A semi-automatic package-tying system for cheese bobbins and a packaging method thereof

Abstract

The present invention provides a semi-automatic package system for cheese cones and a packaging method. The system includes a yarn feeding belt line, a single yarn weighing device, an automatic weight balancing device, an overall weighing device, a single yarn film covering machine, an automatic bagging device, an artificial bag loading device, an artificial bag sewing device, an automatic strapping machine, and an automatic whole package palletizing device, which are connected in sequence. The yarn feeding belt line includes a first yarn feeding belt line and a second yarn feeding belt line. The single yarn weighing device includes a normal yarn belt line and a light yarn weighing belt line, which respectively receive the cheese cones transmitted from the first yarn feeding belt line and the second yarn feeding belt line. The automatic weight balancing device is provided with a weight yarn storage library for storing the weight yarn transmitted from the light yarn weighing belt line. The overall weighing device receives the cheese cones screened by the normal yarn belt line and the light yarn weighing belt line, and can select the weight yarn from the weight yarn storage library.

Description

Technical Field

[0001] The present invention relates to the field of package handling of cheese cones, and in particular to a semi-automatic cheese cone packaging system and a packaging method. Background Art

[0002] Currently, the packaging of cheese cones, the products of textile mills, is mainly divided into two types: woven bag packaging and carton packaging. Due to cost considerations, unless it is high-quality cheese cones for export, most textile mills currently use woven bags to package cheese cones. When packaging cheese cones, it is necessary to first put a layer of plastic film on the cheese cones, and then load the cheese cones into the woven bags according to a certain ratio (mostly 3 in a row and 4 rows or 3 in a row and 5 rows). After the cheese cones are loaded, the woven bag is sealed and tied tightly. Finally, the woven bags are stacked on the pallets. Usually, 1 ton of woven bags of yarn (40 pieces) is placed on one pallet, and the pallets are stored in the warehouse for shipment. In addition, due to the unstable control system of the current winding machines, there are certain deviations in the weight of each cheese cone. In order to ensure the total weight of the packaged products, it is necessary to control the weight of each woven bag product within a certain range of fluctuations above and below the standard weight (25KG), and it cannot exceed or be insufficient by too much.

[0003] The early cheese cone packaging process was completed manually: 1. Manually transport the cheese cones from the winding machine to the packaging station; 2. Uniformly weigh 12 or 15 yarns. If the weight does not meet the requirements, the cheese cones need to be replaced; 3. Manually put a plastic film on each cheese cone; 4. Put the cheese cones with the film into the woven bags and manually sew and tie the bags; 5. Manually stack the filled woven bags on the pallets.

[0004] It can be seen from the above work process that the manual packaging process is a repetitive and heavy physical labor. With the continuous increase of labor costs and the progress of automation technology, a fully automatic cheese cone packaging system has emerged. This system transports the wound cheese cones on the winding machine to the packaging station through a hanging system, and through a series of assembly line operations, realizes a series of links such as cheese cone transportation, cheese cone film covering, cheese cone bagging, bag sewing, weighing, bundling, and bag stacking. The whole process is completely automated without manual operation. However, this fully automatic packaging system has the following problems: 1. The cost of the whole set of assembly line is high. Usually, the cost of one assembly line is 3 million to 4 million yuan, and only a few large textile mills are willing to equip the fully automatic packaging system; 2. The fully automatic packaging system cannot perform automatic weight balancing and can only weigh the whole package after bagging. Once the weight deviation of a single package is too large, only manual intervention can be carried out to take away this package; 3. The fully automatic packaging system occupies a large area. Usually, only new factories can be planned and prepared with sufficient space for installation during the planning stage, and old factories generally do not reserve enough space to place this system.

[0005] Due to the above inconveniences, in recent years, some semi-automatic packing systems have emerged on the market. This system requires a small number of workers to perform tasks (such as manually transporting cheese cones, manually putting on woven bags, and manually sewing woven bags), and most of the work, especially heavy physical work, is automatically completed by machines. For example, a patent for an automatic packaging material weighing system and weighing method (application number: 201710050016.7) includes a weighing method and structure, but does not include other parts of the automatic packaging. The main problems existing in such products are as follows: 1. Without weighing or low weighing efficiency, the weighing calculation takes too long, resulting in insufficient product production capacity (less than one ton of yarn per hour); 2. The overall structure is unreasonable, resulting in situations where weighing cannot be achieved frequently and manual intervention is required; 3. The weighing accuracy is insufficient, and the weight deviation of the final whole woven bag exceeds the expectations of the textile mill. Summary of the Invention

[0006] The present invention provides a semi-automatic cheese cone packing system and packing method, which solves the problem of automatic packing of cheese cones. The technical solution is as follows:

[0007] A semi-automatic cheese cone packing system includes a yarn feeding belt line, a single yarn weighing device, an automatic weighing device, an overall weighing device, a single yarn film covering machine, an automatic bagging device, a manual bag loading device, a manual bag sewing device, an automatic strapping machine, and an automatic whole package palletizing device connected in sequence; the yarn feeding belt line includes a first yarn feeding belt line and a second yarn feeding belt line, the single yarn weighing device includes a normal yarn belt line and a light yarn weighing belt line, which respectively receive the cheese cones transmitted from the first yarn feeding belt line and the second yarn feeding belt line, the automatic weighing device is provided with a weighing yarn storage library for storing the weighing yarn transmitted from the light yarn weighing belt line, and the overall weighing device receives the cheese cones screened by the normal yarn belt line and the light yarn weighing belt line, and can select the weighing yarn from the weighing yarn storage library.

