An automated zoning device for finished yarn spindles

Abstract

This invention discloses an automated zoning device for finished yarn spindles, including a dynamic weighing device for weighing yarn spindles, a robotic arm located at the rear end of the dynamic weighing device to transfer yarn spindles from the dynamic weighing device to a machine platform, and a three-axis robotic arm located beside the robotic arm to grasp yarn spindles placed on the machine platform and place them into a yarn spindle zoning device. The yarn spindle zoning device is equipped with multiple conveyor frames, each with a clamping and moving mechanism for gripping and conveying the yarn spindles. This invention uses the dynamic weighing device to weigh each yarn spindle, and the three-axis robotic arm places yarn spindles within a certain weight range on the same layer of the yarn spindle zoning device, allowing for better weight control during subsequent sales and enabling the classification and sorting of yarn spindles of different qualities.

Description

Technical Field

[0001] This invention belongs to the technical field of textile packaging equipment, specifically relating to a device for automatically sorting and dividing finished yarn spindles. Background Technology

[0002] In current textile processes, yarn breakage cannot be completely avoided, leading to inconsistencies in the weight of produced spindles. Since the weight of each spindle is not differentiated during packaging, the finished product weight varies from bag to bag, making it difficult to achieve good consistency in the total weight of each bag. This results in economic discrepancies when manufacturers sell spindles in bulk. For example, if a buyer purchases spindles in 50kg packages, while the manufacturer's individual spindles weigh 5kg, a ±5% error in weight per spindle due to production processes could potentially cause economic losses for the manufacturer.

[0003] Therefore, many manufacturers now choose to weigh the spindles before selling them and match spindles of different weights so that the whole package (such as packing ten spindles as a group) can be well matched to 50kg, thereby effectively avoiding economic losses caused by quality errors.

[0004] However, most manufacturers currently use weighing and sorting equipment that employs assembly line-style weighing and manual sorting processes. This is insufficient to meet the efficiency requirements of weighing and sorting work when the daily production volume of the manufacturer is large, and it also occupies a large area of ​​the factory to store yarn spindles of different quality standards. Summary of the Invention

[0005] To address the problems existing in the prior art, this invention provides an automated zoning device for finished yarn spindles. The device weighs each yarn spindle using a dynamic weighing device, and a three-axis robot places yarn spindles within a certain weight range on the same layer of the yarn spindle zoning device. This allows for better weight control when the yarn spindles are sold, and enables the classification and sorting of yarn spindles of different qualities.

[0006] To achieve the above objectives, the present invention provides the following technical solution:

[0007] An automated zoning device for finished yarn spindles includes:

[0008] A dynamic weighing device for yarn spindles is used to weigh yarn spindles.

[0009] A robotic arm, located at the rear end of the dynamic weighing device for yarn spindles, transfers the yarn spindles from the dynamic weighing device to the machine platform;

[0010] A three-axis robotic arm is positioned on the side of the robotic arm and is used to grasp the yarn spindles placed on the machine table and drop the yarn spindles into the yarn spindle partitioning device.

[0011] The spindle partitioning device is equipped with multiple conveyor frames. Each conveyor frame has a spindle placement plate on the side near the three-axis robot arm. Each conveyor frame is also equipped with a clamping and moving mechanism that can move along the spindle placement plate to clamp the spindles placed on the spindle placement plate and transport the spindles.

[0012] Preferably, the dynamic weighing device for yarn spindles includes a main support frame, a corrugated tube weighing sensor mounted on the main support frame, a support column with one end abutting the corrugated tube weighing sensor and the other end abutting the weight adjustment plate, and a support frame is also provided on the upper part of the weight adjustment plate.

[0013] Preferably, the main support frame is further provided with a limiting mechanism. One end of the limiting mechanism abuts against the bellows weighing sensor, and the other end is detachably connected to the main support frame. The lower end of the weight adjustment plate is provided with a guide column to guide the movement of the weight adjustment plate when it moves downward under force.

[0014] Preferably, at least two bellows load cells are provided and arranged at the corners of the main support frame.

[0015] Preferably, the dynamic weighing device for yarn spindles is further provided with a transmission mechanism for conveying yarn spindles. The transmission mechanism includes conveyor rollers disposed at both ends of the main support frame, a conveyor belt wound between the two conveyor rollers, and a drive motor disposed on the side of one of the conveyor rollers. The conveyor belt passes through the bottom of the main support frame and is in contact with the upper end of the support frame so as to transfer the weight of the yarn spindle to the support frame when the yarn spindle is placed on the conveyor belt.

