Full-process automated loading / unloading and logistics system

Abstract

The present invention provides a full-process automated loading and unloading and logistics system for a twisting and weaving factory. A full-process automated loading and unloading and logistics system for a twisting and weaving factory includes an outer yarn preparation area, an inner yarn preparation area, a weaving area, and an overhead conveyor track. The outer yarn preparation area uses a transport vehicle group to transport the outer yarn packages to the outer yarn branch track of the twisting machine in the twisting area through the outer yarn main track of the overhead conveyor track. The inner yarn preparation area uses a transport vehicle group to transport the inner yarn packages to the inner yarn branch track of the twisting machine in the twisting area through the inner yarn main track of the overhead conveyor track. The twisting area uses a transport vehicle group to transport the finished yarn to the finished yarn upper yarn track in the weaving area through the finished yarn main track of the overhead conveyor track. The present invention can transport outer yarn packages, inner yarn packages, and finished yarn packages on a large scale and with high efficiency in a suspended transport manner, greatly reducing the labor intensity of operators and increasing the production efficiency by more than 280%.

Description

Technical Field

[0001] The invention relates to the field of twisting and weaving factory equipment, and in particular to a full-process automated loading and unloading and logistics system for a twisting and weaving factory. Background Art

[0002] Existing twisting and weaving factories basically use manual yarn feeding. With the expansion of the scale of enterprises, the yarn feeding time is long, the efficiency is low, and the labor intensity is high, which has become a problem that each enterprise needs to solve urgently. There is a solution of using a robot with AVG to feed yarn in the prior art, such as CN111996627A for the automatic yarn feeding system of the twisting machine, but the yarn feeding efficiency of this solution is still low. Moreover, the control difficulty is relatively large, and the robot's ability to avoid the operator is relatively weak, which often interferes with the operator's work. There is also a solution that uses automatic yarn dropping and yarn feeding, but this solution still needs to be manually fed after yarn dropping, such as the solution recorded in CN112011863A, a kind of automatic yarn dropping system for twisting production. This field needs a solution that can be used for large-scale yarn feeding, improve yarn feeding efficiency, and has low labor intensity for operators. Summary of the invention

[0003] The technical problem to be solved by the present invention is to provide a full-process automated loading and unloading and logistics system for a twisting and weaving factory, which can realize large-scale automated yarn loading, has a high degree of automation, high operating efficiency, and low labor intensity for operators.

[0004] In order to solve the above technical problems, the technical solution adopted by the present invention is: a full-process automated loading and unloading and logistics system for a twisting and weaving factory, including an outer yarn preparation area, an inner yarn preparation area, a weaving area and an aerial conveying track;

[0005] The outer yarn preparation area uses a conveying vehicle group to convey the outer yarn package to the outer yarn branch track of the twisting machine in the twisting area through the outer yarn main track of the aerial conveying track;

[0006] The inner yarn preparation area uses a conveying vehicle group to convey the inner yarn package to the inner yarn branch track of the twisting machine in the twisting area through the inner yarn main line track of the aerial conveying track.

[0007] In a preferred solution, the conveying vehicle group in the twisting area conveys the finished yarn to the finished yarn upper yarn track in the weaving area through the finished yarn main line track of the aerial conveying track.

[0008] In a preferred solution, the conveying vehicle group is formed by a plurality of independent units being hingedly connected, and the number of independent units of the conveying vehicle group corresponds to the number of workstations of the twisting machine in the twisting zone;

[0009] The transport vehicle group is driven by a travel drive device fixed on the aerial transport track.

[0010] In a preferred embodiment, a reverse track is also provided on the aerial conveying track. One end of the reverse track is connected to the aerial conveying track, and the other end is a blind end.

[0011] In a preferred embodiment, a finished yarn buffer track is also provided on the aerial conveying track. The finished yarn buffer track consists of multiple parallel tracks, and both ends of the finished yarn buffer track are connected to the main finished yarn track.

[0012] In a preferred embodiment, multiple merging and diverging switches are provided on the aerial conveying track, enabling controllable switching between two tracks through the merging and diverging switches.

[0013] In a preferred embodiment, the aerial conveying track is provided with an internal cavity, and the moving components of the conveying vehicle group operate within the cavity.

[0014] The structure of the merging and diverging switch is as follows: At the forked connection position of the switch housing of the merging and diverging switch, a vertical switch pin is provided. A vertical lane-changing baffle is connected to the switch pin and can swing. One end of the lane-changing baffle is located within the cavity of the switch housing. The free end of the lane-changing baffle extends from the direction of two tracks towards the direction of one track and can block any one of the two tracks.

[0015] The lane-changing baffle is also connected to a switch electric push rod for driving the lane-changing baffle to swing.

[0016] In a preferred embodiment, the other end of the lane-changing baffle extends outside the switch housing. One end of the switch electric push rod is hinged to the switch housing, and the other end of the switch electric push rod is hinged to the end of the lane-changing baffle outside the switch housing.

[0017] The switch electric push rod is provided with an angle feedback device.

[0018] In a preferred embodiment, trigger sensors for writing and reading the position of the conveying vehicle group are also provided on the aerial conveying track.

[0019] In a preferred embodiment, variety readers and writers for writing and reading the type of bobbin carried by the conveying vehicle group are also provided on the aerial conveying track.

[0020] In a preferred embodiment, the conveying vehicle group includes an outer yarn seat-mounted suspension vehicle group for conveying outer yarn bobbins. The unit structure of the outer yarn seat-mounted suspension vehicle group is as follows: Articulated connecting rods are used for articulated connection between each unit. The articulated connecting rods are provided with suspension wheel sets, and the suspension wheel sets are suspended in the track. The lower part of the articulated connecting rods is fixedly connected to an outer yarn suspension frame, and the outer yarn suspension frame is connected to a disc-shaped outer yarn seat. The outer yarn seat is arranged obliquely, and a columnar structure for installing the outer yarn bobbin is provided on the outer yarn seat.

[0021] In a preferred embodiment, the outer yarn branch track is located on both sides of the frame of the twisting machine. An outer yarn guide rail is provided on the frame, and an outer yarn guide wheel is provided on the outer yarn seat. When the outer yarn seat type suspension car group moves to the position of the twisting machine, the outer yarn guide wheel enters the outer yarn guide rail, lifting the outer yarn seat of the outer yarn seat type suspension car group to maintain an inclined state.