[0008] The main frame of the single yarn weighing device is provided with two separate weighing belt lines, namely a normal yarn weighing belt line and a light yarn weighing belt line, as well as an overweight yarn removing cylinder and a light yarn removing cylinder; below the normal yarn weighing belt line and the light yarn weighing belt line, there are respectively a normal yarn weighing sensor and a light yarn weighing sensor, and above them, there are respectively a light yarn removing cylinder and an overweight yarn removing cylinder corresponding to them.

[0009] The auxiliary frame of the single yarn weighing device is installed with a light yarn positioning cylinder, below which there is a light yarn translation cylinder, and at the front end of the light yarn translation cylinder, there is a light yarn lifting cylinder. The front end of the light yarn positioning cylinder is respectively a cheese cone lifting position for placing the cheese cone and a weighing yarn grabbing position.

[0010] The automatic counterweight device is provided with a counterweight truss manipulator and a counterweight yarn storage bin; below the counterweight truss manipulator is the counterweight yarn storage bin. The counterweight truss manipulator includes a gripper assembly, an X-axis moving frame, and a Y-axis moving frame. The gripper assembly is installed on the Y-axis moving frame, and both ends of the Y-axis moving frame are installed on the X-axis moving frame.

[0011] The gripper assembly includes a gripper moving cylinder, a gripper cylinder, and a gripper that are connected in sequence. The gripper moving cylinder controls the up and down movement of the gripper cylinder, and the gripper cylinder controls the opening or closing of the gripper. When the gripper opens, it supports inside the opening of the cheese yarn.

[0012] A packing method for a semi-automatic cheese yarn packing system includes the following steps:

[0013] S1: The first yarn feeding belt of the yarn feeding belt line places normal yarn, and the second yarn feeding belt of the yarn feeding belt line places light yarn.

[0014] S2: The normal yarn belt line of the single yarn weighing device receives the normal yarn transmitted from the first yarn feeding belt line and rejects the overweight yarn whose weight is greater than the first set value; the light yarn weighing belt line of the single yarn weighing device receives the light yarn transmitted from the second yarn feeding belt line and rejects the ultra-light yarn whose weight is less than the second set value.

[0015] S3: The single yarn weighing device classifies the qualified light yarn. The light yarn whose weight is greater than the third set value is sent to the overall weighing device as suitable yarn; the light yarn whose weight is not less than the third set value and not greater than the second set value is sent to the counterweight yarn storage bin of the automatic counterweight device as counterweight yarn.

[0016] S4: Normal yarn and suitable yarn enter the overall weighing device in turn, and the adjustment of a set number of cheese yarns is completed through the counterweight method.

[0017] S5: A set number of cheese yarns enter the single yarn film covering machine for film covering treatment, and the neatly arranged cheese yarns are pushed into the woven bag through the automatic bag loading device. Among them, the bags of the automatic bag loading device are sleeved through the manual bag loading device.

[0018] S6: After the woven bag is filled with cheese yarns, the woven bag is transported to the manual bag sewing device through the belt line.

[0019] S7: The operator manually pushes the sewing machine to sew the mouth of the woven bag, and the sewn woven bag is continuously transmitted by the belt line to the automatic strapping machine of the next process for automatic strapping.

[0020] S8: The tightly strapped woven bag enters the automatic whole bag palletizing device through the belt line and is transported away after the stacking is completed.

[0021] Further, in step S4, the counterweight method includes the following steps:

[0022] S11: In the overall weighing device, normal yarn and suitable yarn are alternately fed in turn. The number of package cones is set to be m, and the last K cones are set for cone adjustment. After n cones are fed in, the overall weighing device records the total weight Gn, where n = m - K;

[0023] S12: If the total weight Gn at this time, plus the lightest K counterweight yarns in the counterweight yarn bin, the weight G meets the total weight requirement, then grasp the lightest K counterweight yarns in the counterweight yarn bin and go to step S16;

[0024] S13: If the weight G does not meet the total weight requirement, then place a cone on the normal yarn conveyor belt, weigh the total weight Gn+1, and then calculate the weight of Gn+1 plus the lightest K - 1 counterweight yarns in the counterweight yarn bin to see if it meets the total weight requirement. If it meets the requirement, then grasp the lightest K - 1 counterweight yarns in the counterweight yarn bin and go to step S16;

[0025] S14: If the weight G still does not meet the total weight requirement, then place another cone on the normal yarn conveyor belt, weigh the total weight Gn+2, and then calculate the weight of Gn+2 plus the lightest K - 2 counterweight yarns in the counterweight yarn bin to see if it meets the total weight requirement. If it meets the requirement, then grasp the lightest K - 2 counterweight yarns in the counterweight yarn bin and go to step S16;

[0026] S15: According to steps S13 and S14, continue to iteratively calculate the weight G until n = m - 1, and then start calculating from the lightest counterweight yarn in the counterweight yarn bin whether the total weight meets the requirement and select the counterweight yarns to be grasped in the counterweight yarn bin;

[0027] S16: Put the counterweight yarns in the counterweight yarn bin on the conveyor belt of the automatic counterweight device to complete the counterweight process. All m yarns enter the single - yarn film - covering machine after passing through the conveyor belt.

