A ring layer type spool weighing and sorting device

Abstract

The application discloses a ring layer type yarn spindle weighing and sorting device, which comprises a weighing device arranged on a conveying mechanism, a mechanical hand arranged at the rear end of the weighing device along the yarn spindle conveying direction and at least one transfer channel located at the side of the mechanical hand; at least one retention platform is arranged at the circumferential side of the mechanical hand, and the mechanical hand moves the yarn spindles grabbed from the conveying mechanism to the retention platform in sequence; the device further comprises a transportation platform, which is used for taking the yarn spindles on the retention platform and transporting the yarn spindles to the corresponding transfer channels according to predetermined rules. The device adopts the transfer channels with a multilayer structure to form a ring layer type structure, can effectively sort yarn spindles with different qualities, and then convey the yarn spindles to different areas for storage, so that, compared with the commonly used flat type classification equipment on the market, the overall occupied area is reduced, and the work efficiency per unit area is improved.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of textile packaging equipment, and particularly relates to a yarn spindle weighing and sorting device with an annular layer structure. BACKGROUND

[0002] In the textile process, the existing equipment technology cannot absolutely avoid the occurrence of broken yarns in the bobbin winding process, resulting in uneven weights of yarn spindles in the same batch of finished products. After the same number of finished yarn spindles are baled into bags, the total weight of each bag is difficult to achieve good consistency. Moreover, the weight of each yarn spindle is not distinguished when the yarn spindles are packed into bags, resulting in different weights of yarn spindle products in each bag. When selling batches of yarn spindles, manufacturers will cause economic differences. For example, existing buyers purchase yarn spindles in 50 kg per package. The weight of each yarn spindle produced by the manufacturer is 5 kg. However, due to production reasons, there is an error of plus or minus 5% in the weight of each yarn spindle, which will cause potential economic losses to the manufacturer.

[0003] Therefore, many manufacturers will choose to weigh the yarn spindles before sale, and match yarn spindles of different weights to make the entire package (such as 10 per package) match 50 kg, thereby effectively avoiding economic losses caused by weight errors.

[0004] However, most manufacturers currently use weighing and sorting devices that use a flow line type weighing and manual sorting process. However, in the case of large daily production of manufacturers, it is difficult to meet the efficiency requirements of weighing and sorting work, and a large area of the factory building is occupied to store yarn spindles of different weight standards. SUMMARY

[0005] In view of the problems in the prior art, the application provides an annular layer yarn spindle weighing and sorting device. The overall occupied area can be reduced by using an annular layer transfer channel, the work efficiency per unit area is improved, and the yarn spindles can be transported to different transfer channels by controlling the rotation angle of the rotating device, so that the classification and sorting of yarn spindles of different weights can be realized.

[0006] To achieve the above-mentioned purpose, the application provides the following technical scheme:

[0007] An annular layer yarn spindle weighing and sorting device comprises a weighing device arranged on a conveying mechanism, a mechanical hand arranged at the rear end of the weighing device in the yarn spindle conveying direction, and at least one transfer channel located at the side of the mechanical hand.

[0008] At least two retention platforms are arranged on the side of the mechanical hand. The mechanical hand moves the yarn spindles grabbed from the conveying mechanism to the retention platforms in sequence.

[0009] The transportation platform is used to take the spindles on the residence platform and transport them to the corresponding transfer channel according to a predetermined rule.

[0010] Preferably, the transfer channel is provided with at least one layer in the height direction, and each layer of the transfer channel is provided with a receiving platform for receiving the spindles transported by the transportation platform.

[0011] Preferably, at least one side of the receiving platform is provided with a pushing device, and after the spindles are transported to the receiving platform, the pushing device pushes the spindles into the transfer channel.

[0012] Preferably, the pushing device comprises a support plate fixedly connected with the transfer channel, a detector provided on the side wall of the support plate or in the support plate, a transmission shaft provided on the support plate, and a pushing blade fixedly connected with the transmission shaft, and the transmission shaft can be driven by a motor to drive the pushing blade to rotate.

