An automatic yarn hanging machine

Abstract

An automatic yarn hanging machine disclosed by the present invention relates to the technical field of textile machinery equipment, and includes a yarn hanging workbench 18, a yarn spindle preparation workbench 15, a multi-axis robot 11, an air compressor 8, an electric controller 9, an inverter 10, a manual operation screen 12, as well as a walking and transporting device, a scissor lift device 4 and a yarn hanging platform steering device. It has the characteristics of high precision in grasping and hanging yarn spindles, high production efficiency, greatly reducing the labor intensity of operators, and improving production safety, etc., and is suitable for textile enterprises of various scales to use.

Description

Technical Field

[0001] The present invention relates to the technical field of textile machinery equipment, in particular to an automatic yarn hanging machine. Background Art

[0002] In the textile industry, the warp threads used for weaving contain hundreds of them. Usually, before weaving, the fine yarns on numerous spindles are simultaneously wound onto a yarn bobbin with a length greater than the width of the fabric, and then transferred to the weaving equipment as a warp bobbin to provide the required warp threads for weaving. During the process of winding the warp threads, it is necessary to periodically hang hundreds of spindles weighing more than ten kilograms one by one onto the yarn hanging racks at different heights within the range of 0.5 - 4m. Therefore, this yarn hanging action is not only a heavy labor for the operator but also contains serious potential safety hazards. In recent years, some yarn hanging devices for automated or mechanized operations have emerged.

[0003] The "Automatic Yarn Hanging Mechanism of a Warping V - type Yarn Rack Robot" disclosed in Chinese Patent (Patent Application No. 201620535553.1) includes several parallel - arranged support frames. The lower ends of the support frames are provided with several groups. On one side of the support frames, there are two groups of parallel - arranged bobbin yarn transfer lines. Between the two bobbin yarn transfer lines, there is a robot guide rail drive device. The robot guide rail drive device includes a guide rail, a sliding plate, a shelf placement platform, a six - axis robot, a hydraulic positioning system, an operation display screen, a first transfer yarn rack, a second transfer yarn rack, and a third transfer yarn rack. The guide rail is located on the bobbin yarn transfer line. There is a sliding plate on the guide rail. Vertically at the upper end of the sliding plate, there are a first transfer yarn rack, a second transfer yarn rack, and a third transfer yarn rack, and the first transfer yarn rack, the second transfer yarn rack, and the third transfer yarn rack are arranged in a triangular structure on the sliding plate.

[0004] Another Chinese Patent (Patent Application No. 202110372272.4) discloses an "Automated Yarn Hanging Robot", which includes a yarn hanging base. A yarn hanging rack is arranged on the yarn hanging base. The yarn hanging rack includes evenly - spaced hanging rods in the vertical direction. It also includes a mounting seat that slides on the outer periphery of the yarn hanging base. A storage box and a feeding structure are arranged at the top of the mounting seat. The feeding structure is arranged between the storage box and the yarn hanging rack. A discharging bin is arranged on one side of the storage box close to the feeding structure. The feeding mechanism includes a support plate and a lifting base. The lifting base slides up and down on the support plate. A horizontally - rotating lifting platform is arranged on the lifting base. A groove for placing a yarn bobbin is arranged in the middle of the lifting platform. A push plate is arranged on the lifting platform. The push plate is perpendicular to the groove and slides in the direction of the groove.

[0005] There is also the "Warping Machine Composite Robot Yarn Feeding System" disclosed in a Chinese patent (patent application number: 202111415544.0), which includes yarn feeding carts for placing warp yarns, and several yarn feeding carts are provided; composite robots for carrying the yarn feeding carts to move, and several composite robots are provided. The composite robots are equipped with manipulators for hanging yarns, and the manipulators are equipped with clamps for clamping warp yarns.

[0006] There is also the "Automated Yarn Hanging Robot and Its Control Method" disclosed in a Chinese patent (patent application number: 202210507553.0), which is installed in a matching manner with a yarn hanging rack and includes a transverse traveling mechanism, a longitudinal traveling mechanism, a storage mechanism, and a yarn receiving and hanging mechanism. The transverse traveling mechanism is arranged along the length direction of the yarn hanging rack, the longitudinal traveling mechanism is installed on the movable part of the transverse traveling mechanism in a matching manner, and the storage mechanism and the yarn receiving and hanging mechanism are both installed on the movable part of the longitudinal traveling mechanism and are used for receiving, hanging, and storing yarn bobbins; the yarn receiving and hanging mechanism and the storage mechanism are linked through a driving mechanism. For the above-mentioned automated yarn hanging robot, a control method for the automated yarn hanging robot is also provided, including the yarn hanging process and the yarn receiving process.