[0028] Furthermore, m is 12 - 16 and K is 3 - 6.

[0029] Furthermore, in step S3, the automatic counterweight device is equipped with an independent control system PLC, which can control all counterweight actions. PLC records the weight of the counterweight yarns weighed on the under - weight yarn weighing conveyor belt and distributes the counterweight yarns to the corresponding positions in the counterweight yarn storage bin. This position is the one that records and stores the weight value of this counterweight yarn; when the counterweight process is completed, the weight of the corresponding position of the counterweight yarn grabbed by the gripper is cleared, and the corresponding weight is given when the next counterweight yarn arrives.

[0030] In step S3, the counterweight yarn storage bin is designed with multiple rows, and the number of counterweight yarns that can be placed in each row is not less than the number K of cones that need to be adjusted.

[0031] The semi-automatic cheese bale packing system and packing method achieve the automatic packing function of the textile mill product, cheese. A very small number of operators (1-2 people) only need relatively simple actions to complete the heavy work that previously required a dozen people to operate manually. Compared with the fully automatic cheese bale packing system: the semi-automatic cheese bale packing system of the present invention greatly saves costs (the cost is only one-fifth of that of the fully automatic packing system, and the site is also reduced by half); it can achieve automatic weight balancing. Compared with other semi-automatic packing systems on the market: the semi-automatic packing system of the present invention can balance weights more accurately, reducing the cumulative error caused by the sensor accuracy; it can balance weights at a higher speed and complete the packing work, improving the production efficiency and enabling the production capacity to reach 1.5 tons / hour or more. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 is a schematic structural diagram of the semi-automatic cheese bale packing system;

[0033] Figure 2 is a front view of the single yarn weighing device;

[0034] Figure 3 is a side view of the single yarn weighing device;

[0035] Figure 4 is a schematic diagram of the counterweight yarn entering the warehouse;

[0036] Figure 5 is a schematic diagram of the gripper assembly. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0037] As Figure 1 shown, the semi-automatic cheese bale packing system includes a yarn feeding belt line, a single yarn weighing device 3, an automatic weight balancing device 4, an overall weighing device 5, a single yarn film covering machine 6, an automatic bagging device 7, a manual bag loading device 8, a manual bag sewing device 9, an automatic strapping machine 10, and an automatic whole bale palletizing device 11, which are connected in sequence.

[0038] The yarn feeding belt line includes a first yarn feeding belt line 1 and a second yarn feeding belt line 2. The cheese produced by the winding machine is sent to the yarn feeding belt line manually. Among them, normal yarn is placed on the first yarn feeding belt line 1, and the normal yarn refers to the cheese produced normally and the cheese that is slightly heavier than the standard weight; light yarn is placed on the second yarn feeding belt line 2, and the light yarn refers to the cheese that is slightly lighter than the standard weight. Further, the production of the normal yarn and the light yarn is achieved by adjusting the fixed length of the winding machine.

[0039] For example, based on the standard weight of 2.05KG of 40 - count yarn (12 - yarn per pack), the set fixed length of a normal winder is 100,000 meters. For slightly heavier cheese cones, the set fixed length of the winder can be 100,500 meters (about 2.06KG); for slightly lighter cheese cones, the set fixed length of the winder can be 98,000 meters or 97,000 meters (about 2.03 or 2.02KG). The specific weights of the normal yarn and the light yarn to be set need to be adjusted according to the actual situation by the user during on - site commissioning.

[0040] During actual operation, a large number of cheese cones can be placed on the yarn - feeding belt line manually at one time (place the normal yarn on the first yarn - feeding belt line 1 and the light yarn on the second yarn - feeding belt line 2). After placing them, the operator can go to the manual bag - loading device 8 to handle the task of putting on woven bags.

[0041] As Figure 2 shown, the cheese cones are conveyed to the single - yarn weighing device 3 through the yarn - feeding belt line. The single - yarn weighing device 3 includes a main frame and a sub - frame. The side of the main frame is the sub - frame, which are respectively used for screening and grasping the cheese cones. The main frame of the single - yarn weighing device 3 includes two separate weighing belt lines: the normal - yarn weighing belt line 31 and the light - yarn weighing belt line 32. The normal - yarn weighing belt line 31 is used to receive the cheese cones (normal yarn) sent from the first yarn - feeding belt line 1, and the light - yarn weighing belt line 32 is used to receive the cheese cones (light yarn) sent from the second yarn - feeding belt line 2.