[0013] Preferably, the pushing device is provided with two, and the two pushing devices are respectively arranged on the two sides of the receiving platform, and the rotating directions of the pushing blades in the two pushing devices are opposite.

[0014] Preferably, the transportation platform is connected with a rotating device, and the rotating device is used to drive the transportation platform to move the spindles on the residence platform to the receiving platform, and drive the transportation platform to return from the receiving platform to the residence platform.

[0015] Preferably, the rotating device comprises a rotating arm fixedly connected with the transportation platform, an external gear fixedly connected with the rotating arm, an internal gear coaxially arranged with the external gear, a first gear engaged with the external gear, a second gear engaged with the internal gear, and a driving part fixedly connected with the internal gear and arranged at the central axis of the internal gear, the first gear and the second gear are fixedly connected through a transmission shaft, and a positioning pin is arranged outside the transmission shaft.

[0016] Preferably, the lower part of the rotating device is provided with a lifting device.

[0017] Preferably, the residence platform, the transportation platform and the receiving platform adopt a platform with a hollow structure formed by a plurality of support columns and a bottom plate, and when the transportation platform moves to a predetermined position on the residence platform or the receiving platform, the support columns on the transportation platform are in a staggered state with the support columns on the residence platform or the receiving platform.

[0018] Preferably, the mechanical hand comprises a rotating base arranged on one side of the conveying mechanism, a mechanical arm rotationally connected with the rotating base, a rotating shaft rotationally connected with the mechanical arm, and a finger joint cylinder rotationally connected with the rotating shaft.

[0019] Compared with the prior art, the present application has the following beneficial effects:

[0020] 1) The transfer channel adopts a multi-layer structure to form a ring layer structure, which reduces the overall occupied area and improves the work efficiency per unit area compared with the commonly used flat classification equipment on the market;

[0021] 2) The transfer channel of the ring layer structure adopts different angles, which can realize the classification and sorting of yarn spindles of different qualities by rotating the rotating device at different angles;

[0022] 3) The sorting line composed of the retention platform, the transportation platform, the lifting device and the rotating device can be set in multiple, which can effectively improve the sorting efficiency by working in their own half-ring intervals alternately;

[0023] 4) The pushing device composed of the probe, the transmission shaft and the pushing blade can push the yarn spindles on the receiving platform into the transfer channel for transportation. Since the pushing device is arranged at the side of the receiving platform, compared with the straight pushing device of the commonly used air cylinder, the pushing device can effectively reduce the occupied space and the operation space. BRIEF DESCRIPTION OF DRAWINGS

[0024] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the drawings needed in the embodiments will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can also be obtained by those skilled in the art without creative labor.

[0025] Figure 1 is a perspective view of the ring layer yarn spindle weighing and sorting device of the present application;

[0026] Figure 2 is a top view of the ring layer yarn spindle weighing and sorting device of the present application;

[0027] Figure 3 is a structure schematic view of the mechanical hand in the ring layer yarn spindle weighing and sorting device of the present application;

[0028] Figure 4 is a structure schematic view of the transportation platform in the ring layer yarn spindle weighing and sorting device of the present application;

[0029] Figure 5 is a structure schematic view of the lifting device in the ring layer yarn spindle weighing and sorting device of the present application;

[0030] Figure 6 is a front view of the rotating device in the ring layer yarn spindle weighing and sorting device of the present application;

[0031] Figure 7 Figure 1 is a top view of a rotating device in a ring layer type yarn spindle weighing and sorting device according to the present application;

[0032] Figure 8 Figure 2 is a structural schematic view of a pushing device in a ring layer type yarn spindle weighing and sorting device according to the present application;

[0033] Figure 9 Figure 3 is a perspective view of a ring layer type yarn spindle weighing and sorting device according to the present application in a second application mode;

[0034] Figure 10 Figure 4 is a top view of a ring layer type yarn spindle weighing and sorting device according to the present application in a second application mode.