[0016] Preferably, the robotic arm includes a rotating base fixedly mounted on a machine platform, a large arm power mechanism fixedly connected to the rotating base, a robotic arm rotatably connected to the large arm power mechanism, a small arm power mechanism rotatably connected to the end of the large arm away from the large arm power mechanism, a robotic small arm fixedly connected to the small arm power mechanism, a gripper swinging power mechanism rotatably connected to the end of the small arm away from the small arm power mechanism, and a telescopic cylinder disposed at one end of the gripper swinging power mechanism. The end of the telescopic cylinder is connected to a mechanical gripper, and the opening and closing actions of the mechanical gripper can be correspondingly driven by the extension and retraction actions of the telescopic cylinder.

[0017] Preferably, the mechanical gripper includes a U-shaped end gripper connecting device. A cylinder rod passes through the end gripper connecting device and is connected to the telescopic cylinder. The end of the cylinder rod away from the telescopic cylinder is connected to an end gripper motion connecting device. Each end of the end gripper motion connecting device is provided with a third connecting rod rotatably connected to it. The two third connecting rods are rotatably connected to a first connecting rod. The end of the first connecting rod away from the third connecting rod is rotatably connected to an end gripper. The first connecting rod is also rotatably connected to the end of the end gripper connecting device away from the telescopic cylinder via a second connecting rod.

[0018] Preferably, the three-axis manipulator includes a three-axis manipulator base, an X-axis transmission component disposed on the upper end of the three-axis manipulator base, a Y-axis transmission component disposed on the X-axis transmission component, and a Z-axis transmission component disposed on the Y-axis transmission component. The lower end of the Z-axis transmission component is provided with an end gripper cylinder, and the end gripper cylinder is connected to a three-axis manipulator end gripper for gripping yarn spindles through an end gripper connecting device.

[0019] Preferably, the clamping and moving mechanism includes a rodless cylinder fixedly connected to the conveyor frame and located below the spindle placement plate. A bidirectional clamping cylinder with claws is fixedly connected to the rodless cylinder and is arranged perpendicular to the movement mode of the rodless cylinder. Clamping connecting plates are fixedly connected to both ends of the bidirectional clamping cylinder, and spindle clamping claws are fixedly connected to the upper ends of the two clamping connecting plates.

[0020] Preferably, a cylinder frame is provided between the three-axis robot and the spindle partitioning device. The cylinder frame is provided with a cylinder placement slot corresponding to the position of the conveyor frame, and a spindle intermediate plate corresponding to the number of the robot is provided on the cylinder frame. A cylinder is provided in the cylinder placement slot. When the cylinder extends, it pushes the spindle placed on the spindle placement plate to the initial position of the spindle gripper.

[0021] Compared with the prior art, the present invention has the following advantages:

[0022] 1) The weight of each spindle is weighed by the dynamic weighing device. The three-axis robot will place spindles within a certain weight range on the same layer of the spindle partitioning device so that the weight can be better controlled when the spindles are sold later, and the classification and sorting of spindles of different quality can be realized.

[0023] 2) The dynamic weighing device for yarn spindles used in this invention can not only weigh the yarn spindles, but also transport them, so that the yarn spindles can be weighed during the transport process, which can effectively improve the working efficiency of the device.

[0024] 3) The spindle partitioning device of the present invention adopts a multi-layer structure, which can effectively improve the space utilization of the device and can be used in conjunction with a three-axis robot, thereby reducing the manufacturing cost of the device. Attached Figure Description

[0025] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0026] Figure 1 This is a perspective view of the automated zoning device for finished yarn spindles according to the present invention;

[0027] Figure 2 This is a schematic diagram of the dynamic weighing device for yarn spindles in the automated zoning device for finished yarn spindles of the present invention;

[0028] Figure 3 for Figure 2 A magnified view of a portion of point A in the middle;

[0029] Figure 4 This is a schematic diagram of the operation of the robotic arm in the automated zoning device for finished yarn spindles of the present invention;

[0030] Figure 5 This is a schematic diagram of the robotic arm in the automated zoning device for finished yarn spindles of the present invention;