[0042] A normal - yarn weighing sensor 33 is arranged below the normal - yarn weighing belt line 31, and a light - yarn weighing sensor 34 is arranged below the light - yarn weighing belt line 32. The normal - yarn weighing sensor 33 and the light - yarn weighing sensor 34 are respectively used to weigh the normal yarn and the light yarn.

[0043] An overweight - yarn rejection cylinder 35 and a light - yarn rejection cylinder 37 are arranged on the main frame. Above the normal - yarn weighing belt line 31, a light - yarn rejection cylinder 37 is correspondingly arranged, and above the light - yarn weighing belt line 32, an overweight - yarn rejection cylinder 35 is correspondingly arranged. An overweight - yarn rejection pusher plate 36 is installed below the overweight - yarn rejection cylinder 35, and a light - yarn rejection pusher plate 38 is installed below the light - yarn rejection cylinder 37.

[0044] The side of the light - yarn weighing belt line 32 is the sub - frame. A light - yarn positioning cylinder 39 is installed on the sub - frame. Below the light - yarn positioning cylinder 39, a light - yarn translation cylinder 41 is arranged. At the front end of the light - yarn translation cylinder 41, a light - yarn lifting cylinder 40 is arranged. The front end of the light - yarn positioning cylinder 39 is respectively the cheese - cone lifting position and the counterweight - yarn grasping position.

[0045] When the weight of the normal yarn exceeds the set value of the heavy yarn (such as 2.07KG), it can be regarded as overweight yarn. At this time, the overweight yarn rejection cylinder 35 extends, and the overweight yarn rejection pusher 36 pushes the overweight and unqualified yarn out of the belt line, and the overweight yarn falls into the corresponding collection container. When the weight of the light yarn is lower than the set value of the light yarn (such as 2.01KG), it can be regarded as ultra-light yarn. At this time, the light yarn rejection cylinder 37 extends completely, and the light yarn rejection pusher 38 pushes this ultra-light yarn out of the belt line, and the ultra-light yarn falls into the corresponding collection container. Then the normal yarn and some light yarns (qualified yarns) that have been weighed and meet the weight requirements will flow onto the overall weighing device 5.

[0046] Combined Figure 3 As shown, the light yarn that has been weighed and meets the requirements, or the yarn to be counterweighted, will continue to be subdivided. (1) Part of the light yarn that is closer to the standard weight (such as higher than 2.04KG) is called qualified yarn and directly enters the overall weighing device 5. (2) The light yarn that is slightly farther from the standard weight (such as the yarn between 2.04KG and 2.01KG) is called counterweight yarn. The light yarn rejection cylinder 37 extends a certain distance, and the light yarn rejection pusher 38 pushes the counterweight yarn in front of the ultra-light yarn positioning cylinder 39, and at this time, the control system of the automatic counterweight device 4 records the weight of the counterweight yarn weighed by the ultra-light yarn weighing sensor 34.

[0047] The ultra-light yarn positioning cylinder 39 pushes forward, and then pushes this counterweight yarn to the bobbin lifting position, which is the first counterweight yarn 43 at the lifting position. Subsequently, the ultra-light yarn positioning cylinder 39 retracts; after the ultra-light yarn positioning cylinder 39 retracts, the ultra-light yarn lifting cylinder 40 extends, and the first counterweight yarn 43 at the lifting position is lifted a small height by the ultra-light yarn lifting cylinder 40; subsequently, the ultra-light yarn translation cylinder 41 extends, and the ultra-light yarn lifting cylinder 40 together with the first counterweight yarn 43 at the lifting position above it is pushed out to the counterweight yarn grasping position. At this time, the first counterweight yarn 43 at the lifting position becomes the second counterweight yarn 42 at the grasping position; after the counterweight gripper grasps the second counterweight yarn 42, the ultra-light yarn lifting cylinder 40 retracts, and then the ultra-light yarn translation cylinder 41 retracts, waiting for the arrival of the next second counterweight yarn.

[0048] The second counterweight yarn 42 that arrives at the counterweight grasping position waits for the counterweight gripper to grasp it. During this process, only after the gripper assembly 50 of the automatic counterweight device 4 grasps the second counterweight yarn 42 can the offset pusher positioning cylinder 39 push the next first counterweight yarn into the bobbin lifting position. When a counterweight process is completed (that is, the overall weighing device 5 is filled with the required number of bobbins), according to the number of empty spaces in the counterweight yarn storage 44, the gripper assembly 50 places an appropriate number of counterweight yarns. Keep there being no empty spaces in the counterweight yarn storage 44.

[0049] Such as Figure 4As shown, for the automatic counterweight device 4, a counterweight truss manipulator and a counterweight yarn storage bin 44 are provided on the counterweight mounting frame. The counterweight truss manipulator includes a gripper assembly 50, an X-axis moving frame, and a Y-axis moving frame. The gripper assembly 50 is mounted on the Y-axis moving frame. The Y-axis moving frame is provided with a Y-axis moving motor 45, and the gripper assembly 50 is driven by the Y-axis moving motor 45 to move left and right in the Y-axis direction. Both ends of the Y-axis moving frame are mounted on the X-axis moving frame. The X-axis moving frame is provided with an X-axis moving motor 46, and the Y-axis moving frame is driven by the X-axis moving motor 46 to move back and forth in the X-axis direction. A belt line 47 of the overall weighing device 5 is provided below the middle of the counterweight mounting frame. The end of the belt line 47 is connected to the single-yarn sleeving machine 6. A counterweight yarn storage bin 44 is provided beside the belt line 47 for storing counterweight yarn.