[0035] In the figures:

[0036] 1. Weighing device;

[0037] 2. Numerical control display operating platform;

[0038] 3. Manipulator; 31, rotating base; 32 / 33 / 35, axis joint; 34, rotating shaft; 36, finger joint cylinder; 37, mechanical arm;

[0039] 4. Retention platform;

[0040] 5. Transport platform; 51, support column; 52, side plate; 53, bottom plate;

[0041] 6. Receiving platform;

[0042] 7. Lifting device; 71, cylinder; 72, piston rod;

[0043] 8. Rotating device; 81, inner gear; 82, outer gear; 83, first gear; 84, second gear; 85, driving part; 86, positioning pin; 87, transmission shaft; 88, rotating arm; 89, dust cover;

[0044] 9. Pushing device; 91, probe; 92, transmission shaft; 93, pushing blade. DETAILED DESCRIPTION

[0045] In order to facilitate the understanding of the present application, the present application will be described more fully below with reference to the accompanying drawings. The embodiments of the present application are shown in the drawings. However, the present application can be implemented in many different forms and is not limited to the embodiments described herein. On the contrary, the purpose of providing these embodiments is to make the disclosure of the present application more thorough and comprehensive.

[0046] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used in the description herein is for describing particular embodiments only and is not intended to be limiting of the application.

[0047] It should be noted that when an element is referred to as being "connected" to another element, it can be directly connected to the other element or connected to the other element through an intervening element. "Connected" in the following embodiments, if the circuits, modules, units, etc. connected to each other have transmission of electrical signals or data, should be understood as "electrically connected", "communicatively connected", etc.

[0048] As used herein, the singular forms "a", "an" and "the" include plural referents unless the context clearly dictates otherwise. It should be understood that the term "comprises / comprising" or "has / having" specifies the presence of stated features, integers, steps, operations, components, parts, or combinations thereof, but does not preclude the presence or addition of one or more other features, integers, steps, operations, components, parts, or combinations thereof.

[0049] As shown in Figure 1 The annular layered spool weighing and sorting device of the present application comprises a weighing device 1 arranged on a conveying mechanism, a mechanical hand 3 arranged at the rear end of the weighing device 1 along the conveying direction of the spool, and at least one transfer channel located at the side of the mechanical hand 3.

[0050] The mechanical hand 3 is provided with at least two retention platforms 4 on the circumferential side, and the mechanical hand 3 moves the spool grabbed from the conveying mechanism to the retention platform 4 in sequence.

[0051] Further comprising a transportation platform 5, which is used to take the spool on the retention platform 4 and transport it to the corresponding transfer channel according to predetermined rules.

[0052] Among them, the transfer channel is arranged in at least one layer along the height direction, and each layer of the transfer channel is provided with a receiving platform 6 for receiving the spool transported by the transportation platform 5.

[0053] Among them, the mechanical hand 3 not only can move the spool, but also can adjust the form of the spool to place it stably on the retention platform 4.

[0054] In some embodiments, the above-mentioned retention platform 4 is arranged as two. The scheme of the present application is described below with the scheme of two retention platforms 4, and those skilled in the art can understand that when the retention platform 4 is arranged as three, four or more, the number of subsequent transportation platforms can be adjusted correspondingly, that is, the sorting function of the box can be realized.

[0055] When in use, the finished spindles are transported to the weighing and sorting device through the hanging system, and are dropped onto the conveying mechanism at the inlet end, and the finished spindles are conveyed along with the conveying mechanism, and the weighing device 1 weighs them; after weighing, the conveying mechanism continues to convey, and when at the end of the conveying mechanism, the mechanical hand 3 clamps them and places them on the left and right retention platforms 4;

[0056] Then, the transport platform 5 moves to the position of the retention platform 4, takes away the spindles on the retention platform 4, transports the spindles to the corresponding receiving platform 6, and conveys the spindles to the corresponding storage area through the corresponding transfer channel of the receiving platform 6, so as to realize the weighing and sorting of the finished spindles.