[0031] Figure 6 An exploded view of the end gripper of the robotic arm in the automated zoning device for finished yarn spindles of the present invention;

[0032] Figure 7 This is a schematic diagram of the three-axis robot arm in the automated zoning device for finished yarn spindles of the present invention;

[0033] Figure 8 This is a schematic diagram of the cylinder frame in the automated zoning device for finished yarn spindles of the present invention;

[0034] Figure 9 This is a schematic diagram of the spindle partitioning device in the automated partitioning device for finished yarn spindles of the present invention;

[0035] Figure 10 This is a schematic diagram showing the coordinated operation of the three-axis robot, cylinder frame, and middle spindle partitioning device in the automated partitioning device for finished yarn spindles of the present invention.

[0036] In the picture:

[0037] 1. Spindle conveying device;

[0038] 2. Dynamic weighing device for yarn spindles; 21. Main support frame; 22. Limit bolt; 23. Corrugated pipe load cell; 24. Support column; 25. Guide column; 26. Weight adjustment plate; 27. Support frame; 28. Transmission mechanism; 29. ​​Sensing device; 210. Display;

[0039] 3. Robotic arm; 31. End effector; 32. First link; 33. Second link; 34. End effector motion connection device; 35. Third link; 36. Cylinder rod; 37. End effector connection device; 38. Telescopic cylinder; 39. Grip swing power mechanism; 310. Robotic arm forearm; 311. Forearm power mechanism; 312. Robotic arm upper arm; 313. Upper arm power mechanism; 314. Rotating base;

[0040] 4. Three-axis robot; 41. Three-axis robot base; 42. X-axis transmission component; 43. Y-axis transmission component; 44. Z-axis transmission component; 45. End effector cylinder; 46. End effector connection device; 47. End effector of the three-axis robot;

[0041] 5. Cylinder bracket; 51. Cylinder placement slot; 52. Cylinder; 53. Spindle intermediate plate;

[0042] 6. Spindle partitioning device; 61. Gripper connecting plate; 62. Spindle placement plate; 63. Gripper bidirectional cylinder; 64. Spindle gripper; 65. Rodless cylinder. Detailed Implementation

[0043] To facilitate understanding of this application, a more complete description will be provided below with reference to the accompanying drawings, which illustrate embodiments of the present application. However, the present application can be implemented in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided so that the disclosure of this application will be thorough and complete.

[0044] 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 herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application.

[0045] It should be noted that when one element is considered to be "connected" to another element, it can be directly connected to the other element or connected to the other element through an intermediary element. In the following embodiments, "connection" should be understood as "electrical connection," "communication connection," etc., if the connected circuits, modules, units, etc., have the transmission of electrical signals or data between them.

[0046] When used herein, the singular forms of “a,” “an,” and “the” may also include the plural forms unless the context clearly indicates otherwise. It should also be understood that the terms “comprising,” “including,” or “having,” etc., specify the presence of the stated feature, whole, step, operation, component, part, or combination thereof, but do not preclude the possibility of the presence or addition of one or more other features, wholes, steps, operations, components, parts, or combinations thereof.

[0047] like Figure 1 , Figure 4 , Figure 9 , Figure 10 As shown, the automated zoning device for finished yarn spindles of the present invention includes:

[0048] The dynamic weighing device 2 for yarn spindles is used to weigh the yarn spindles.

[0049] The robotic arm 3 is located at the rear end of the dynamic weighing device 2 for spinning spindles, and transfers the spinning spindles from the dynamic weighing device 2 to the machine platform;

[0050] The three-axis robot 4 is located on the side of the robot 3 and is used to grab the yarn spindles placed on the machine table and drop the yarn spindles into the yarn spindle partitioning device 6.

[0051] The spindle partitioning device 6 is equipped with multiple conveyor frames. Each conveyor frame has a spindle placement plate 62 on the side near the three-axis robot 4. Each conveyor frame is equipped with a clamping and moving mechanism that can move along the spindle placement plate 62 to clamp the spindles placed on the spindle placement plate 62 and transport the spindles.

[0052] To facilitate the transport of the spindles to the dynamic weighing device 2, and to enable the dynamic weighing device 2 to weigh the spindles, the present invention also provides a spindle conveying device 1 at the front end of the dynamic weighing device 2.