[0050] The package yarns of the overall weighing device 5 come from two belt lines, namely the normal yarn weighing belt line 31 and the slightly lighter yarn weighing belt line 32, which transmit normal yarns and appropriate yarns respectively. The number of package yarns of the single-yarn sleeving machine 6 is 12. Since each of the two belt lines transmits four package yarns, the remaining four package yarns are taken out from the storage bin 44. A weighing sensor is provided below the overall weighing device for measuring the total weight of the package yarns above.

[0051] Before the automatic counterweight starts, the counterweight yarn needs to be put into the warehouse first. The working process is as follows: When there is counterweight yarn (the second counterweight yarn 42 at the gripping position) at the counterweight gripping position of the single-yarn weighing device 3, the counterweight truss manipulator starts to operate through the X-axis moving motor 46 and the Y-axis moving motor 45, driving the entire structure to move, and moving the gripper assembly 50 above the second counterweight yarn 42.

[0052] As Figure 5 shown, the gripper assembly 50 includes a gripper moving cylinder 51, a gripper cylinder 52, and a gripper 53 connected in sequence. Before the gripper assembly 50 moves above the second counterweight yarn 42,

[0053] The gripper cylinder 52 is retracted to ensure that the gripper 53 is in a closed state; when the gripper assembly 50 is above the second counterweight yarn 42, the gripper moving cylinder 51 is extended to extend the gripper 53 on the gripper cylinder 52 into the opening on the counterweight; after the gripper moving cylinder 51 is fully extended, the gripper cylinder 52 is opened, and the gripper 53 on it is opened accordingly, and supported inside the counterweight yarn opening; after the gripper 53 is opened, the gripper moving cylinder 51 is retracted, and the gripper assembly 50 is raised together with the second counterweight yarn 42; after the gripper assembly 50 is raised, the X-axis moving motor 45 and the Y-axis moving motor 46 are operated again , move the counterweight yarn to the position 48 above the counterweight yarn storage bin 44 where no counterweight yarn has been stored; after it is in place, the two driving motors stop, the gripper moving cylinder 51 extends, and the second counterweight yarn 42 on the gripper 53 is placed in position 48; after the gripper moving cylinder 51 is fully extended, the gripper cylinder 52 is retracted, and the gripper 53 is retracted accordingly; after retraction, the gripper moving cylinder 51 is retracted, and the gripper 53 is retracted from the opening of the second counterweight yarn 42, and the gripper 53 rises to the initial position together with the gripper cylinder 52, at which time the counterweight control system of the automatic counterweight device 4 records the weight of the counterweight yarn at position 48. Repeat the above process, all positions in the counterweight yarn storage bin 44 can be placed with counterweight yarn, and the counterweight system records the weight of the counterweight yarn at all positions. The counterweight yarn storage process is completed.

[0054] There is no weighing sensor at position 48. At this time, the weight of the counterweight yarn is measured by the weighing sensor 34 for the lighter yarn. Since the automatic counterweight device 4 has its own electronic control device (its own PLC), the weight of the bobbin yarn measured by the weighing sensor 34 for the lighter yarn is recorded in the PLC of the automatic counterweight device 4. Position 48 is only one of the 12 positions in the storage 44. Since the weight of each counterweight yarn is recorded by the PLC when it is placed, when the PLC controls the gripper 53 to place the counterweight yarn, the weight of the counterweight yarn at the placement position (i.e., a certain position in the storage 44) will be recorded. After the bobbin yarn is taken away and the counterweight is completed for one package, the weight at the position taken away will be cleared by the PLC until the next counterweight yarn arrives, and the weight of this counterweight yarn is recorded.

[0055] The automatic weight balancing device 4 is equipped with an independent control system PLC, which controls the entire weight balancing process and data. The PLC records the weight of the weighted yarn weighed by the light yarn weighing sensor 34, and distributes the weighted yarn to the corresponding position of the weighted yarn storage warehouse, which records and stores the weight value of the weighted yarn. When the weight balancing process is completed, the weight of the corresponding position of the weighted yarn grabbed by the gripper is cleared, and the corresponding weight is assigned when the next weighted yarn arrives.