[0022] When the outer yarn car group runs to the corresponding working station of the twisting machine, it constitutes a moving bracket of the twisting machine. The moving bracket is used to load the outer yarn package for twisting operation.

[0023] In a preferred embodiment, tube holders for placing tube barrels are further provided on both sides of the outer yarn seat.

[0024] In a preferred embodiment, the conveying car group includes a holding type suspension device for conveying inner yarn packages or finished yarn packages.

[0025] A unit structure in the holding type suspension device is as follows: the articulated connecting rods are used for articulated connection between each unit. The articulated connecting rods are provided with a suspension wheel set, and the suspension wheel set is suspended in the track. The bottom of the articulated connecting rod is connected to the vertical rod, the vertical rod is connected to the holding arm, a space for loading the inner yarn package is provided in the middle of the holding arm, and an opening is provided at the bottom of the holding arm.

[0026] In a preferred embodiment, a structure for placing tube barrels is further provided on the holding arm.

[0027] In a preferred embodiment, the conveying car group includes an inner yarn hanging device for conveying inner yarn packages. A unit structure in the inner yarn hanging device is as follows: the articulated connecting rod is provided with a suspension wheel set, the suspension wheel set is suspended in the track, the articulated connecting rod is used for articulated connection of multiple unit structures with each other, the bottom of the articulated connecting rod is connected to the connecting rod, the connecting rod is connected to the quadrilateral connecting rod, a tension spring is provided between two of the rods near the bottom of the quadrilateral connecting rod, two of the rods in the quadrilateral connecting rod are respectively connected to the first hanging rod and the second hanging rod, and barbs are provided at the bottoms of the first hanging rod and the second hanging rod.

[0028] The tension spring is used to make the first hanging rod and the second hanging rod tend to open.

[0029] In a preferred embodiment, a liftable section of the inner yarn branch track is provided on the inner yarn branch track corresponding to the frame, for lifting the entire conveying car group for conveying inner yarn packages.

[0030] In a preferred embodiment, the liftable section of the inner yarn branch track is fixedly connected to the lift guide wheel. Lift guide rails are provided on the support frame and the frame, the lift guide wheel is slidably connected to the lift guide rail. Guide limit blocks are provided on the inner yarn branch tracks on both sides of the liftable section of the inner yarn branch track, for ensuring that the liftable section of the inner yarn branch track is aligned with the inner yarn branch tracks on both sides when lifted to the highest position; a driving device is also provided, and the driving device drives the liftable section of the inner yarn branch track to lift through a transmission mechanism.

[0031] A travel sensor for detecting the lifting stroke of the lifting section of the inner yarn branch track is also provided.

[0032] In a preferred embodiment, the driving device includes a motor, a hydraulic cylinder or a cylinder connected to the gear-rack mechanism.

[0033] In a preferred embodiment, a lifting main shaft is provided on the support frame. The lifting main shaft is rotatably supported on the support frame. A lifting driving motor is also provided on the support frame. The lifting driving motor drives the lifting main shaft to rotate. A hoisting wheel is further provided on the lifting main shaft. A hoisting belt is wound around the hoisting wheel. The end of the hoisting belt is connected to the lifting section of the inner yarn branch track. The lifting section of the inner yarn branch track is lifted and lowered by the rotation of the hoisting wheel.

[0034] In a preferred embodiment, a slide rail is provided on the frame of the twisting machine. The sliding frame is slidably connected to the slide rail. A bobbin can and a twisting mechanism are provided on the sliding frame. The sliding frame is used to carry the bobbin can and the twisting mechanism to slide in or out from one side of the twisting machine. When the sliding frame slides out, there is no obstruction above the bobbin can.

[0035] In a preferred embodiment, a sliding main shaft is provided on the frame. The sliding main shaft is connected to the driving device through a transmission mechanism. A sliding rack is fixedly provided on the sliding frame. A sliding gear is fixedly provided on the sliding main shaft. The sliding gear is meshed with the sliding rack to drive the sliding frame to slide in or out from one side of the twisting machine.

[0036] In a preferred embodiment, climbing vehicle guide rails are provided on both sides of the twisting machine. A climbing vehicle is also provided. Travel wheels are provided at the bottom of the climbing vehicle. A step is provided on one side of the climbing vehicle. A guide wheel mechanism is further provided on the climbing vehicle. The guide wheel mechanism is slidably connected to the climbing vehicle guide rail.

[0037] In a preferred embodiment, a yarn feeding area is further provided in the outer yarn preparation area or the inner yarn preparation area. A robotic arm is provided in the yarn feeding area. The robotic arm is provided with a multi-claw manipulator;

[0038] A roller path is provided around the robotic arm.

[0039] In a preferred embodiment, a tube supply device is further provided in the yarn feeding area for supplying tubes for finished yarn packages.

[0040] In a preferred embodiment, the tube supply device includes a tube lifting belt, a tube translation belt, a tube annular belt and a lifting device;

[0041] The tube lifting belt is inclined to convey the tube from a lower position to the tube translation belt at a higher position,

[0042] The tube translation belt is located in the middle of the tube annular belt. On the tube translation belt, the axis of the tube is arranged along the movement direction of the tube translation belt;

[0043] A plurality of tipping buckets for carrying tubes are provided on the tube annular belt, and the tube translation belt is used to convey the tubes into the tipping buckets.

[0044] The height of the tube annular belt is flush with the height of the conveying vehicle group. A working station aligned with the conveying vehicle group is provided on the tube annular belt, and a jacking device is provided near the working station. The jacking device is used to turn the tubes in the tipping buckets onto the bobbin holders of the inner yarn vehicle group.

[0045] The present invention provides a full-process automated loading, unloading and logistics system for a twisting and weaving factory. By adopting the above structure, it can convey outer yarn packages, inner yarn packages and finished yarn packages in a large scale and with high efficiency in a suspended conveying manner. The labor intensity of the operators is greatly reduced, and the production efficiency is greatly improved. Taking a 40-meter-long direct twisting machine equipment as an example, it takes about 20 minutes to send yarn to the twisting machine by using an AVG robot; while using the solution of the present invention to send yarn to the direct twisting machine, it only takes about 7 minutes. Compared with the solution of using an AVG robot to load yarn, the efficiency of the solution of the present invention is about 20 / 7≈3 = 285.7%, that is, the efficiency is increased by more than 280%. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] The present invention will be further described below in conjunction with the drawings and embodiments:

[0047] Figure 1 It is a top view of the overall structure of the present invention.