[0053] In use, the spindle is transported by the spindle conveying device 1 to the dynamic weighing device 2. The dynamic weighing device 2 dynamically weighs the spindle and transmits the weighed data to the three-axis robot 4. After the spindle is weighed, the robot 3 picks up the weighed spindle and places it in a certain position. The end gripper of the three-axis robot 4 picks up the spindle and places it on the spindle placement plate 62 of the spindle partitioning device 6. Then, the clamping and moving mechanism clamps the spindle and moves the clamped spindle to the preset position. In this way, the subsequent weighing, picking, transfer and clamping movement are performed in sequence.

[0054] It should be noted that the spindle conveying device 1 can adopt a traditional belt conveyor or chain conveyor.

[0055] like Figure 2 , Figure 3As shown, in a more specific embodiment, the yarn spindle dynamic weighing device 2 includes a main support frame 21, a corrugated tube weighing sensor 23 disposed on the main support frame 21, a support column 24 with one end abutting against the corrugated tube weighing sensor 23 and the other end abutting against the weight adjustment plate 26, and a support frame 27 is also disposed on the upper part of the weight adjustment plate 26.

[0056] When a spindle is installed on the dynamic weighing device 2, the bottom of the spindle contacts the support frame 27 and transfers its weight to the support frame 27. The support frame 27 transfers the weight of the spindle to the weight adjustment plate 26, and the weight adjustment plate 26 presses the support column 24. The support column 24 applies the pressure (i.e., the weight of the spindle) to the bellows weighing sensor 23. At this time, the bellows weighing sensor 23 will undergo a slight elastic deformation. This deformation will cause a slight change in the resistance value inside the bellows weighing sensor 23. By measuring the change in resistance value, the weight of the spindle being measured can be calculated.

[0057] The main support frame 21 is also equipped with a limiting mechanism. One end of the limiting mechanism abuts against the bellows weighing sensor 23, and the other end is detachably connected to the main support frame 21. The lower end of the weight adjustment plate 26 is equipped with a guide column 25, which guides the movement of the weight adjustment plate 26 when it is subjected to force and moves downward, so as to stabilize the structure and provide guidance.

[0058] The function of the weight adjustment plate 26 is to adjust the load borne by the support column and prevent the load borne by the bellows weighing sensor 23 from being too large.

[0059] The function of the support column 24 is to bear the load at the upper end and press it horizontally onto the bellows load cell 23, causing it to deform and thus achieving the function of weighing.

[0060] In some specific embodiments, the aforementioned limiting mechanism can be implemented in the following manner: a limiting bolt 22 is provided on the main support frame 21, one end of the limiting bolt 22 abuts against the bellows weighing sensor 23, and the other end passes through the bracket of the main support frame 21 and is locked to the bracket by a nut.

[0061] It is understandable that the aforementioned limiting bolt 22 can prevent the bellows load cell 23 from breaking due to excessive load and limit the extreme position of the bellows load cell 23.

[0062] In some more specific embodiments, at least two of the bellows weighing sensors 23 are provided and arranged at the corners of the main support frame 21.

[0063] For example, four can be selected and placed at the four corners of the main support frame 21, which can achieve better weighing accuracy.

[0064] In other embodiments, to achieve the conveying of yarn spindles during weighing instead of using a static weighing method, thereby improving the overall efficiency of the device, the present invention may also include a transmission mechanism 28 for conveying yarn spindles in the dynamic weighing device 2. The conveying of yarn spindles is achieved through the transmission mechanism 28 mounted on the main support frame 21. The transmission mechanism 28 may be a belt conveyor structure or a chain conveyor structure.

[0065] Specifically, the transmission mechanism 28 includes conveyor rollers disposed at both ends of the main support frame 21, a conveyor belt wound between the two conveyor rollers, and a drive motor disposed on the side of one of the conveyor rollers. The conveyor belt passes through the bottom of the main support frame 21 and is in contact with the upper end of the support frame 27 so as to transfer the weight of the yarn spindle to the support frame 27 when the yarn spindle is placed on the conveyor belt.

[0066] To further improve the automation performance of this device, sensing devices 29 can be installed at both ends of the main support frame 21 and near the conveyor rollers, and a display 210 can be installed on the main support frame 21.