[0056] A packaging method of a semi-automatic bobbin packaging system comprises the following steps:

[0057] S1: The first yarn feeding belt of the yarn feeding belt line feeds normal yarn, and the second yarn feeding belt of the yarn feeding belt line feeds light yarn;

[0058] S2: The normal yarn belt of the single yarn weighing device receives the normal yarn transmitted from the first yarn feeding belt, and rejects the overweight yarn with a weight greater than the first set value; the light yarn weighing belt of the single yarn weighing device receives the light yarn transmitted from the second yarn feeding belt, and rejects the ultra-light yarn with a weight less than the second set value;

[0059] S3: The single yarn weighing device classifies the qualified light yarn. The light yarn with a weight greater than the third set value is sent to the overall weighing device as suitable yarn; the light yarn with a weight not less than the third set value and not greater than the second set value is sent to the counterweight yarn storage of the automatic counterweight device as counterweight yarn;

[0060] S4: The normal yarn and the suitable yarn enter the overall weighing device in turn and complete the adjustment of the set number of bobbin yarns through the counterweight method;

[0061] S5: The set number of bobbin yarns enter the single yarn film covering machine for film covering treatment. The neatly arranged bobbin yarns are pushed into the woven bag through the automatic bagging device. Among them, the bags of the automatic bagging device are sleeved through the manual bag loading device;

[0062] S6: After the woven bag is filled with bobbin yarns, the woven bag is transported to the manual bag sewing device through the belt line;

[0063] S7: The operator manually pushes the sewing machine to sew the mouth of the woven bag. The sewn woven bag is continuously conveyed by the belt line to the automatic strapping machine in the next process for automatic strapping;

[0064] S8: The tightly strapped woven bag enters the automatic whole bag palletizing device through the belt line and is transported away after palletizing is completed.

[0065] Among them, the counterweight processing steps of the automatic counterweight device 4 are as follows:

[0066] S11: At the beginning of counterweight, the normal yarn and the suitable yarn enter the overall weighing device 5 in turn. After 8 are entered, the overall weighing device 5 records the total weight, and then the counterweight algorithm starts to calculate;

[0067] S12: If the total weight at this time G8 plus the lightest four counterweight yarns in the counterweight yarn library meets the total weight requirement (25KG plus or minus 25g), then grab the lightest four counterweight yarns in the counterweight yarn library (the positions of these four yarns have been recorded by the counterweight system when the previous counterweight yarns were put into storage) and put them on the belt line 47 after the overall weighing. The grabbing process is the opposite of the previous process of putting the counterweight yarns into storage, so it will not be elaborated. The counterweight process is completed, and all twelve yarns enter the single yarn film covering machine 6 after passing through the belt line 47;

[0068] S13: If the weight obtained by adding the lightest four counterweight yarns in the counterweight yarn bin to the calculated total weight G8 does not meet the total weight requirement, place one heavy yarn on the heavy yarn conveyor belt, weigh the total weight G9, and then calculate the weight obtained by adding the lightest three counterweight yarns in the counterweight yarn bin to G9 to check if it meets the total weight requirement. If it meets the requirement, pick up the lightest counterweight yarn among these three and place it on conveyor belt 47 after overall weighing, completing the counterweight process. After all twelve yarns pass through conveyor belt 47, they enter the single-yarn film wrapping machine 6;

[0069] S14: If the weight obtained by adding the lightest three counterweight yarns in the counterweight yarn bin to the calculated total weight G9 does not meet the total weight requirement, place another heavy yarn on the heavy yarn conveyor belt, weigh the total weight G10, and repeat the calculation process;

[0070] S15: When 11 yarns are on the overall weighing platform and the total weight G11 is recorded, start calculating from the lightest counterweight yarn in the counterweight yarn bin to check if the total weight meets the requirement until it reaches the position where the requirement is met.

[0071] Calculate in the order of increasing weight of the counterweight yarns, calculating the weight obtained by adding the counterweight yarns in the counterweight yarn bin to G11 until the weight meets the total weight requirement.

[0072] Based on the experience of previous on-site operations, the counterweight process can be completed when calculating G9 or G10. After counterweight is completed, start the next counterweight and light yarn storage process.

[0073] In actual operation, there are 12 cheese yarns in a pack. If the weight of a single cheese yarn of the user is 1.667 KG, it means there are 15 cheese yarns in a pack, and the counterweight algorithm can start calculating from G11.

[0074] In the schematic diagram, the counterweight yarn storage bin 44 has a size of 2 rows, with 6 yarns in each row. If necessary, the size of the counterweight yarn storage bin can be increased to prepare more positions for placing counterweight yarns. Especially when the user has strict requirements for the weight of each pack, the size of the counterweight yarn storage bin should be increased even more. This size is also related to the deviation size of the cheese yarns produced by the user's winder. If the quality of the user's winder is poor and the weight deviation between each produced cheese yarn is large, counterweight will be difficult and a large counterweight yarn storage bin is needed; if the quality of the user's winder is very good and the weight deviation between each produced cheese yarn is small, counterweight will be simple and the counterweight yarn storage bin can be reduced.

[0075] In this way, the cheese cones of yarn sleeved by the single yarn sleeving machine 6 are aggregated in front of the automatic bagging device 7. Ensure that three yarns are arranged together at a time. At this time, an operator has put a woven bag on the manual bagging device 8. The automatic bagging device 7 pushes the neatly arranged cheese cones into the woven bag. After the woven bag is filled with cheese cones, the belt line transports the woven bag to the manual bag sewing device 9. The operator who has completed the bagging manually pushes the sewing machine to sew the mouth of the woven bag. The sewn woven bag is continuously conveyed by the belt line to the automatic strapping machine 10 of the next process for automatic strapping. At this time, the operator puts another new woven bag on the manual bagging device 8 for the next pack of cheese cones to be loaded.

