A yarn spindle automatic sorting and grabbing device

Abstract

The present application relates to a kind of yarn spindle automatic sequencing grabbing device, it includes first conveyor, second conveyor and third conveyor are separately arranged in the left and right sides of the first conveyor, two-way yarn pushing device is arranged above the first conveyor, first four-station divider device is arranged in the front side of the second conveyor, second four-station divider device is arranged in the front side of the third conveyor, two-station gantry robot is arranged between the first four-station divider device and second four-station divider device, fourth conveyor is arranged below the two-station gantry robot.The present application relates to a kind of yarn spindle automatic sequencing grabbing device, it can realize the sequencing of cotton yarn spindle, overturn, detection and grabbing, improves the conveying efficiency of cotton yarn spindle, and then improves the production efficiency of entire warping.

Description

Technical Field

[0001] This invention relates to an automatic yarn sorting and gripping device, belonging to the field of textile machinery technology. Background Technology

[0002] Cotton spindles are essential materials in textile processing. Warping, as a process preceding weaving, requires cotton spindles to be handled, transported, grasped, and hung before warping. Cotton spindles are generally packaged in bags or boxes, making automated grasping impossible. Therefore, manual grasping and hanging of the spindles is necessary, resulting in high labor costs and significantly impacting the conveying efficiency of the spindles, thereby affecting the overall warping production efficiency. Summary of the Invention

[0003] The technical problem to be solved by the present invention is to provide an automatic yarn spindle sorting and gripping device that can sort, flip, detect and grip cotton yarn spindles, thereby improving the conveying efficiency of cotton yarn spindles and thus improving the overall warping production efficiency.

[0004] The technical solution adopted by the present invention to solve the above problems is as follows: an automatic yarn spindle sorting and gripping device, which includes a first conveyor, a second conveyor and a third conveyor respectively arranged on the left and right sides of the first conveyor, a bidirectional yarn pushing device arranged above the first conveyor, a first four-station divider device arranged in front of the second conveyor, a second four-station divider device arranged in front of the third conveyor, a two-station truss manipulator arranged between the first four-station divider device and the second four-station divider device, and a fourth conveyor arranged below the two-station truss manipulator.

[0005] Optionally, a fifth conveyor is provided in front of the first four-station divider device, and a sixth conveyor is provided in front of the second four-station divider device.

[0006] Optionally, the bidirectional yarn pushing device includes a fixed frame, on which a yarn pushing actuator is mounted, and on which a yarn pushing plate is mounted.

[0007] Optionally, the yarn pushing actuator includes two fixed seats, left and right, with an optical shaft and a threaded shaft disposed between the two fixed seats. A slide is mounted on the optical shaft and the threaded shaft, and the slide is engaged with the threaded shaft via a thread. The yarn pushing plate is disposed on the slide.

[0008] Optionally, the first four-station divider device and the second four-station divider device have the same structure, both including a dividing frame, a support plate on the top of the dividing frame, a turntable on the support plate, and four spindle grooves on the outer periphery of the turntable.

[0009] Optionally, the area corresponding to the yarn spindle groove on the circular base plate is hollowed out.

[0010] Optionally, the turntable is surrounded by a panel with four openings located at the front, back, left, and right positions of the panel.

[0011] Optionally, the area corresponding to the front and rear spindle grooves of the support plate is hollowed out.

[0012] Optionally, the two-station gantry robot includes two columns, left and right, with a crossbeam between the tops of the two columns. A transverse slide rail is provided on the crossbeam, a transverse movement device is provided on the transverse slide rail, a lifting device is provided on the transverse movement device, and a spindle clamping fixture is provided on the lifting device.

[0013] Optionally, the first yarn clamping and flipping mechanism and the second yarn clamping and flipping mechanism have the same structure, both including a lifting mechanism. The lifting mechanism is provided with a support platform, and two clamping mechanisms are symmetrically arranged on the support platform. The clamping mechanism is provided with a clamping frame, the clamping frame is provided with a rotating mechanism, the rotating mechanism is provided with a clamping seat, and the clamping seat is provided with two clamping rollers, one in front and one behind.