[0048] Figure 2 It is a partial structural schematic diagram of the twisting area in the present invention.

[0049] Figure 3 It is a partial structural schematic diagram of the twisting area in the present invention.

[0050] Figure 4 It is a structural schematic diagram of the yarn loading area in the present invention.

[0051] Figure 5 It is a structural schematic diagram of the yarn loading area and the tube supply device in the present invention.

[0052] Figure 6 It is a structural schematic diagram of the outer yarn branch track and the inner yarn branch track in the present invention.

[0053] Figure 7 It is a partial structural schematic diagram of the twisting machine in the present invention.

[0054] Figure 8 It is a front view structural schematic diagram of the sliding frame of the twisting machine in the present invention.

[0055] Figure 9 It is a top view structural schematic diagram of the sliding frame of the twisting machine in the present invention.

[0056] Figure 10 It is a partial structural view of the outer yarn seat - type suspension car group in the present invention.

[0057] Figure 11 It is a schematic structural view of the lifting section of the inner yarn branch track in the present invention.

[0058] Figure 12 It is a schematic structural view of the holding - type suspension device in the present invention.

[0059] Figure 13 It is a schematic structural view of the inner yarn hanging device in the present invention.

[0060] Figure 14 It is a schematic structural view of the outer yarn seat - type suspension car group in the present invention.

[0061] Figure 15 It is a side view of the lifting section of the inner yarn branch track in the present invention.

[0062] Figure 16 It is a schematic structural view of the split - merge turnout in the present invention.

[0063] In the figure: outer yarn preparation area 1, inner yarn preparation area 2, aerial conveying track 3, reversing track 301, outer yarn main line track 302, inner yarn main line track 303, finished yarn track 304, raw yarn distribution area 4, twisting area 5, splitting and merging turnout 6, track change baffle 601, turnout shell 602, turnout pin 603, baffle extension section 604, turnout electric push rod 605, angle feedback device 606, weaving area 7, finished yarn main line track 701, finished yarn buffer track 702, finished yarn upper track 703, twisting machine 8, fixed bracket 9, frame 10, mobile bracket 11, outer yarn branch track 12, inner yarn branch track 13, inner yarn branch track lifting section 131, yarn shelf 14, tube seat 15, small diameter outer yarn package 16, climbing car 17, walking wheel 171, step 172, ingot tank 18, climbing car guide rail 19, guide wheel mechanism 20, inner yarn hanging device 21, connecting rod 211, four-side connecting rod 212, tension spring 213, first hanging rod 214, second hanging rod 215, walking drive device 22, trigger sensor 23, Brake 24, conveying car group 25, twisting mechanism 26, rotating swing arm 27, variety reader 28, sliding rack 29, sliding gear 30, sliding main shaft 31, transmission mechanism 32, driving device 33, slide rail 34, sliding frame 35, support frame 36, cross beam 37, lifting guide rail 38, lifting guide wheel 39, lifting drive motor 40, lifting main shaft 41, winch wheel 42, winch belt 43, travel sensor 44, holding suspension device 45, suspension wheel group 451, articulated connecting rod 452, vertical rod 453 , outer yarn suspension seat 454, holding arm 455, outer yarn seat suspension car group 46, outer yarn suspension frame 461, outer yarn seat 462, bobbin seat 463, outer yarn package 47, inner yarn package 48, upper yarn area 49, forklift 491, pallet 492, roller table 493, multi-claw manipulator 494, robot arm 495, tube 51, tube supply device 52, tube lifting belt 521, tube translation belt 522, tube ring belt 523, jacking device 524, flip bucket 525, loom 53, finished yarn package 54. DETAILED DESCRIPTION

[0064] Embodiment 1:

[0065] like Figure 1 In the invention, a full-process automated loading and unloading and logistics system for a twisting and weaving factory includes an outer yarn preparation area 1, an inner yarn preparation area 2, a weaving area 7 and an aerial conveying track 3;

[0066] The outer yarn preparation area 1 uses a conveying vehicle group 25 to convey the outer yarn package 47 to the outer yarn branch track 12 of the twisting machine 8 of the twisting area 5 through the outer yarn main track 302 of the aerial conveying track 3;

[0067] The inner yarn preparation area 2 uses the conveying vehicle group 25 to convey the inner yarn package 48 to the inner yarn branch track 13 of the twisting machine 8 in the twisting area 5 through the inner yarn main track 303 of the aerial conveying track 3;

[0068] The conveying vehicle group 25 of the twisting area 5 conveys the finished yarn to the finished yarn upper track 703 of the weaving area 7 through the finished yarn main line track 701 of the aerial conveying track 3. With this structure, the yarn package can be quickly conveyed to the twisting area 5 and the weaving area 7 through the aerial conveying track 3. According to calculations, compared with the AVG robot yarn loading solution, under the same investment scale, the efficiency of the solution of the present invention is more than 400% higher to complete the same yarn loading work.

[0069] The preferred solution is Figure 2 , 3 6, the conveying vehicle group 25 is formed by a plurality of independent units connected by hinges, and the number of independent units of the conveying vehicle group 25 corresponds to the number of workstations of the twisting machine 8 in the twisting area 5, or the number of independent units corresponds to the number of workstations of the loom 53 in the weaving area 7;

[0070] like Figure 6 In the embodiment, the transport vehicle group 25 is driven by the travel drive device 22 fixed on the aerial transport track 3. The travel drive device 22 is a motor fixed on the aerial transport track 3, the motor is connected to the wheel, and friction is formed between the friction wheel and the articulated connecting rod 452 in the transport vehicle group 25, thereby driving the entire transport vehicle group 25 to travel.

[0071] The preferred solution is Figure 1 In the embodiment, the aerial conveying track 3 is also provided with a reversing track 301, which is a track connected to the aerial conveying track 3 at one end and unconnected at the other end. This structure is used to avoid other conveying vehicle groups 25 or to achieve the reversing operation of the conveying vehicle group 25. For example, the direction of the outer yarn seat 462 in the outer yarn seat type suspension vehicle group 46 is switched.