[0076] The tightly strapped woven bags enter the automatic complete bag palletizing device 11 through the belt line. Through another truss palletizing manipulator, the woven bags are palletized on the pallet according to the user's requirements. After the palletizing is completed, the user transports away the pallet. All the packing work is completed.

[0077] The present invention has the following characteristics:

[0078] 1) A complete semi-automatic cheese cone packing method, which can enable users to save a large amount of labor with relatively low input costs;

[0079] 2) Automatic weight balancing. The weight of a single cheese cone is weighed by a high-precision weighing sensor, and the weight of each cheese cone is transmitted to the PLC. After calculation, a suitable cheese cone is selected for packaging;

[0080] 3) Accurate weight balancing. Since the accuracy of a high-precision sensor is usually three-thousandths of the full scale, and the best is one-thousandth. If the weight of a single cheese cone is about 2.05 KG, the mass deviation of a single cheese cone when weighing the cheese cone exceeds 3 grams. In this way, even if the weight balancing algorithm is accurate enough, the cumulative error of the sensor accuracy for a pack of yarns (12 or 15) will exceed 30 grams, which cannot meet the requirement of the textile factory for each pack of cheese cones to be 25 KG plus or minus 25 grams. This system solves this problem by adding an overall weighing device and improving the weight balancing algorithm;

[0081] 4) High-speed and efficient weight balancing. At present, semi-automatic packing machines on the market usually adopt the weight balancing method of a nine-square grid or a long belt line. The problem caused by this is that it is impossible to store enough weight balancing cheese cones. When the weight in the stored weight balancing cheese cones cannot meet the weight balancing requirements, there will be a situation of manual intervention where the weight cannot be balanced, resulting in slow weight balancing and insufficient production capacity. This system adopts the structure of a truss gripper, which can theoretically expand the range of weight balancing cheese cones infinitely, ensuring that there are enough weight balancing cheese cones participating in the weight balancing, and greatly avoiding the occurrence of the situation where the weight cannot be balanced.

[0082] The present invention realizes the automatic packing function of the product of the textile mill, i.e., cheese. A very small number of operators (1 - 2 persons) only need relatively simple operations to complete the heavy work that previously required a dozen people to operate manually. Compared with the fully automatic cheese packing system, the semi-automatic cheese packing system of the present invention greatly saves costs (the cost is only one-fifth of that of the fully automatic packing system, and the floor space is also reduced by half); it can realize automatic weight balancing. Compared with other semi-automatic packing systems on the market currently, the semi-automatic packing system of the present invention can balance weights more accurately, reducing the cumulative error caused by the sensor accuracy; it can balance weights at a higher speed and complete the packing work, improving the production efficiency and enabling the production capacity to reach 1.5 tons per hour or even more.

Claims

1. A packing method for a semi-automatic cone yarn packing system. The semi-automatic cone yarn packing system includes a yarn feeding belt line, a single yarn weighing device, an automatic counterweight device, an overall weighing device, a single yarn film covering machine, an automatic bagging device, a manual bag loading device, a manual bag sewing device, an automatic strapping machine, and an automatic whole package palletizing device that are connected in sequence. The yarn feeding belt line includes a first yarn feeding belt line and a second yarn feeding belt line. The single yarn weighing device includes a normal yarn belt line and a light yarn weighing belt line, which respectively receive the cone yarns transmitted from the first yarn feeding belt line and the second yarn feeding belt line. The automatic counterweight device is provided with a counterweight yarn storage library for storing the counterweight yarns transmitted from the light yarn weighing belt line. The overall weighing device receives the cone yarns screened by the normal yarn belt line and the light yarn weighing belt line, and can select counterweight yarns from the counterweight yarn storage library. The method includes the following steps: S1: Place normal yarns on the first yarn feeding belt line of the yarn feeding belt line, and place light yarns on the second yarn feeding belt line of the yarn feeding belt line. S2: The normal yarn belt line of the single yarn weighing device receives the normal yarns transmitted from the first yarn feeding belt line, and rejects the overweight yarns with a weight greater than the first set value. The light yarn weighing belt line of the single yarn weighing device receives the light yarns transmitted from the second yarn feeding belt line, and rejects the ultra-light yarns with a weight less than the second set value. S3: The single yarn weighing device classifies the qualified light yarns. The light yarns with a weight greater than the third set value are sent to the overall weighing device as suitable yarns. The light yarns with a weight not less than the third set value and not greater than the second set value are sent to the counterweight yarn storage library of the automatic counterweight device as counterweight yarns. S4: Normal yarns and suitable yarns enter the overall weighing device in turn and alternately, and the adjustment of a set number of cone yarns is completed through a counterweight method. S5: A set number of cone yarns enter the single yarn film covering machine for film covering treatment, and the neatly arranged cone yarns are pushed into the woven bags through the automatic bagging device. Among them, the bags of the automatic bagging device are sleeved through the manual bag loading device. S6: After the woven bags are filled with cone yarns, the woven bags are transported to the manual bag sewing device through the belt line. S7: The operator manually pushes the sewing machine to sew the bag mouths of the woven bags, and the sewing machine can realize automatic thread breaking. The sewn woven bags are continuously transmitted by the belt line to the automatic strapping machine in the next process for automatic strapping. S8: The tightly strapped woven bags enter the automatic whole package palletizing device through the belt line and are transported away after the stacking is completed.