[0014] Compared with the prior art, the advantages of the present invention are as follows:

[0015] This invention discloses an automatic yarn spindle sorting and gripping device, which can sort, flip, detect and grip cotton yarn spindles, improving the conveying efficiency of cotton yarn spindles and thus improving the overall warping production efficiency. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the structure of an automatic yarn spindle sorting and gripping device according to the present invention.

[0017] Figure 2 for Figure 1 Top view.

[0018] Figure 3 This is a partial perspective view of an automatic yarn spindle sorting and gripping device according to the present invention.

[0019] Figure 4 for Figure 1 A schematic diagram of the bidirectional yarn pushing device.

[0020] Figure 5 for Figure 4 Side view.

[0021] Figure 6 for Figure 5 A bottom view.

[0022] Figure 7 for Figure 1A three-dimensional structural diagram of the first four-station divider device or the second four-station divider device.

[0023] Figure 8 for Figure 7 The main view.

[0024] Figure 9 for Figure 8 Top view.

[0025] Figure 10 for Figure 8 Side view.

[0026] Figure 11 for Figure 1 A schematic diagram of the structure of the gantry robot at the second workstation.

[0027] Figure 12 for Figure 11 Top view.

[0028] Figure 13 for Figure 11 Side view.

[0029] Figure 14 for Figure 1 A three-dimensional structural diagram of the first or second yarn clamping and flipping mechanism.

[0030] Figure 15 for Figure 14 The main view.

[0031] Figure 16 for Figure 15 Top view.

[0032] Figure 17 for Figure 16 Side view.

[0033] in:

[0034] First conveyor 1

[0035] Second conveyor 2

[0036] Third conveyor 3

[0037] Bidirectional yarn pushing device 4

[0038] Fixture 4.1

[0039] Yarn pusher actuator 4.2

[0040] Fixture 4.2.1

[0041] Optical axis 4.2.2

[0042] Threaded shaft 4.2.3

[0043] Slide 4.2.4

[0044] 4.2.5 clamping strip

[0045] Yarn pusher plate 4.3

[0046] First four-station divider device 5

[0047] Divider 5.1

[0048] Support plate 5.2

[0049] Turntable 5.3

[0050] Circular base plate 5.3.1

[0051] U-shaped baffle 5.3.2

[0052] Spindle groove 5.4

[0053] Enclosure 5.5

[0054] Opening 5.6

[0055] Photoelectric sensor 5.7

[0056] slewing bearing 5.8

[0057] Second servo motor 5.9

[0058] Second and fourth station divider device 6

[0059] Two-station gantry robot 7

[0060] Column 7.1

[0061] Crossbeam 7.2

[0062] 7.3 lateral slide rail

[0063] 7.4 Transverse movement device

[0064] 7.4.1 Transverse sliding table

[0065] Horizontal movement motor 7.4.2

[0066] Lifting device 7.5

[0067] Lifting frame 7.5.1

[0068] Lifting slide 7.5.2

[0069] Lifting motor 7.5.3

[0070] 7.6 Spindle clamping fixture

[0071] Clamping seat 7.6.1

[0072] Pneumatic finger 7.6.2

[0073] 7.7 Gear rack

[0074] Fourth conveyor 8

[0075] Fifth Conveyor 9

[0076] Sixth Conveyor 10

[0077] Spindle limiting and positioning pin 11

[0078] First yarn-clamping flipping mechanism 12

[0079] Lifting mechanism 12.1

[0080] Support platform 12.2

[0081] Clamping mechanism 12.3

[0082] Clamping bracket 12.4

[0083] Rotating mechanism 12.5

[0084] Clamping seat 12.6

[0085] Clamping roller 12.7

[0086] Limiting seat 12.8

[0087] Limit bolt 12.9

[0088] Second yarn-clamping flipping mechanism 13

[0089] Visual inspection device 14. Detailed Implementation

[0090] The present invention will be further described in detail below with reference to the accompanying drawings and embodiments.