[0067] The yarn spindle is transported by the yarn spindle conveying device 1 to the yarn spindle dynamic weighing device 2. When the sensing device 29 senses the yarn spindle, the yarn spindle dynamic weighing device 2 starts to perform the weighing operation and displays the weighing data on the display 210. The weighing continues until the sensing device 29 at the other end senses the yarn spindle. At this point, it can be determined that the yarn spindle that was just weighed has left the weighing area and the weighing is over. Then, based on the sensing result of the sensing device 29 at the end closest to the yarn spindle conveying device 1, it is determined whether to perform the next dynamic weighing.

[0068] When implementing the above solution, the inventors discovered that since the three-axis robot 4 can only move in a straight line in each direction, its starting and ending positions are fixed. After the yarn spindle is transported by the yarn spindle transmission device 1 and the yarn spindle dynamic weighing device 2, the position it reaches may be slightly off. This will cause the three-axis robot 4 to be unable to grasp the yarn spindle. Therefore, it is necessary to set up a mechanism between the three-axis robot 4 and the yarn spindle dynamic weighing device 2 that can position the yarn spindle.

[0069] like Figure 4 , Figure 5 , Figure 6As shown, the robotic arm 3 includes a rotating base 314 fixedly mounted on the machine platform, a large arm power mechanism 313 fixedly connected to the rotating base 314, a robotic arm 312 rotatably connected to the large arm power mechanism 313, a small arm power mechanism 311 rotatably connected to the end of the robotic arm 312 away from the large arm power mechanism 313, a robotic small arm 310 fixedly connected to the small arm power mechanism 311, a gripper swinging power mechanism 39 rotatably connected to the end of the robotic small arm 310 away from the small arm power mechanism 311, and a telescopic cylinder 38 disposed at one end of the gripper swinging power mechanism 39. The end of the telescopic cylinder 38 is connected to a mechanical gripper, and the opening and closing actions of the mechanical gripper can be driven by the extension and retraction actions of the telescopic cylinder 38.

[0070] The mechanical gripper includes a U-shaped end gripper connecting device 37. A cylinder rod 36 passes through the end gripper connecting device 37 and is connected to a telescopic cylinder 38. The end of the cylinder rod 36 away from the telescopic cylinder 38 is connected to an end gripper motion connecting device 34. The two ends of the end gripper motion connecting device 34 are respectively provided with third connecting rods 35 that are rotatably connected to it. The two third connecting rods 35 are respectively rotatably connected to first connecting rods 32. The end of the first connecting rod 32 away from the third connecting rod 35 is rotatably connected to an end gripper 31. The first connecting rod 32 is also rotatably connected to the end of the end gripper connecting device 37 away from the telescopic cylinder 38. The end gripper 31 is also rotatably connected to the end of the end gripper connecting device 37 away from the telescopic cylinder 38 through a second connecting rod 33.

[0071] Taking the opening action of the end gripper 31 as an example, that is, when the cylinder rod 36 moves downward, the end gripper 31 opens. When the cylinder rod 36 moves downward, it drives the end gripper motion connecting device 34 to move downward. Since the end gripper motion connecting device 34 is hinged to the third link 35, the third link 35 opens outward. The first link 32 is hinged to the third link 35, which can drive the first link 32 to open outward. Since the first link 32 is hinged to the end gripper 31, the end gripper 31 can be driven to open.

[0072] like Figure 7 As shown, the three-axis robot 4 includes a three-axis robot base 41, an X-axis transmission component 42 disposed on the upper end of the three-axis robot base 41, a Y-axis transmission component 43 disposed on the X-axis transmission component 42, and a Z-axis transmission component 44 disposed on the Y-axis transmission component 43. The lower end of the Z-axis transmission component 44 is provided with an end gripper cylinder 45, and the end gripper cylinder 45 is connected to a three-axis robot end gripper 47 for gripping yarn spindles through an end gripper connecting device 46.

[0073] It should be noted that the X-axis transmission component 42, Y-axis transmission component 43 and Z-axis transmission component 44 mentioned above are linear motion mechanisms commonly used in the mechanical field, and therefore will not be described in detail in this invention.

[0074] like Figure 9 , Figure 10 As shown, the clamping and moving mechanism includes a rodless cylinder 65 fixedly connected to the conveyor frame and located below the spindle placement plate 62. A gripper bidirectional cylinder 63 is fixedly connected to the rodless cylinder 65 and is arranged perpendicular to the movement mode of the rodless cylinder 65. Gripper connecting plates 61 are fixedly connected to both ends of the gripper bidirectional cylinder 63, and spindle grippers 64 are fixedly connected to the upper ends of the two gripper connecting plates 61.

