes a first straightening plate and a second straightening plate arranged opposite to each other. The straightening drive includes a first straightening cylinder and a second straightening cylinder. The first straightening plate and the second straightening plate are respectively connected to the movable ends of the first straightening cylinder and the second straightening cylinder through a first connecting rod and a second connecting rod. The first connecting rod is hinged to the first straightening cylinder and the second connecting rod is hinged to the movable end of the second straightening cylinder. The connection part between the first straightening plate and the first connecting rod and the second straightening plate and the second connecting rod is hinged to the straightening frame. The first straightening cylinder and the second straightening cylinder have a double-stroke structure. The ends of the first straightening plate and the second straightening plate are provided with V-shaped openings.

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