[0091] See Figures 1-17 This invention relates to an automatic yarn spindle sorting and gripping device, which includes a first conveyor 1, a second conveyor 2 and a third conveyor 3 respectively arranged on the left and right sides of the first conveyor 1, a bidirectional yarn pushing device 4 arranged above the first conveyor 1, the bidirectional yarn pushing device 4 being able to push the yarn spindles on the first conveyor 1 toward the second conveyor 2 or the third conveyor 3, a first four-station divider device 5 arranged in front of the second conveyor 2, a second four-station divider device 6 arranged in front of the third conveyor 3, a two-station gantry robot 7 arranged between the first four-station divider device 5 and the second four-station divider device 6, and a fourth conveyor 8 arranged below the two-station gantry robot 7, the two-station gantry robot 7 being able to grip the yarn spindles on the first four-station divider device 5 and the second four-station divider device 6 onto the fourth conveyor 8;

[0092] A fifth conveyor 9 is provided on the front side of the first four-station divider device 5, and a sixth conveyor 10 is provided on the front side of the second four-station divider device 6.

[0093] The first conveyor 1, the second conveyor 2, the third conveyor 3, the fourth conveyor 8, the fifth conveyor 9 and the sixth conveyor 10 have the same structure, all of which include a conveyor frame. The conveyor frame is provided with two front and rear drive shafts, and a conveyor belt is wound between the two front and rear drive shafts.

[0094] One of the drive shafts is driven by the first drive component, thereby causing the conveyor belt to move back and forth;

[0095] The fourth conveyor 8 is equipped with a spindle limiting and positioning post 11 on its conveyor belt;

[0096] The bidirectional yarn pushing device 4 includes a fixed frame 4.1, on which a yarn pushing actuator 4.2 is provided, and on which a yarn pushing plate 4.3 is provided;

[0097] The yarn pushing actuator 4.2 can be in the form of a pneumatic component, an electric component, or a linear module, etc.

[0098] The yarn pushing actuator 4.2 includes two fixed seats 4.2.1 on the left and right sides. A light shaft 4.2.2 and a threaded shaft 4.2.3 are arranged between the two fixed seats 4.2.1. A slide table 4.2.4 is fitted on the light shaft 4.2.2 and the threaded shaft 4.2.3. The slide table 4.2.4 is engaged with the threaded shaft 4.2.4 by threads. The yarn pushing plate 4.3 is arranged on the slide table 4.2.4.

[0099] The fixing base 4.2.1 is connected to the fixing frame 4.1 by bolts;

[0100] There are two optical axes 4.2.2, which are arranged in parallel front to back.

[0101] The threaded shaft 4.2.3 is located below the optical axis 4.2.2;

[0102] The threaded shaft 4.2.3 has two fixed seats 4.2.1 extending from its left and right ends respectively;

[0103] The threaded shaft 4.2.3 is driven by a first servo motor;

[0104] The bottom of the slide table 4.2.4 is provided with two clamping strips 4.2.5 on the left and right sides. The clamping strips 4.2.5 are arranged in the front-to-back direction, and the yarn pusher plate 4.3 is clamped between the two clamping strips 4.2.5 on the left and right sides.

[0105] The first four-station divider device 5 and the second four-station divider device 6 have the same structure, both including a divider frame 5.1. A support plate 5.2 is provided on the top of the divider frame 5.1. A turntable 5.3 is provided on the support plate 5.2. Multiple spindle grooves 5.4 are opened on the outer periphery of the turntable 5.3.

[0106] The turntable 5.3 includes a circular base plate 5.3.1, and a plurality of U-shaped baffles 5.3.2 are provided on the outer periphery of the circular base plate 5.3.1. The U-shaped baffles 5.3.2 have outward openings, and the inner area of ​​the U-shaped baffles 5.3.2 forms a spindle groove 5.4.

[0107] The outer end of the U-shaped baffle 5.3.2 extends to the outer edge of the circular base plate 5.3.1;

[0108] The area corresponding to the circular base plate 5.3.1 and the spindle groove 5.4 is hollowed out;

[0109] The turntable 5.3 is surrounded by a partition plate 5.5, and the partition plate 5.5 has multiple openings 5.6.