[0072] The preferred solution is Figure 1 In the embodiment, the aerial conveying track 3 is also provided with a finished yarn buffer track 702, which is a parallel multi-row track, and both ends of the finished yarn buffer track 702 are connected to the finished yarn main line track 701. With this structure, the finished yarn buffer track 702 can be well adapted to the production rhythm between the twisting machine 8 and the loom 53.

[0073] In the preferred schemes 1, 2, 3, 6, and 16, a plurality of merging and splitting switches 6 are provided on the aerial conveying track 3, and different tracks are connected and switched through the merging and splitting switches 6.

[0074] The preferred solution is Figures 12 - 14Among them, the aerial conveying track 3 is provided with an internal cavity, and the moving parts of the conveying vehicle group 25, such as the suspension wheel set 451, run in the cavity;

[0075] As Figure 16 Among them, the structure of the merging and diverging turnout 6 is as follows: at the bifurcated connection position of the turnout housing 602 of the merging and diverging turnout 6, there is a vertical turnout pin shaft 603. The vertical lane-changing baffle 601 is connected to the turnout pin shaft 603 and can swing. One end of the lane-changing baffle 601 is located in the cavity of the turnout housing 602. The free end of the lane-changing baffle 601 extends from the two tracks towards one track and can block any one of the two tracks, so that the conveying vehicle group 25 enters the other track to complete the track switching;

[0076] The lane-changing baffle 601 is also connected to the turnout electric push rod 605 for driving the lane-changing baffle 601 to swing. In an alternative solution, the turnout electric push rod 605 can also be replaced by a cylinder, which belongs to an equivalent replacement. The advantage of using the turnout electric push rod 605 is that there is no need to set up a complex air circuit.

[0077] In a preferred solution, as Figure 16 Among them, the other end of the lane-changing baffle 601 extends outside the turnout housing 602. One end of the turnout electric push rod 605 is hinged to the turnout housing 602, and the other end of the turnout electric push rod 605 is hinged to the end of the lane-changing baffle 601 outside the turnout housing 602;

[0078] The turnout electric push rod 605 is provided with an angle feedback device 606. The angle feedback device 606 refers to a feedback device for finally feedbacking the angular position of the lane-changing baffle 601. For example, a Hall sensor provided in the turnout electric push rod 605, or an angle encoder coaxially arranged with the turnout pin shaft 603.

[0079] In a preferred solution, as Figure 6 Among them, a trigger sensor 23 for writing and reading the position of the conveying vehicle group 25 is also provided on the aerial conveying track 3. For example, a travel switch, a photoelectric sensor or a laser scanner. The combination of the trigger sensor 23 and the merging and diverging turnout 6 facilitates the realization of the automatic control of the merging and diverging turnout 6.

[0080] In a preferred solution, as Figure 2 As shown in, a variety reader-writer 28 for writing and reading the roll types carried by the conveying vehicle group 25 is also provided on the aerial conveying track 3. With this structure, it is convenient to realize intelligent control. For example, by reading the specific variety of the conveying vehicle group 25, the main control system, such as the industrial control computer on site, can intelligently modify the parameters of the twisting machine 8 and the loom 53 according to the variety of the yarn to achieve intelligent control and further avoid human operation errors.

[0081] In a preferred solution, as Figure 2 、3 As shown in FIGS. 6 and 14, the conveying vehicle group 25 includes an outer yarn pedestal suspension vehicle group 46 for conveying the outer yarn packages 47. One unit structure of the outer yarn pedestal suspension vehicle group 46 is that the articulated connecting rods 452 are used for articulated connection between the respective units. The articulated connecting rods 452 are provided with suspension wheel sets 451, and the suspension wheel sets 451 are suspended in the track. The lower part of the articulated connecting rods 452 is fixedly connected to the outer yarn suspension frame 461, and the outer yarn suspension frame 461 is connected to the disc-shaped outer yarn pedestal 462. The outer yarn pedestal 462 is arranged obliquely, and a columnar structure for mounting the outer yarn package 47 is provided on the outer yarn pedestal 462;

[0082] The preferred solution is as Figure 10 shown in FIG. As shown in FIG., the outer yarn branch track 12 is located on both sides of the frame 10 of the twisting machine 8. An outer yarn guide rail 101 is provided on the frame 10, and an outer yarn guide wheel 464 is provided on the outer yarn pedestal 462. When the outer yarn pedestal suspension vehicle group 46 moves to the position of the twisting machine 8, the outer yarn guide wheel 464 enters the outer yarn guide rail 101, and the outer yarn pedestal 462 of the outer yarn pedestal suspension vehicle group 46 is lifted to maintain an inclined state;

[0083] When the outer yarn vehicle group 25 runs to the corresponding working position of the twisting machine 8, it forms the moving bracket 11 of the twisting machine 8. The moving bracket 11 is used to load the outer yarn package 47 for twisting operation. A yarn laying plate 14 is also provided on the twisting machine 8. A fixed bracket 9 is also provided on the frame 10. A plurality of tube seats 15 are provided on the fixed bracket 9, which are also used to place the small-diameter outer yarn packages 16 and are used as outer yarn.

[0084] The preferred solution is as Figure 14 shown in FIG. As shown in FIG., tube holders 463 for placing the tube barrels 51 are also provided on both sides of the outer yarn pedestal 462.

[0085] The preferred solution Figure 2 、 3 shown in FIGS. 6 and 12, the conveying vehicle group 25 includes a holding suspension device 45 for conveying the inner yarn packages 48 or the finished yarn packages 54;

[0086] As Figure 12 shown in FIG. As shown in FIG., one unit structure of the holding suspension device 45 is that the articulated connecting rods 452 are used for articulated connection between the respective units. The articulated connecting rods 452 are provided with suspension wheel sets 451, and the suspension wheel sets 451 are suspended in the track. The bottom of the articulated connecting rods 452 is connected to the vertical rod 453, and the vertical rod 453 is connected to the holding arm 455. A space for loading the inner yarn package 48 is provided in the middle of the holding arm 455, and an opening is provided at the bottom of the holding arm 455. With this structure, the inner yarn packages 48 or the finished yarn packages 54 can be conveniently conveyed. When the operator operates, the inner yarn package 48 or the finished yarn package 54 can be easily removed by lifting it from the opening.