[0007] There is also the "Automated Yarn Hanging Robot" disclosed in a Chinese patent (patent application number: 202310828934.3), which includes a bottom plate. A first connecting column is fixedly connected above the bottom support frame. An elevating component for lifting and lowering the yarn spindle is arranged above the bottom plate. A yarn hanging component for hanging and placing the yarn spindle is arranged on the left side of the elevating component. A cutting component for shearing the yarn end is arranged on the left side of the elevating component. When the first motor works, the output shaft rotates, the output shaft drives the first gear to rotate, the first gear meshes with the second gear for transmission, the second gear rotates to drive the screw rod to rotate, the screw rod rotates to drive the first slide plate to slide in the chute opened inside the bracket, and the yarn hanging component moves up and down. Compared with the prior art, it can hang the yarn spindle at different positions up and down, avoiding the injuries to the legs and waist caused by standing for a long time or repeatedly bending down, and reducing the labor intensity of the staff.

[0008] There is also the "Automated yarn hanging robot and gripper" disclosed in the Chinese patent (patent application number: 201920896343.9), which includes a groove. A track is fixedly connected inside the groove. Yarn racks are established on both sides of the groove. Hinges are movably connected to the bottoms of the same ends of the yarn racks. A yarn hanging robot is connected to the track. The utility model makes full use of the space in the shelf aisle, reduces the floor area. The yarn hanging robot and the track are placed in the middle position between the yarn racks and sunk below the ground, reducing the ground clearance of the robot chassis. The track sunk below the ground can also prevent the track from obstructing the movement of other equipment and causing inconvenience to traffic. The yarn hanging robot is simple, the technical principle is mature and stable, and the mechanical design and control costs are relatively low, which can be realized in industrial or product design. The yarn hanging robot adopts a mobile truss chassis structure and is designed in cooperation with the principle of a three-coordinate robot, which can quickly realize grasping and installation. The motor module structure technology is mature and can effectively reduce the design cost. Summary of the Invention

[0009] The technical problem to be solved by the present invention is to provide an automatic yarn hanging device with high precision in grasping and hanging yarn spindles, high production efficiency, greatly reducing the labor intensity of operators, and improving production safety.

[0010] To solve the above technical problems, the technical solution adopted by the present invention is to invent an automatic yarn hanging machine: including a yarn hanging workbench 18, a multi-axis robot 11, an air compressor 8, an electric control device 9, an inverter 10, and a manual operation screen 12. The multi-axis robot 11 is arranged at the middle and partial side position of one end on the top of the yarn hanging workbench 18. The air compressor 8, the electric control device 9, and the inverter 10 are respectively arranged at the other end on the top of the yarn hanging workbench 18. The manual operation screen 12 is wired and movable and is placed on the yarn hanging workbench 18. In the middle of the top of the yarn hanging workbench 18, a yarn spindle feeding platform is also arranged. The yarn spindle feeding platform includes a yarn spindle feeding workbench 15 and more than three yarn spindle feeding workbench support feet 17 arranged around the bottom of the yarn spindle feeding workbench 15. A yarn spindle feeding workbench positioning device including a yarn spindle feeding workbench positioning sleeve 32 and a yarn spindle feeding workbench positioning cone 33 is also arranged inside the yarn spindle feeding workbench support feet 17. The yarn spindle feeding workbench positioning sleeve 32 is an inverted cone shape and is arranged in the lower inner cavity of the tubular yarn spindle feeding workbench support feet 17. The yarn spindle feeding workbench positioning cone 33 is a cone shape and is arranged on the yarn hanging workbench 18, and the yarn spindle feeding workbench positioning sleeve 32 is sleeved thereon.

[0011] The multi-axis robot 11 is a commercially available six-axis robot.

[0012] At the end of the multi-axis robot 11, a three-jaw pneumatic fixture is further provided. The three-jaw pneumatic fixture includes a three-jaw pneumatic chuck 14, three pneumatic jaws 36 (the three-jaw pneumatic chuck 14 is an existing commercially available product, and the three pneumatic jaws 36 are accessories installed on the three-jaw pneumatic chuck 14), and three additional pads 35. The three-jaw pneumatic chuck 14 is connected to the end of the multi-axis robot 11, and the three additional pads 35 are respectively arranged on the outer sides of the pneumatic jaws 36 installed on the three-jaw pneumatic chuck 14. On the outer side surface of the additional pad 35, a plurality of conical strong pins 34 are provided.

[0013] On the opposite side of the multi-axis robot 11 above the yarn hanging workbench 18, an inverted "L" - shaped guardrail 13 is provided, and the manual operation screen 12 is hung on the guardrail 13.