[0110] The number of openings 5.6 corresponds to the number of spindle grooves 5.4;

[0111] The preferred number of the spindle grooves 5.4 and openings 5.6 is four;

[0112] The four openings 5.6 are located at the front, back, left, and right positions of the enclosure panel 5.5;

[0113] The area corresponding to the support plate 5.2 and the front and rear spindle grooves 5.4 is hollowed out;

[0114] Photoelectric sensors 5.7 are installed above the front and rear spindle grooves 5.4;

[0115] The turntable 5.3 is mounted on the support plate 5.1 via a slewing bearing 5.8;

[0116] The slewing bearing 5.8 is driven by a second servo motor 5.9;

[0117] The two-station truss robot 7 includes two columns 7.1 on the left and right, and a crossbeam 7.2 is provided between the tops of the two columns 7.1. A transverse slide rail 7.3 is provided on the crossbeam 7.2, a transverse movement device 7.4 is provided on the transverse movement device 7.4, a lifting device 7.5 is provided on the transverse movement device 7.4, and a spindle clamping fixture 7.6 is provided on the lifting device 7.5.

[0118] There are two transverse slide rails 7.3, which are arranged in parallel front to back.

[0119] There are two transverse movement devices 7.4, arranged on the left and right sides;

[0120] The transverse movement device 7.4 includes a transverse movement slide 7.4.1 on which a transverse movement motor 7.4.2 is mounted. The transverse movement motor 7.4.2 is arranged vertically. A transmission gear is mounted at the lower end of the transverse movement motor 7.4.2. A transmission rack 7.7 is mounted between the front and rear transverse movement slides 7.3. The transmission gear and the transmission rack 7.7 cooperate with each other.

[0121] The lifting device 7.5 includes a lifting frame 7.5.1, on which a lifting slide rail is vertically arranged. There are two lifting slide rails, which are arranged parallel to each other. A lifting slide table 7.5.2 is arranged on the two lifting slide rails. A lifting motor 7.5.3 is arranged on the top of the lifting slide table 7.5.2. A transmission screw is connected to the lower end of the lifting motor 7.5.3. A transmission nut is arranged between the two lifting slide rails. The transmission nut is fixedly arranged on the lifting frame 7.5.1 and cooperates with the transmission screw.

[0122] The spindle clamping fixture 7.6 includes a clamping seat 7.6.1, on which pneumatic fingers 7.6.2 are provided;

[0123] The pneumatic finger 7.6.2 is driven by a cylinder;

[0124] The cylinder is positioned above the pneumatic finger 7.6.2;

[0125] The pneumatic finger 7.6.2 is preferably a three-claw pneumatic finger;

[0126] The second conveyor 2 and the third conveyor 3 are equipped with a spindle size detection device at the front side of the bidirectional yarn pushing device 4;

[0127] The spindle size detection device includes a size detection bracket, on which two sets of detection elements are provided, and the detection bracket is located on the left and right sides of the second conveyor 2 or the third conveyor 3.

[0128] A first yarn clamping and flipping mechanism 12 is provided in front of the yarn spindle size detection device;

[0129] A second yarn clamping and flipping mechanism 13 is provided in front of the first yarn clamping and flipping mechanism 12;

[0130] The first yarn clamping and flipping mechanism 12 and the second yarn clamping and flipping mechanism 13 have the same structure, both including a lifting mechanism 12.1. The lifting mechanism 12.1 is provided with a support platform 12.2. The support platform 12.2 is symmetrically provided with two clamping mechanisms 12.3. The clamping mechanism 12.3 is provided with a clamping frame 12.4. The clamping frame 12.4 is provided with a rotating mechanism 12.5. The rotating mechanism 12.5 is provided with a clamping seat 12.6. The clamping seat 12.6 is provided with two clamping rollers 12.7.

[0131] The lifting mechanism 12.1 adopts a pneumatic or electric lifting slide;

[0132] The clamping mechanism 12.3 adopts a pneumatic or electric telescopic slide;

[0133] The rotating mechanism 12.5 adopts a pneumatic or electric rotary table;

[0134] The clamping roller 12.7 adopts a conical structure that is smaller at the top and larger at the bottom;

[0135] Two limiting seats 12.8 are provided between the two clamping mechanisms 12.3 on the left and right sides, and limiting bolts 12.9 are provided on the limiting seats 12.8;

[0136] The limiting bolt 12.9 nut has one end facing outwards;

[0137] A visual inspection device 14 is provided above the second yarn clamping and flipping mechanism 13;

[0138] The visual inspection device 14 includes a visual inspection bracket, on which a light source, a lens, and a camera are mounted.