[0087] The preferred solution is asFigure 12 In it, the arm 455 is also provided with a structure for placing the bobbin tube, which is used for transporting the bobbin tube.

[0088] In the preferred solutions 2, 3, 6, 13, and 15, the transport vehicle group 25 includes an inner yarn hanging device 21 for transporting the inner yarn package 48. One unit structure in the inner yarn hanging device 21 is as follows: Figure 13 As shown, a suspension wheel set 451 is provided on the articulated connecting rod 452. The suspension wheel set 451 is suspended in the track. The articulated connecting rod 452 is used to connect multiple unit structures to each other. The bottom of the articulated connecting rod 452 is connected to the connecting rod 211. The connecting rod 211 is connected to the quadrilateral connecting rod 212. A tension spring 213 is provided between two connecting rods near the bottom of the quadrilateral connecting rod 212. Two rods in the quadrilateral connecting rod 212 are respectively connected to the first hanging rod 214 and the second hanging rod 215. Barbs are provided at the bottoms of the first hanging rod 214 and the second hanging rod 215.

[0089] The tension spring 213 is used to make the first hanging rod 214 and the second hanging rod 215 tend to open, so as to hook the bobbin tube of the inner yarn package 48. When pressing the quadrilateral connecting rod 212, overcoming the tension of the tension spring 213 makes the first hanging rod 214 and the second hanging rod 215 tend to approach, then the bobbin tube of the inner yarn package 48 is released, realizing the yarn unloading operation of unloading the inner yarn package 48 into the spindle can 18.

[0090] The preferred solutions are as Figure 2 , 11 , and 15. In the inner yarn branch track 13 corresponding to the twisting machine 8, a liftable inner yarn branch track lifting section 131 is provided, which is used to lift the entire transport vehicle group 25 for transporting the inner yarn package 48. With this structure, the handling distance of the operator can be further reduced, and the local muscle injury of the operator caused by the mechanical labor of handling can be avoided. This is especially effective for large-weight packages of some industrial yarns, cord fabrics or carpet yarns.

[0091] The preferred solutions are as Figure 11 . In it, the inner yarn branch track lifting section 131 is fixedly connected to the lifting guide rail 38. Lifting guide wheels 39 are provided on the support frame 36. The lifting guide rail 38 is slidably connected to the lifting guide wheels 39. A driving device is also provided. The driving device drives the inner yarn branch track lifting section 131 to lift through a transmission mechanism;

[0092] A travel sensor 44 for detecting the lifting stroke of the inner yarn branch track lifting section 131 is also provided. The travel sensor 44 adopts a contact switch or an optoelectronic switch, etc.

[0093] In the preferred solution, the driving device includes a motor, a hydraulic cylinder or a cylinder connected to a gear-rack mechanism.

[0094] The preferred solutions are as Figure 11In it, a lifting main shaft 41 is provided on a support frame 36. The lifting main shaft 41 is rotatably supported on the support frame 36. A lifting drive motor 40 is also provided on the support frame 36. The lifting drive motor 40 drives the lifting main shaft 41 to rotate. A hoisting wheel 42 is further provided on the lifting main shaft 41. A hoisting belt 43 is wound around the hoisting wheel 42. The end of the hoisting belt 43 is connected to the lifting section 131 of the inner yarn branch line track. The lifting section 131 of the inner yarn branch line track is driven to lift by the rotation of the hoisting wheel 42. With this structure, it is especially suitable for the application scenario of the present invention and can achieve a lifting distance of more than 1.2 meters. Before the entire inner yarn branch line track 13 descends, it will not interfere with the operation of the operator.

[0095] A preferred solution is as Figure 7 、 8 In it, a slide rail 34 is provided on the frame 10 of the twisting machine 8. A sliding frame 35 is slidably connected to the slide rail 34. A bobbin can 18 and a twisting mechanism 26 are provided on the sliding frame 35. The sliding frame 35 is used to carry the bobbin can 18 and the twisting mechanism 26 and slide in or out from one side of the twisting machine 8. When the sliding frame 35 slides out, there is no obstruction above the bobbin can 18. The twisting mechanism 26 includes components such as an electric spindle assembly and a twisting disc.

[0096] There is another solution for the bobbin can 18 to load the inner yarn package 48, that is, a rotating swing arm 27 is further provided on the frame 10 above the bobbin can 18. The yarn evenness device component is arranged at the free end of the rotating swing arm 27, and the inner yarn package 48 is avoided by the rotation of the rotating swing arm 27.

[0097] A preferred solution is as Figure 8 In it, a sliding main shaft 31 is provided on the frame. The sliding main shaft 31 is connected to a driving device 33 through a transmission mechanism 32. A sliding rack 29 is fixedly provided on the sliding frame 35. A sliding gear 30 is fixedly provided on the sliding main shaft 31. The sliding gear 30 is meshed and connected with the sliding rack 29 to drive the sliding frame 35 to slide in or out from one side of the twisting machine 8. Preferably, the transmission mechanism 32 is a belt transmission mechanism or a chain transmission mechanism. The driving device 33 is a motor. Preferably, a servo motor or a stepping motor is adopted.

[0098] A preferred solution is as Figure 2 、 6 In it, climbing vehicle guide rails 19 are provided on both sides of the twisting machine 8. A climbing vehicle 17 is also provided. A traveling wheel 171 is provided at the bottom of the climbing vehicle 17. A step 172 is provided on one side of the climbing vehicle 17. A guide wheel mechanism 20 is further provided on the climbing vehicle 17. The guide wheel mechanism 20 is slidably connected to the climbing vehicle guide rail 19.

[0099] A preferred solution is as Figure 4In it, in the outer yarn preparation area 1 or the inner yarn preparation area 2, there is also a yarn loading area 49. In the yarn loading area 49, there is a robotic arm 495, and the robotic arm 495 is provided with a multi-claw manipulator 494; the multi-claw manipulator 494 is provided with a plurality of expandable mechanical claws, which are used to extend into the tube to expand and grasp the package, or release and put down the package. Preferably, the number of mechanical claws corresponds to the number of packages in each row on the pallet 492. With this structure, the efficiency of the multi-claw manipulator 494 in stacking the packages on the pallet 492 or taking them off the pallet 492 is greatly improved.

[0100] There is a roller path 493 around the robotic arm 495.