[0057] It should be noted that the conveying mechanism in the present application can adopt a conveyor belt.

[0058] As shown in Figure 1 , Figure 2 , Figure 8 , at least one side of the receiving platform 6 is provided with a pushing device 9, and after the spindles are transported to the receiving platform 6, the pushing device 9 pushes the spindles into the transfer channel.

[0059] Specifically, the pushing device 9 includes a support plate fixedly connected with the transfer channel, a detector 91 arranged on the side wall of the support plate or in the support plate, a transmission shaft 92 arranged on the support plate, and a pushing blade 93 fixedly connected with the transmission shaft 92, and the transmission shaft 92 can be driven by a motor to drive the pushing blade 93 to rotate.

[0060] When the detector 91 detects a change in the signal, it is determined that there is a spindle on the receiving platform 6, at which time the motor is started, the motor drives the transmission shaft 92 to rotate, the transmission shaft 92 drives the pushing blade 93 to rotate, the spindle is pushed from the receiving platform 6 into the transfer channel, and then can be conveyed to the corresponding area by the transmission belt on the transfer channel.

[0061] It should be noted that the detector 91 described above can adopt a photoelectric detector, a distance detector, such as an infrared detector.

[0062] Since the finished spindles are in a conical cylindrical structure, the above-mentioned rotating pushing mode requires a motor to output a large power to push, and there is a potential problem that it cannot be pushed; therefore, in order to ensure the pushing effect of the spindles and ensure that the spindles on the receiving platform 6 can be pushed into the transfer channel, two pushing devices 9 are arranged in the present application, and the two pushing devices 9 are arranged on the two sides of the receiving platform 6 (as shown in Figure 2 ), and the rotating directions of the pushing blades 93 in the two pushing devices 9 are opposite.

[0063] In this way, when the two propelling devices 9 detect the presence of spindles on the receiving platform 6, the motors of the two propelling devices 9 simultaneously drive the rotation of the transmission shaft 92, the transmission shaft 92 drives the rotation of the propelling blades 93, and the two propelling blades 93 simultaneously rotate towards the direction of the transfer channel, pushing the spindles from the receiving platform 6 into the transfer channel, and then the spindles can be transported to the corresponding area by the transmission belt on the transfer channel.

[0064] It can be understood that in the above embodiments, the structure of the transport platform 5 is not limited, as long as the transport platform 5 can move the spindles on the retention platform 4 to the receiving platform 6. Therefore, the transport platform 5 can adopt a structure of a two-axis rail (i.e., a two-dimensional moving platform with X-axis and Y-axis at an angle of 90°) and cooperate with a mechanical claw to perform the clamping and placing operations.

[0065] In a specific embodiment of the present application, the moving mechanism of the transport platform 5 of the present application can also adopt the following scheme, i.e., the transport platform 5 is connected with a rotating device 8, which is used to drive the transport platform 5 to move the spindles on the retention platform 4 to the receiving platform 6, and drive the transport platform 5 to return from the receiving platform 6 to the retention platform 4.

[0066] In some specific embodiments, the rotating device 8 includes a rotating arm 88 fixedly connected with the transport platform 5, an external gear 82 fixedly connected with the rotating arm 88, an internal gear 81 coaxially arranged with the external gear 82, a first gear 83 engaged with the external gear 82, a second gear 84 engaged with the internal gear 81, and a driving part 85 fixedly connected with the internal gear 81 and arranged at the central axis of the internal gear 81, and the first gear 83 and the second gear 84 are fixedly connected through a transmission shaft 87, as shown in Figure 6 , Figure 7

[0067] In some specific embodiments, the internal gear 81, the external gear 82, the first gear 83, and the second gear 84 used above are all helical gears, which can realize power transmission in a smaller space.