[0139] The visual inspection bracket is located on the left and right sides of the second conveyor 2 or the third conveyor 3.

[0140] After passing through the conveying, turning, and sorting devices in the preceding process, the cotton spindles arrive at the first conveyor in two states: one with the larger end facing up and the other with the smaller end facing up. Each time the first conveyor receives a cotton spindle, it moves forward one station. A detection device is installed at the very front station of the first conveyor. After detecting the cotton spindle, the bidirectional yarn pushing device activates once, pushing the cotton spindle to the second conveyor. After the detection device detects the next cotton spindle, the bidirectional yarn pushing device activates again, pushing the cotton spindle to the third conveyor. This process continues, with cotton spindles being pushed alternately onto the second and third conveyors (a yarn pushing chute is installed between the first and second and third conveyors).

[0141] After receiving the cotton spindle, the second and third conveyors move it forward one station. The spindle size detection device is set between the first and second stations to preliminarily determine the large and small ends of the cotton spindle.

[0142] The first yarn clamping and flipping mechanism is located at the third station of the second and third conveyors. When the yarn spindle passes through this station, if the smaller end is facing upwards, the first yarn clamping and flipping mechanism will activate and flip the yarn spindle 180°; if the larger end is facing upwards, the first yarn clamping and flipping mechanism will not activate. The yarn spindles that have passed through the third station arrive at the fourth station to wait for material after the second and third conveyors have finished operating. At this time, the yarn spindles are all in the state of having the larger end facing upwards (the action sequence of the first yarn clamping and flipping mechanism is: clamping → rising → flipping → falling → releasing → yarn spindle removal → flipping reset). The second yarn clamping and flipping mechanism is located at the third station of the second and third conveyors. At the fifth station of the conveyor, the second and third conveyors move the spindle into the fifth station. The second yarn clamping and turning mechanism then activates, clamping the spindle and lifting it a short distance. A visual inspection device precisely captures the shape of the larger end and determines whether the spindle paper tube is usable. Then, the second yarn clamping and turning mechanism rotates 180° to precisely capture the shape of the smaller end and determines whether the spindle paper tube is usable. The second yarn clamping and turning mechanism then descends and releases the spindle. Under the action of the second and third conveyors, the spindle moves to the sixth station. Simultaneously, the second yarn clamping and turning mechanism rotates 180° in the opposite direction, returning to its initial state. Waiting for the next spindle (the action sequence of the second yarn clamping and flipping mechanism: clamping → rising → visual inspection → flipping → visual inspection → falling → releasing → spindle stepping → flipping and resetting); the first station of the first four-station divider device and the second four-station divider device coincides with the sixth station of the second conveyor and the third conveyor, respectively. The second station is the material picking position of the two-station gantry robot, the third station is the station for unqualified spindles to be processed, and the fourth station is the preparation station. A detection device is set at the front end (sixth station) of the second conveyor and the third conveyor. After the detection device detects that there is material at the sixth station, The first and second fourth-station divider devices rotate 90° to bring the spindles to the second station of the first and second fourth-station divider devices. If the vision inspection device determines that the spindles are qualified, the second-station gantry robot arm will move to grab the spindles on the second station of the first and second fourth-station divider devices and place them alternately on the positioning column of the fourth conveyor. The fourth conveyor advances one station for each section of one material. After the front end of the fourth conveyor has completed the number of spindle groups, the robot arm grabs the group of spindles and places them on the designated frame to complete the automatic grabbing action.

[0143] If the visual inspection device determines that the spindle is unqualified, the first and fourth station dividers and the second and fourth station dividers continue to rotate 90°, bringing the unqualified spindle to the third station of the first and fourth station dividers and the second and fourth station dividers. A detection device is set up above the third station. After the detection device detects that there is material at the station, the fifth and sixth conveyors start and convey the unqualified material forward one station. The front end of the fifth and sixth conveyors is equipped with a material full detection device. If the material is full, the unqualified material is removed manually.