[0101] The preferred solution is as Figure 5 In it, in the yarn loading area 49, there is also a tube supply device 52 for supplying the tubes 51 of the finished yarn packages 54.

[0102] The preferred solution is as Figure 5 In it, the tube supply device 52 includes a tube lifting belt 521, a tube translation belt 522, a tube annular belt 523 and a jacking device 524;

[0103] The tube lifting belt 521 is inclined to convey the tube 51 from a low position to the tube translation belt 522 at a high position.

[0104] The tube translation belt 522 is located in the middle of the tube annular belt 523. On the tube translation belt 522, the axis of the tube 51 is arranged along the movement direction of the tube translation belt 522.

[0105] There are a plurality of tipping buckets 525 for carrying the tubes 51 on the tube annular belt 523, and the tube translation belt 522 is used to convey the tubes 51 into the tipping buckets 525.

[0106] The height of the tube annular belt 523 is flush with the height of the preferred holding suspension device 45 in the transport vehicle group 25. There is a station on the tube annular belt 523 aligned with the holding suspension device 45, and a jacking device 524 is provided near the station. The jacking device 524 is used to turn the tube 51 in the tipping bucket 525 onto the bobbin seat 463 of the inner yarn vehicle group.

[0107] Embodiment 2:

[0108] When in use, as Figure 1In the figure, the outer yarn package 47 and the inner yarn package 48 are transported to the roller path 493 by the forklift 491 in the upper yarn area 49, and then taken off by the multi-claw manipulator 494 and loaded onto the continuously arranged outer yarn seat-mounted suspension car group 46 and the holding-type suspension device 45. The upper yarn of the inner yarn hanging device 21 is usually completed jointly by the forklift 491 and manual labor. The outer yarn package 47 and the inner yarn package 48 are transported to the twisting area 5 through the aerial transport track 3. Among them, the outer yarn package 47 is sent into the outer yarn branch track 12, and the inner yarn package 48 is sent into the inner yarn branch track 13.

[0109] The variety reader-writer 28 located on the aerial transport track 3 reads the variety of the package. The diverging and converging turnout 6 transports the transport car group 25 loaded with the specified variety of raw yarn to above the specified twisting machine 8 according to the scheduling instruction given by the industrial control computer. There are two outer yarn main tracks 302 above one twisting machine 8. After the outer yarn seat-mounted suspension car group 46 is transported in place, it is fixed by the braking device to form the moving bracket 11. The operator operates the aerial work platform 17 to move along the twisting machine 8 to perform operations such as upper yarn feeding, yarn unloading, and splicing. There is also a fixed bracket 9 on the frame 10. The fixed bracket 9 is used to place the small-diameter outer yarn package 16 after the outer yarn is consumed. After the outer yarn is consumed, the empty tube 51 is left. The worker removes the yarn tube cover, places it on the yarn storage board 14, and then places the empty tube 51 on the tube base 463. After the package on the moving bracket 11 is emptied, the outer yarn seat-mounted suspension car group 46 drives out of the outer yarn branch track 12. The fully loaded outer yarn seat-mounted suspension car group 46 in the outer yarn preparation area 1 drives out, and after being scheduled by the industrial control computer, it drives into the preset outer yarn branch track 12. The braking device fixes the outer yarn seat-mounted suspension car group 46 and aligns it with the corresponding spindle position of the twisting machine 8.

[0110] After the finished yarn package 54 of the twisting machine 8 is full, the finished yarn package 54 is loaded on the holding-type suspension device 45 at the tail of the twisting machine 8 and transported to the finished yarn upper yarn track 703 through the finished yarn main track 701, and after palletizing, it supplies yarn to the loom 53.

[0111] In the twisting machine 8 in the twisting zone 5, the operator rotates the rotary swing arm 27 in sequence from the rear end to the front end of the machine, cuts the yarn in the bobbin can 18, takes out the small-diameter package therein, and places it on the yarn rest board 14. After all the bobbin cans 18 are emptied, the operator calls the transport vehicle group 25 loaded with the inner yarn packages 48 to drive out of the inner yarn preparation area 2. At this time, the transport vehicle group 25 can be the holding suspension device 45 or the inner yarn hanging device 21. The transport vehicle group 25 drives into the inner yarn branch track 13. The twisting machine 8 issues an instruction, the driving device 33 operates, and the sliding frame 35 slides out of the twisting machine 8. The lifting drive motor 40 of the lifting section 131 of the inner yarn branch track drives the lifting main shaft 41 to rotate, the lifting belt 43 on the winch wheel 42 is lowered, the lifting section 131 of the inner yarn branch track descends, and the transport vehicle group 25 and the inner yarn package 48 thereon descend accordingly. After the travel sensor 44 detects that the lifting section 131 of the inner yarn branch track has descended in place, it stops. The operator takes out the inner yarn package 48 of the holding suspension device 45 and puts it into the bobbin can 18. Or the operator moves the inner yarn hanging device 21 above the bobbin can 18, presses the four-side connecting rod 212 on the inner yarn hanging device 21, retracts the first hanging rod 214 and the second hanging rod 215, and releases the inner yarn package 48 to fall into the bobbin can 18. This solution is suitable for heavier yarns, such as industrial yarn packages.

[0112] After completing the yarn loading operation on the inner yarn package 48, operate the lifting section 131 of the inner yarn branch track to rise and align with the inner yarn branch track 13. The empty transport vehicle group 25 drives away, and the operator completes the inner yarn joint.

[0113] The operator drives the aerial work platform 17, places the small-diameter inner yarn package on the yarn rest board 14 on the tube seat of the fixed bracket, and connects the small-diameter inner and outer yarn packages and the outer yarn at the head and tail on the moving bracket 11 end to end. Then turn on the corresponding spindle position and start the twisting operation.

[0114] The above embodiments are only the preferred technical solutions of the present invention and should not be regarded as limitations on the present invention. The embodiments and the features in the embodiments in this application can be combined arbitrarily with each other without conflict. The protection scope of the present invention should be the technical solutions recorded in the claims, including the equivalent replacement solutions of the technical features in the technical solutions recorded in the claims. That is, the equivalent replacement improvements within this scope are also within the protection scope of the present invention.