[0068] It should be noted that since the first gear 83 and the second gear 84 are helical gears, axial forces will be generated between the first gear 83 and the second gear 84 when transmitting torque, so that the first gear 83 and the second gear 84 will move along the radial direction (i.e., move towards or away from the center of the lifting device in the Figure 7 , therefore, in order to prevent the first gear 83 and the second gear 84 from moving axially and increasing the distance between the internal gear 81 and the second gear 84 and the distance between the external gear 82 and the first gear 83, which will cause unstable engagement or even disengagement of the internal and external gears, the present application needs to control the radial position of the first gear 83 and the second gear 84 (from the Figure 7 ​The present application also sets a positioning pin 86 outside the transmission shaft 87, and the two ends of the positioning pin 86 are respectively kept a small gap with the first gear 83 and the second gear 84, and the positioning pin 86 is fixedly connected with the inner cylinder accommodating the internal gear 81 and the second gear 84 of the rotating device.

[0069] In use, the driving part 85 drives the internal gear 81 to rotate, the internal gear 81 drives the second gear 84 engaged therewith to rotate, the second gear 84 drives the first gear 83 engaged therewith to rotate through the transmission shaft 87, and the first gear 83 drives the external gear 82 engaged therewith to rotate when the first gear 83 rotates, thereby driving the rotating arm 88 to rotate.

[0070] It should be noted that the internal gear 81 and the external gear 82, the first gear 83 and the second gear 84 are bevel gears, and the first gear 83 and the second gear 84 only adopt one group.

[0071] In some other embodiments, the first gear 83 and the second gear 84 adopt two groups, that is, the external gear 82 is engaged with two first gears 83 at the same time, and the internal gear 81 is engaged with two second gears 84 at the same time, which has the advantage that the driving can be realized in a symmetrical structure to improve the stability of the driving.

[0072] In order to maintain the service life of the rotating device 8, the present application also provides a dust cover 89 on the top of the inner cylinder for accommodating the internal gear 81 and the second gear 84, as shown in Figure 6 which can prevent the influence of dust-containing fibers in the factory building on the transmission structure.

[0073] In some specific embodiments, the transfer channel is provided with two layers in the height direction. It can also be provided with three layers, four layers, or more layers, mainly depending on the sorting accuracy that the manufacturer wants to achieve.

[0074] If the standard quality of a single finished yarn spindle is 5Kg, and the usual error is ±5%, that is, ±250g, and if the sorting accuracy is controlled in the range of -250g to -125g, -124g to 0g, 1g to 125g, and 126g to 250g, then the transfer channel can be provided with four layers.

[0075] At this time, the heights of the receiving platforms 6 are different, and the height of the retention platform 4 is constant, so the lifting of the transport platform 5 and the rotating device 8 needs to be realized to enable the transport platform 5 to take down the yarn spindles on the retention platform 4, then move to the receiving platform 6 at a different height, and then move to the retention platform 4 through the receiving platform 6 at a different height.

[0076] Based on the above considerations, the present application also provides a lifting device 7 at the lower part of the rotating device 8.

[0077] Specifically, the lifting device 7 can adopt a conventional linear driving structure composed of a cylinder barrel 71 and a piston rod 72, such as a pneumatic cylinder or a hydraulic cylinder, as shown in Figure 5 .

[0078] As shown in Figure 1 , Figure 2 , Figure 4 , the retention platform 4, the transport platform 5, and the receiving platform 6 adopt a platform with a hollow structure composed of multiple support columns and a bottom plate. When the transport platform 5 moves to the predetermined position at the retention platform 4 and the receiving platform 6, the support columns on the transport platform 5 are in a staggered state with the support columns on the retention platform 4 and the receiving platform 6.