[0075] After the spindle is placed on the spindle placement plate 62 of the spindle partitioning device 6, the bidirectional cylinder 63 of the clamping and moving mechanism synchronously drives the spindle clamps 64 on both sides to move toward the spindle and clamp the spindle. Then, the spindle is pushed to the predetermined position by the rodless cylinder 65.

[0076] As a further improvement to the above embodiments of the present invention, the present invention also provides a cylinder frame 5 between the three-axis robot 4 and the spindle partitioning device 6.

[0077] Specifically, such as Figure 1 , Figure 8 , Figure 10 As shown, the cylinder frame 5 is provided with a cylinder placement slot 51 corresponding to the position of the conveyor frame, and the cylinder frame 5 is provided with a spindle intermediate plate 53 corresponding to the number of manipulators 3; a cylinder 52 is provided in the cylinder placement slot 51, and when the cylinder 52 extends, it pushes the spindle placed on the spindle placement plate 62 to the initial position of the spindle gripper 64.

[0078] In use, the yarn spindle is transported by the yarn spindle conveying device 1 to the yarn spindle dynamic weighing device 2. When the sensing device 29 in the yarn spindle dynamic weighing device 2 senses the yarn spindle, the yarn spindle dynamic weighing device 2 starts weighing until the sensing device 29 at the other end senses the yarn spindle, and the weighing ends, thus performing a dynamic weighing.

[0079] The weighing results are displayed on the 210 monitor and transmitted to the three-axis robot 4. The robot 3 picks up the weighed spindle and places it on the spindle intermediate plate 52 at a certain position. The three-axis robot 4's end gripper 47 picks up the spindle. The X-axis transmission component 42 drives to a certain position, the Y-axis transmission component 43 starts to drive, and after reaching a certain position, the Z-axis transmission component 44 starts to drive, placing the spindle on the spindle placement plate 62 of the spindle partitioning device 6. Then, the corresponding cylinder 52 in the cylinder frame 5 pushes the spindle placed on the spindle placement plate 62 to a certain position. Then, the spindle gripper 64 clamps the spindle through the gripper bidirectional cylinder 63, and then pushes it to the predetermined position through the rodless cylinder 65. In this way, subsequent weighing, picking, transfer, and clamping movement are performed sequentially, so as to realize the dynamic weighing and sorting and partitioning functions of the spindle after weighing.

[0080] The above embodiments are illustrative of the present invention and not intended to limit the invention. It is understood that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principles and spirit of the invention. The scope of protection of the present invention is defined by the appended claims and their equivalents.

Claims

1. An automated zoning device for finished yarn spindles, characterized in that, include: A dynamic weighing device for yarn spindles (2) is used to weigh yarn spindles; A robotic arm (3) is located at the rear end of the dynamic weighing device (2) for transferring the spindle from the dynamic weighing device (2) to the machine platform; A three-axis robotic arm (4) is set on the side of the robotic arm (3) for gripping the yarn spindles placed on the machine table and dropping the yarn spindles into the yarn spindle partitioning device (6); The spindle partitioning device (6) is provided with multiple conveyor frames. Each conveyor frame has a spindle placement plate (62) on the side near the three-axis robot (4). Each conveyor frame is provided with a clamping and moving mechanism that can move along the spindle placement plate (62) to clamp the spindle placed on the spindle placement plate (62) and transport the spindle. The clamping and moving mechanism includes a rodless cylinder (65) fixedly connected to the conveyor frame and located below the spindle placement plate (62). A gripper bidirectional cylinder (63) with a perpendicular movement direction to the rodless cylinder (65) is fixedly connected to the rodless cylinder (65). Gripper connecting plates (61) are fixedly connected to both ends of the gripper bidirectional cylinder (63), and spindle grippers (64) are fixedly connected to the upper ends of the two gripper connecting plates (61). The three-axis manipulator (4) A cylinder frame (5) is provided between the spindle partitioning device (6) and the spindle frame (6). The cylinder frame (5) is provided with a cylinder placement slot (51) corresponding to the position of the conveyor frame, and a spindle intermediate plate (53) corresponding to the number of the robot (3) is provided on the cylinder frame (5). A cylinder (52) is provided in the cylinder placement slot (51). When the cylinder (52) extends, it pushes the spindle placed on the spindle placement plate (62) to the initial position of the spindle gripper (64).