Claims

1. A full-process automated loading, unloading and logistics system for a twisting and weaving factory, Characterized in that: It includes an outer yarn preparation area (1), an inner yarn preparation area (2), a weaving area (7) and an overhead conveying track (3); In the outer yarn preparation area (1), a conveying vehicle group (25) transports the outer yarn package (47) to the outer yarn branch track (12) of the twisting machine (8) in the twisting area (5) through the outer yarn main track (302) of the overhead conveying track (3); In the inner yarn preparation area (2), a conveying vehicle group (25) transports the inner yarn package (48) to the inner yarn branch track (13) of the twisting machine (8) in the twisting area (5) through the inner yarn main track (303) of the overhead conveying track (3); The conveying vehicle group (25) includes an outer yarn pedestal suspension vehicle group (46) for transporting the outer yarn package (47). The unit structure of one unit in the outer yarn pedestal suspension vehicle group (46) is: the articulated connecting rods (452) are used for articulated connection between each unit. The articulated connecting rods (452) are provided with suspension wheel sets (451). The suspension wheel sets (451) are suspended in the track. The lower part of the articulated connecting rods (452) is fixedly connected to the outer yarn suspension frame (461). The outer yarn suspension frame (461) is connected to the disc-shaped outer yarn pedestal (462). The outer yarn pedestal (462) is arranged obliquely. The outer yarn pedestal (462) is provided with a columnar structure for installing the outer yarn package (47); The outer yarn branch track (12) is located on both sides of the frame (10) of the twisting machine (8). An outer yarn guide rail (101) is provided on the frame (10). An outer yarn guide wheel (464) is provided on the outer yarn pedestal (462). When the outer yarn pedestal suspension vehicle group (46) moves to the position of the twisting machine (8), the outer yarn guide wheel (464) enters the outer yarn guide rail (101) to lift the outer yarn pedestal (462) of the outer yarn pedestal suspension vehicle group (46) to maintain an inclined state; When the conveying vehicle group (25) runs to the corresponding working position of the twisting machine (8), it forms a moving bracket (11) of the twisting machine (8). The moving bracket (11) is used for loading the outer yarn package (47) for twisting operation; An elevating section (131) of the inner yarn branch track that can be lifted is provided on the inner yarn branch track (13) corresponding to the frame (10) for the overall lifting of the conveying vehicle group (25) for transporting the inner yarn package (48); The elevating section (131) of the inner yarn branch track is fixedly connected to the elevating guide wheel (38). Elevating guide rails (39) are provided on the support frame (36) and the frame (10). The elevating guide wheel (38) is slidably connected to the elevating guide rail (39). Guide and limit blocks (132) are provided on the inner yarn branch tracks (13) on both sides of the elevating section (131) of the inner yarn branch track to ensure that the elevating section (131) of the inner yarn branch track is aligned with the inner yarn branch tracks (13) on both sides when it is lifted to the highest position; 2. A full-process automated loading, unloading and logistics system for a twisting and weaving factory according to claim 1, Characterized in that: In the twisting area (5), a conveying vehicle group (25) transports the finished yarn to the finished yarn upper yarn track (703) in the weaving area (7) through the finished yarn main track (701) of the overhead conveying track (3).

3. A full-process automated loading / unloading and logistics system for a twisting and weaving factory according to claim 1, characterized in that: the conveying vehicle group (25) is formed by hinged connection of multiple independent units, and the number of independent units of the conveying vehicle group (25) corresponds to the number of workstations of the twisting machines (8) in the twisting area (5); the conveying vehicle group (25) is driven to travel by a traveling driving device (22) fixed on the aerial conveying track (3).

4. A full-process automated loading / unloading and logistics system for a twisting and weaving factory according to claim 1, characterized in that: a reverse track (301) is further provided on the aerial conveying track (3), one end of the reverse track (301) is connected to the aerial conveying track (3), and the other end is a blind end.

5. A full-process automated loading / unloading and logistics system for a twisting and weaving factory according to claim 1, characterized in that: a finished yarn buffer track (702) is further provided on the aerial conveying track (3), the finished yarn buffer track (702) is a parallel multi-row track, and both ends of the finished yarn buffer track (702) are connected to the finished yarn main track (701).

6. A full-process automated loading / unloading and logistics system for a twisting and weaving factory according to any one of claims 1 to 5, characterized in that: multiple merging / splitting switches (6) are provided on the aerial conveying track (3), and controllable switching between two tracks is achieved through the merging / splitting switches (6).

7. A full-process automated loading / unloading and logistics system for a twisting and weaving factory according to claim 6, characterized in that: the aerial conveying track (3) is provided with an internal cavity, and the moving parts of the conveying vehicle group (25) run in the cavity; the structure of the merging / splitting switch (6) is: at the bifurcated connection position of the switch housing (602) of the merging / splitting switch (6), a vertical switch pin (603) is provided, a vertical lane-changing baffle (601) is connected to the switch pin (603) and can swing, one end of the lane-changing baffle (601) is located in the cavity of the switch housing (602), and the free end of the lane-changing baffle (601) extends from the direction of two tracks towards the direction of one track and can block any one of the two tracks; the lane-changing baffle (601) is further connected to a switch electric push rod (605) for driving the lane-changing baffle (601) to swing.

8. A full-process automated loading / unloading and logistics system for a twisting and weaving factory according to claim 7, characterized in that: the other end of the lane-changing baffle (601) extends outside the switch housing (602), one end of the switch electric push rod (605) is hinged to the switch housing (602), and the other end of the switch electric push rod (605) is hinged to the end of the lane-changing baffle (601) outside the switch housing (602); the switch electric push rod (605) is provided with an angle feedback device (606).

9. A full-process automated loading / unloading and logistics system for a twisting and weaving factory according to claim 1, characterized in that: a trigger sensor (23) for writing and reading the position of the conveying vehicle group (25) is further provided on the aerial conveying track (3).

10. A full-process automated loading / unloading and logistics system for a twisting and weaving factory according to claim 1, characterized in that: On the aerial conveying track (3), there is also a variety reader / writer (28) for writing and reading the types of spooled materials carried by the conveying vehicle group (25).

11. A fully automated loading / unloading and logistics system for a twisting and weaving factory according to claim 1, characterized in that: On both sides of the outer yarn seat (462), there are also bobbin seats (463) for placing bobbins (51).