[0079] That is, the transport platform 5 first moves to the position directly below the retention platform 4, and then the lifting device 7 drives the transport platform 5 to rise. At this time, the support columns on the transport platform 5 are in a staggered state with the support columns on the retention platform 4, so that after the transport platform 5 rises, the spindles on the retention platform 4 can be lifted. Then, according to the detection result of the weighing device, the rotating device 8 rotates by a predetermined angle to rotate the transport platform 5 to the position directly above the receiving platform 6 of the corresponding transfer channel, and at this time, the support columns on the transport platform 5 are in a staggered state with the support columns on the receiving platform 6. Then, the lifting device 7 drives the transport platform 5 to descend. Since the support columns on the transport platform 5 are in a staggered state with the support columns on the receiving platform 6, after the transport platform 5 descends, the spindles on the transport platform 5 can be placed on the receiving platform 6;

[0080] Finally, the rotating device 8 drives the transport platform 5 to rotate to the position directly below the retention platform 4, and the lifting device 7 drives the transport platform 5 to rise to perform the next transfer operation. The spindles are sorted by weight interval to achieve layering, and are conveyed out of the outlet end to facilitate subsequent pairing and bundling into bags.

[0081] Specifically, taking the transport platform 5 as an example, the transport platform 5 includes a bottom plate 53 fixedly connected with the rotating arm 88 of the rotating device 8, multiple support columns 51 fixedly connected with the bottom plate 53, and two side plates 52 fixedly connected with the bottom plate 53. The multiple support columns 51 are located between the two side plates 52. The arrangement of the side plates 52 can prevent the spindles carried by the support columns 51 from moving too much and falling off the transport platform 5 during rotation.

[0082] As shown in Figure 1 , Figure 2 , multiple sorting lines composed of the retention platform 4, the transport platform 5, the lifting device 7, and the rotating device 8 can be provided. The multiple sorting lines work in their respective half-ring intervals and alternate work to effectively improve the sorting efficiency.

[0083] It needs to be further explained that since the rotating device 8 is directly connected with the transportation platform 5, that is, the rotating radius of the transportation platform 5 is fixed, and only the rotating angle can be changed, the transfer channel of the multi-layer structure in the application is a structure with different heights and the same radius, as shown in the figure. Figure 2 The transfer channel of the multi-layer structure shown in the top view shows different rotating angles.

[0084] It needs to be further explained that when the lifting device 7 drives the rotating device 8 and the transportation platform 5 to move upward together, the rotating device 8 at the top of the lifting device 7 will adjust the angle of rotation according to the weight range of the spool lock (for example, Figure 1 、 Figure 2 In the figure, the four weight ranges correspond to four angles of 45°, 90°, 135°, and 180°); after rotating to a certain angle, the lifting device 7 drives the transportation platform 5 to move downward, and the spool is transferred to the receiving platform 6; after the detector 91 on the receiving platform 6 detects the change information, the control of the two sides of the propulsion device 9 acts, and the spool is pushed to the transfer channel and transported away. Thus, the spool is sorted and layered by weight range, and is conveyed out of the outlet end, which is convenient for subsequent pairing and bundling into bags.

[0085] As shown in the figure, Figure 3 The mechanical arm 3 includes a rotating base 31 arranged on one side of the conveying mechanism, a mechanical arm 37 rotationally connected with the rotating base 31, a rotating shaft 34 rotationally connected with the mechanical arm 37, and a finger joint cylinder 36 rotationally connected with the rotating shaft 34.

[0086] Among them, the rotating base 31, the mechanical arm 37, the mechanical arm 37, the rotating shaft 34 and the rotating shaft 34 are respectively rotationally connected through the shaft joints 32 / 33 / 35.

[0087] It needs to be explained that the rotating base 31 supports 360° rotation, and the rotating shaft 34 supports 360° rotation.