[0144] In addition to the above embodiments, the present invention also includes other embodiments. All technical solutions formed by equivalent transformation or equivalent substitution should fall within the protection scope of the claims of the present invention.

Claims

1. A yarn package automatic sequencing gripper device characterized by: It includes first conveyor (1), second conveyor (2) and third conveyor (3) are arranged on the left and right sides of the first conveyor (1) respectively, bidirectional yarn pushing device (4) is arranged above the first conveyor (1), first four station divider device (5) is arranged on the front side of the second conveyor (2), second four station divider device (6) is arranged on the front side of the third conveyor (3), two station truss manipulator (7) is arranged between the first four station divider device (5) and the second four station divider device (6), fourth conveyor (8) is arranged below the two station truss manipulator (7); The first four station divider device (5) and the second four station divider device (6) are the same structure, and each include a dividing frame (5.1), a support plate (5.2) is arranged on the top of the dividing frame (5.1), a turntable (5.3) is arranged on the support plate (5.2), four spindle grooves (5.4) are formed in the outer periphery of the turntable (5.3); The turntable (5.3) includes a circular bottom plate (5.3.1), and the area corresponding to the spindle groove (5.4) is hollowed out; The turntable (5.3) is provided with a surrounding plate (5.5) on the outer periphery, four openings (5.6) are formed in the surrounding plate (5.5), and the four openings (5.6) are respectively located at the front, rear, left and right positions of the surrounding plate (5.5); The support plate (5.2) is hollowed out in the area corresponding to the front and rear spindle grooves (5.4); The two station truss manipulator (7) includes two vertical columns (7.1), a horizontal beam (7.2) is arranged between the top of the two vertical columns (7.1), a horizontal moving slide rail (7.3) is arranged on the horizontal beam (7.2), a horizontal moving device (7.4) is arranged on the horizontal moving slide rail (7.3), a lifting device (7.5) is arranged on the horizontal moving device (7.4), and a spindle clamping tool (7.6) is arranged on the lifting device (7.5); The second conveyor (2) and the third conveyor (3) are provided with a spindle size head detection device at the front side of the bidirectional yarn pushing device (4); a first yarn clamping and overturning mechanism (12) is arranged in front of the spindle size head detection device; a second yarn clamping and overturning mechanism (13) is arranged in front of the first yarn clamping and overturning mechanism (12).

2. The yarn package automatic sequencing and gripping device of claim 1, wherein: The first four station divider device (5) is provided with a fifth conveyor (9) on the front side, and the second four station divider device (6) is provided with a sixth conveyor (10) on the front side.

3. The yarn package automatic sequencing gripper of claim 1, wherein: The bidirectional yarn pushing device (4) includes a fixed frame (4.1), a yarn pushing actuator (4.2) is arranged on the fixed frame (4.1), and a yarn pushing plate (4.3) is arranged on the yarn pushing actuator (4.2).

4. The yarn package automatic sequencing gripper of claim 3, wherein: The yarn pushing executor (4.2) comprises two fixed seats (4.2.1) arranged left and right, an optical shaft (4.2.2) and a threaded shaft (4.2.3) are arranged between the two fixed seats (4.2.1), a sliding table (4.2.4) is sleeved on the optical shaft (4.2.2) and the threaded shaft (4.2.3), the sliding table (4.2.4) is matched with the threaded shaft (4.2.4) through threads, and the yarn pushing plate (4.3) is arranged on the sliding table (4.2.4).

5. The yarn package automatic sequencing gripper of claim 1, wherein: The first yarn clamping and overturning mechanism (12) and the second yarn clamping and overturning mechanism (13) are the same in structure, and each comprises a lifting mechanism (12.1), a supporting platform (12.2) is arranged on the lifting mechanism (12.1), two clamping mechanisms (12.3) are symmetrically arranged on the supporting platform (12.2), a clamping frame (12.4) is arranged on the clamping mechanism (12.3), a rotating mechanism (12.5) is arranged on the clamping frame (12.4), a clamping seat (12.6) is arranged on the rotating mechanism (12.5), and two clamping rollers (12.7) are arranged on the clamping seat (12.6).

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