12. A fully automated loading / unloading and logistics system for a twisting and weaving factory according to claim 1, characterized in that: The conveying vehicle group (25) includes a holding-type suspension device (45) for conveying inner yarn spools (48) or finished yarn spools (54); The unit structure of the holding-type suspension device (45) is: the articulated connecting rods (452) are used for articulated connection between each unit. The articulated connecting rods (452) are provided with suspension wheel groups (451). The suspension wheel groups (451) are suspended in the track. The bottom of the articulated connecting rods (452) is connected to the vertical rod (453). The vertical rod (453) is connected to the holding arm (455). There is a space for loading the inner yarn spool (48) in the middle of the holding arm (455). The bottom of the holding arm (455) is provided with an opening.

13. A fully automated loading / unloading and logistics system for a twisting and weaving factory according to claim 12, characterized in that: The holding arm (455) is also provided with a structure for placing bobbins.

14. A fully automated loading / unloading and logistics system for a twisting and weaving factory according to claim 1, characterized in that: The conveying vehicle group (25) includes an inner yarn hanging device (21) for conveying inner yarn spools (48). The unit structure of the inner yarn hanging device (21) is: the articulated connecting rods (452) are provided with suspension wheel groups (451). The suspension wheel groups (451) are suspended in the track. The articulated connecting rods (452) are used for articulated connection of multiple unit structures. The bottom of the articulated connecting rods (452) is connected to the connecting rod (211). The connecting rod (211) is connected to the quadrilateral connecting rod (212). A tension spring (213) is provided between two of the rods near the bottom of the quadrilateral connecting rod (212). Two of the rods in the quadrilateral connecting rod (212) are respectively connected to the first hanging rod (214) and the second hanging rod (215). The bottoms of the first hanging rod (214) and the second hanging rod (215) are provided with barbs; The tension spring (213) is used to make the first hanging rod (214) and the second hanging rod (215) tend to open.

15. A fully automated loading / unloading and logistics system for a twisting and weaving factory according to claim 1, characterized in that: There is also a driving device. The driving device drives the lifting section (131) of the inner yarn branch track to lift through a transmission mechanism; There is also a stroke sensor (44) for detecting the lifting stroke of the lifting section (131) of the inner yarn branch track.

16. A fully automated loading / unloading and logistics system for a twisting and weaving factory according to claim 15, characterized in that: The driving device includes a motor, a hydraulic cylinder or a cylinder connected to a gear-rack mechanism.

17. A fully automated loading / unloading and logistics system for a twisting and weaving factory according to claim 15, characterized in that: A lifting main shaft (41) is provided on a support frame (36). The lifting main shaft (41) is rotatably supported on the support frame (36). A lifting drive motor (40) is also provided on the support frame (36). The lifting drive motor (40) drives the lifting main shaft (41) to rotate. A hoisting wheel (42) is further provided on the lifting main shaft (41). A hoisting belt (43) is wound around the hoisting wheel (42). The end of the hoisting belt (43) is connected to the lifting section (131) of the inner yarn branch track. The lifting section (131) of the inner yarn branch track is driven to lift by the rotation of the hoisting wheel (42).

18. A full-process automated loading / unloading and logistics system for a twisting and weaving factory according to claim 1 or 15, characterized in that: a slide rail (34) is provided on the frame (10) of a twisting machine (8). A sliding frame (35) is slidably connected to the slide rail (34). A bobbin can (18) and a twisting mechanism (26) are provided on the sliding frame (35). The sliding frame (35) is used to carry the bobbin can (18) and the twisting mechanism (26) to slide in or out from one side of the twisting machine (8). When the sliding frame (35) slides out, there is no obstruction above the bobbin can (18).

19. A full-process automated loading / unloading and logistics system for a twisting and weaving factory according to claim 18, characterized in that: a sliding main shaft (31) is provided on the frame. The sliding main shaft (31) is connected to a driving device (33) through a transmission mechanism (32). A sliding rack (29) is fixedly provided on the sliding frame (35). A sliding gear (30) is fixedly provided on the sliding main shaft (31). The sliding gear (30) is meshed with the sliding rack (29) to drive the sliding frame (35) to slide in or out from one side of the twisting machine (8).

20. A full-process automated loading / unloading and logistics system for a twisting and weaving factory according to claim 1, characterized in that: scaffolding vehicle guide rails (19) are provided on both sides of a twisting machine (8). A scaffolding vehicle (17) is also provided. A traveling wheel (171) is provided at the bottom of the scaffolding vehicle (17). A step (172) is provided on one side of the scaffolding vehicle (17). A guide wheel mechanism (20) is further provided on the scaffolding vehicle (17). The guide wheel mechanism (20) is slidably connected to the scaffolding vehicle guide rail (19).

21. A full-process automated loading / unloading and logistics system for a twisting and weaving factory according to claim 1, characterized in that: a yarn loading area (49) is further provided in an outer yarn preparation area (1) or an inner yarn preparation area (2). A robotic arm (495) is provided in the yarn loading area (49). The robotic arm (495) is provided with a multi-claw manipulator (494); a roller path (493) is provided around the robotic arm (495).

22. A full-process automated loading / unloading and logistics system for a twisting and weaving factory according to claim 21, characterized in that: a tube supply device (52) is further provided in the yarn loading area (49) for supplying tubes (51) of finished yarn packages (54).

23. A full-process automated loading / unloading and logistics system for a twisting and weaving factory according to claim 21, characterized in that: The tube supply device (52) includes a tube lifting belt (521), a tube translation belt (522), a tube annular belt (523), and a jacking device (524); The tube lifting belt (521) is inclined and arranged to convey the tube (51) from a lower position to the tube translation belt (522) at a higher position. The tube translation belt (522) is located in the middle of the tube annular belt (523). On the tube translation belt (522), the axis of the tube (51) is arranged along the movement direction of the tube translation belt (522); A plurality of tipping buckets (525) for carrying the tube (51) are provided on the tube annular belt (523). The tube translation belt (522) is used to convey the tube (51) into the tipping bucket (525). The height of the tube annular belt (523) is flush with the height of the transport vehicle group (25). A working station aligned with the transport vehicle group (25) is provided on the tube annular belt (523), and a jacking device (524) is provided near the working station. The jacking device (524) is used to turn the tube (51) in the tipping bucket (525) onto the bobbin seat (463) of the inner yarn vehicle group.

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