[0088] As shown in the figure, Figure 9 、 Figure 10 The annular layer type spool weighing and sorting device of the application can also realize a second application mode, that is, the spools of different weight partitions in the warehouse are taken out and weighed again, and the process of realization is opposite to the above-mentioned sorting process, which will not be described here.

[0089] The above embodiments are illustrative of the application, not limiting the application. It can be understood that various changes, modifications, replacements and variations can be made to these embodiments without departing from the principles and spirits of the application, and the protection scope of the application is defined by the appended claims and their equivalents.

Claims

1. A ring-shaped layered yarn spindle weighing and sorting device, comprising a weighing device (1) disposed on a conveying mechanism, a robotic arm (3) disposed at the rear end of the weighing device (1) along the yarn spindle conveying direction, and at least three transfer channels located on the side of the robotic arm (3); Its features are: The transfer channel is provided with at least three layers along the height direction, and the at least three layers of the transfer channel form a ring-shaped layer structure. Each layer of the transfer channel is provided with a receiving platform (6) for receiving the yarn spindles transported by the transport platform (5). At least one side of the receiving platform (6) is provided with a pushing device (9). After the yarn spindle is transported to the receiving platform (6), the pushing device (9) pushes the yarn spindle into the transfer channel. The robotic arm (3) is provided with at least two holding platforms (4) on its periphery. The robotic arm (3) moves the yarn spindles picked up from the conveying mechanism to the holding platforms (4) in sequence. The transport platform (5) is connected to a rotating device (8), which is used to drive the transport platform (5) to move the spindles on the holding platform (4) to the receiving platform (6), and drive the transport platform (5) back from the receiving platform (6) to the holding platform (4); the transport platform (5) is used to remove the spindles on the holding platform (4) and transport them to the corresponding transfer channel according to a predetermined rule; the holding platform (4), transport platform (5), and receiving platform (6) are platforms with a hollow structure composed of multiple support columns and a base plate, and when the transport platform (5) moves to the preset position of the holding platform (4) and the receiving platform (6), the support columns on the transport platform (5) are misaligned with the support columns on the holding platform (4) and the receiving platform (6).

2. The annular layered yarn spindle weighing and sorting device according to claim 1, characterized in that: The propulsion device (9) includes a support plate fixedly connected to the transfer channel, a detector (91) disposed on the side wall of the support plate or inside the support plate, a drive shaft (92) disposed on the support plate, and a propulsion blade (93) fixedly connected to the drive shaft (92). The drive shaft (92) can be driven by a motor to drive the propulsion blade (93) to rotate.

3. The annular layered yarn spindle weighing and sorting device according to claim 2, characterized in that: There are two propulsion devices (9), and the two propulsion devices (9) are respectively located on both sides of the receiving platform (6), and the propulsion blades (93) in the two propulsion devices (9) rotate in opposite directions.

4. The annular layered yarn spindle weighing and sorting device according to claim 3, characterized in that: The rotating device (8) includes a rotating arm (88) fixedly connected to the transport platform (5), an external gear (82) fixedly connected to the rotating arm (88), an internal gear (81) coaxially arranged with the external gear (82), a first gear (83) meshing with the external gear (82), a second gear (84) meshing with the internal gear (81), and a drive unit (85) fixedly connected to the internal gear (81) and arranged at the central axis of the internal gear (81). The first gear (83) and the second gear (84) are fixedly connected through a transmission shaft (87), and a positioning pin (86) is sleeved on the outside of the transmission shaft (87).

5. The annular layered yarn spindle weighing and sorting device according to claim 4, characterized in that: The lower part of the rotating device (8) is provided with a lifting device (7).

6. The annular layered yarn spindle weighing and sorting device according to claim 1, characterized in that: The robotic arm (3) includes a rotating chassis (31) disposed on one side of the conveying mechanism, a robotic arm (37) rotatably connected to the rotating chassis (31), a rotating shaft (34) rotatably connected to the robotic arm (37), and a knuckle cylinder (36) rotatably connected to the rotating shaft (34).

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