2. The packing method of the semi-automatic cheese packing system according to claim 1, characterized in that: In step S4, the counterweight method includes the following steps: S11: Normal yarns and suitable yarns enter the overall weighing device in turn and alternately. The set number of cone yarns for packaging is m, and the last K cone yarns are set for cone yarn adjustment. After n cone yarns enter, the overall weighing device records the total weight Gn, where n = m - K. S12: If the total weight Gn at this time, plus the lightest K counterweight yarns in the counterweight yarn library, the weight G meets the total weight requirement, then grab the lightest K counterweight yarns in the counterweight yarn library and go to step S16; S13: If the weight G does not meet the total weight requirement, place a bobbin of normal yarn on the normal yarn belt line, weigh the total weight Gn+1, and then calculate the sum of Gn+1 and the weight of the lightest K-1 counterweight yarns in the counterweight yarn storage. Check if it meets the total weight requirement. If it meets the requirement, grasp the lightest K-1 counterweight yarns in the counterweight yarn storage and go to step S16; S14: If the weight G still does not meet the total weight requirement, place another bobbin of normal yarn on the normal yarn belt line, weigh the total weight Gn+2, and then calculate the sum of Gn+2 and the weight of the lightest K-2 counterweight yarns in the counterweight yarn storage. Check if it meets the total weight requirement. If it meets the requirement, grasp the lightest K-2 counterweight yarns in the counterweight yarn storage and go to step S16; S15: According to steps S13 and S14, continue to iteratively calculate the weight G until n = m - 1. Then, starting from the lightest counterweight yarn in the counterweight yarn storage, check if the total weight meets the requirement and select the counterweight yarns to be grasped from the counterweight yarn storage; S16: Place the counterweight yarns in the counterweight yarn storage onto the belt line of the automatic counterweight device to complete the counterweight process. After all m yarns pass through the belt line, they enter the single yarn film wrapping machine.

3. The packing method of the semi-automatic cheese packing system according to claim 2, characterized in that: Here, m is 12 - 16 and K is 3 - 6.

4. The packing method of the semi-automatic cone yarn packing system according to claim 1, characterized in that: In step S3, the automatic counterweight device is equipped with an independent control system PLC, which can control all counterweight actions. The PLC records the weight of the counterweight yarns weighed on the underweight yarn weighing belt line and distributes the counterweight yarns to the corresponding positions in the counterweight yarn storage. This position is where the weight value of the counterweight yarn is recorded and stored. When the counterweight process is completed, the weight at the corresponding position of the counterweight yarn grabbed by the gripper is cleared, and the corresponding weight is assigned when the next counterweight yarn arrives.

5. The packing method of the semi-automatic cheese packing system according to claim 1, characterized in that: In step S3, the counterweight yarn storage is designed with multiple rows, and the number of counterweight yarns that can be placed in each row is not less than the number K of bobbins that need to be adjusted.

6. The packing method of the semi-automatic cone yarn packing system according to claim 1, characterized in that: The main frame of the single yarn weighing device is provided with two separate weighing belt lines, namely the normal yarn weighing belt line and the underweight yarn weighing belt line, as well as an overweight yarn rejection cylinder and an underweight yarn rejection cylinder. Below the normal yarn weighing belt line and the underweight yarn weighing belt line, there are respectively a normal yarn weighing sensor and an underweight yarn weighing sensor, and above them, there are respectively an underweight yarn rejection cylinder and an overweight yarn rejection cylinder corresponding to them.

7. The packing method of the semi-automatic cone yarn packing system according to claim 1, characterized in that: The sub-frame of the single yarn weighing device is installed with an underweight yarn positioning cylinder. Below the underweight yarn positioning cylinder, there is an underweight yarn translation cylinder. At the front end of the underweight yarn translation cylinder, there is an underweight yarn lifting cylinder. At the front end of the underweight yarn positioning cylinder, there are respectively a bobbin lifting position for placing bobbins and a counterweight yarn grasping position.

8. The packing method of the semi-automatic cheese packing system according to claim 1, characterized in that: The automatic counterweight device is provided with a counterweight truss manipulator and a counterweight yarn storage. Below the counterweight truss manipulator is the counterweight yarn storage. The counterweight truss manipulator includes a gripper assembly, an X-axis moving frame, and a Y-axis moving frame. The gripper assembly is installed on the Y-axis moving frame, and both ends of the Y-axis moving frame are installed on the X-axis moving frame.

9. The packing method of the semi-automatic cheese packing system according to claim 8, characterized in that: The gripper assembly includes a gripper moving cylinder, a gripper cylinder, and a gripper connected in sequence. The gripper moving cylinder controls the up and down movement of the gripper cylinder, and the gripper cylinder controls the opening or closing of the gripper. When the gripper opens, it supports inside the opening of the bobbin.

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