2. The automated zoning device for finished yarn spindles according to claim 1, characterized in that: The yarn spindle dynamic weighing device (2) includes a main support frame (21), a corrugated pipe weighing sensor (23) mounted on the main support frame (21), a support column (24) with one end abutting against the corrugated pipe weighing sensor (23) and the other end abutting against the weight adjustment plate (26), and a support frame (27) is also provided on the upper part of the weight adjustment plate (26).

3. The automated zoning device for finished yarn spindles according to claim 2, characterized in that: The main support frame (21) is also provided with a limiting mechanism. One end of the limiting mechanism abuts against the bellows weighing sensor (23), and the other end is detachably connected to the main support frame (21). The lower end of the weight adjustment plate (26) is provided with a guide column (25) to guide the movement of the weight adjustment plate (26) when it is subjected to force and moves downward.

4. The automated zoning device for finished yarn spindles according to claim 2 or 3, characterized in that: At least two bellows load cells (23) are provided and are arranged at the corners of the main support frame (21).

5. The automated zoning device for finished yarn spindles according to claim 4, characterized in that: The dynamic weighing device (2) for yarn spindles is also provided with a transmission mechanism (28) for conveying yarn spindles. The transmission mechanism (28) includes conveyor rollers disposed at both ends of the main support frame (21), a conveyor belt wound between the two conveyor rollers, and a drive motor disposed on the side of one of the conveyor rollers. The conveyor belt passes through the bottom of the main support frame (21) and is in contact with the upper end of the support frame (27) so that when the yarn spindle is placed on the conveyor belt, the weight of the yarn spindle is transferred to the support frame (27).

6. The automated zoning device for finished yarn spindles according to claim 1, characterized in that: The robotic arm (3) includes a rotating base (314) fixedly mounted on the machine platform, a large arm power mechanism (313) fixedly connected to the rotating base (314), a robotic arm (312) rotatably connected to the large arm power mechanism (313), a small arm power mechanism (311) rotatably connected to the end of the robotic arm (312) away from the large arm power mechanism (313), a robotic small arm (310) fixedly connected to the small arm power mechanism (311), a gripper swing power mechanism (39) rotatably connected to the end of the robotic small arm (310) away from the small arm power mechanism (311), and a telescopic cylinder (38) disposed at one end of the gripper swing power mechanism (39). The end of the telescopic cylinder (38) is connected to a mechanical gripper, and the opening and closing actions of the mechanical gripper can be correspondingly driven by the extension and retraction actions of the telescopic cylinder (38).

7. The automated zoning device for finished yarn spindles according to claim 6, characterized in that: The mechanical gripper includes a U-shaped end gripper connecting device (37). The end gripper connecting device (37) is provided with a cylinder rod (36), and the cylinder rod (36) is connected to the telescopic cylinder (38). The end of the cylinder rod (36) away from the telescopic cylinder (38) is connected to an end gripper motion connecting device (34). The two ends of the end gripper motion connecting device (34) are respectively provided with third connecting rods (35) rotatably connected to them. The two third connecting rods (35) are respectively rotatably connected to first connecting rods (32). The end of the first connecting rod (32) away from the third connecting rod (35) is rotatably connected to an end gripper (31). The first connecting rod (32) is also rotatably connected to the end of the end gripper connecting device (37) away from the telescopic cylinder (38) through a second connecting rod (33). The end gripper (31) is also rotatably connected to the end of the end gripper connecting device (37) away from the telescopic cylinder (38) through a second connecting rod (33).

8. The automated zoning device for finished yarn spindles according to claim 1, characterized in that: The three-axis manipulator (4) includes a three-axis manipulator base (41), an X-axis transmission component (42) disposed on the upper end of the three-axis manipulator base (41), a Y-axis transmission component (43) disposed on the X-axis transmission component (42), and a Z-axis transmission component (44) disposed on the Y-axis transmission component (43). The lower end of the Z-axis transmission component (44) is provided with an end gripper cylinder (45), and the end gripper cylinder (45) is connected to a three-axis manipulator end gripper (47) for gripping yarn spindles through an end gripper connecting device (46).

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