[0014] On the yarn spindle stock - preparation workbench 15, n×m bottom yarn spindle positioning columns 26 are further provided, where: n and m are natural numbers greater than or equal to 1.

[0015] Between every two yarn spindles 23 above the yarn spindle 23 sleeved on the bottom yarn spindle positioning column 26, yarn spindle vertical positioning rings 25 are respectively provided. The yarn spindle vertical positioning ring 25 is a short cylinder, with chamfers on the outer walls at both ends and a circular ring in the middle of the outer wall.

[0016] Below the yarn hanging workbench 18, a walking transportation device is further provided. The walking transportation device includes a walking transport vehicle 3 and a walking platform. On the walking platform, two groove - shaped walking tracks 1 are provided. The walking transport vehicle 3 is an existing commercially available walking transport vehicle, and its wheels 2 are placed in the concave grooves of the walking track 1.

[0017] In the walking transportation device, a walking transport vehicle positioning component is further included. The walking transport vehicle positioning component includes a walking transport vehicle positioning inductor 5 and more than two walking transport vehicle positioning induction blocks 21. The walking transport vehicle positioning inductor 5 is arranged at one end of the walking direction of the walking transport vehicle 3, and the walking transport vehicle positioning induction blocks 21 are evenly arranged on the walking platform between the two groove - shaped walking tracks 1 at a certain interval distance.

[0018] Between the yarn hanging workbench 18 and the walking transport vehicle 3, a scissor - type lifting device 4 is further provided. The scissor - type lifting device 4 is an existing commercially available scissor - type lifting device, and its upper and lower parts are respectively connected to the lower surface of the yarn hanging workbench 18 and the upper part of the walking transport vehicle 3.

[0019] A yarn hanging platform steering device is also provided between the yarn hanging worktable 18 and the scissors-type lifting device 4; the yarn hanging platform steering device includes the yarn hanging worktable 18, the yarn hanging platform steering seat plate 6, the yarn hanging platform steering plane bearing 16, and two or more yarn hanging worktable support beams 7; the yarn hanging platform steering seat plate 6 is arranged at the lower part of the yarn hanging worktable 18, and the middle part is supported by the yarn hanging platform steering plane bearing 16; the yarn hanging worktable support beams 7 are respectively arranged on both sides between the yarn hanging platform steering seat plate 6 and the yarn hanging worktable 18.

[0020] The turning pin 28 of the yarn hanging platform is fixed to the turning seat 6 of the yarn hanging platform, and the turning pin 29 of the yarn hanging platform is fixed to the turning seat 6 of the yarn hanging platform.

[0021] The automatic yarn hanging machine of the present invention adopts a walking transport vehicle positioning assembly to position the entire machine for each movement, and also adopts a spindle preparation workbench positioning device to position the spindle preparation workbench relative to the entire machine. At the same time, a bottom spindle positioning column is also adopted to position the spindles placed on the spindle preparation workbench. In addition, a spindle vertical positioning ring is used between every two spindles to vertically position the stacked spindles, thereby forming a four-fold positioning of each spindle on the spindle preparation workbench, thereby ensuring that the multi-axis robot can accurately grasp each spindle placed on the spindle preparation workbench and accurately hang it on the yarn hanging rack. At the same time, since the entire grasping and hanging process is completed by the multi-axis robot, the labor intensity of the operator is greatly reduced, and the safety accident of injuring the operator due to manual hanging of the spindle is basically eliminated, thereby greatly improving the safety of production. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is a front schematic diagram of the present invention;

[0023] Figure 2 is a schematic top view of the present invention;

[0024] Figure 3 It is a left view schematic diagram of the present invention;

[0025] Figure 4 It is a partial enlarged schematic diagram of K of the present invention;

[0026] Figure 5 It is a partial enlarged schematic diagram of H of the present invention;

[0027] Figure 6 It is a partial enlarged schematic diagram of S of the present invention;

[0028] Figure 7 It is a partial enlarged schematic diagram of T of the present invention.

[0029] In the figure:

[0030] 1 is a traveling track, 2 is a wheel, 3 is a traveling transport vehicle, 4 is a scissor lift device, 5 is a positioning sensor for the traveling transport vehicle, 6 is a hanging yarn platform steering seat plate, 7 is a support beam for the hanging yarn workbench, 8 is an air compressor, 9 is an electric controller, 10 is an inverter, 11 is a multi-axis robot, 12 is a manual operation screen, 13 is a guardrail, 14 is a three-jaw pneumatic chuck, 15 is a yarn spindle preparation workbench, 16 is a planar bearing for the hanging yarn platform steering, 17 is a support foot for the yarn spindle preparation workbench, 18 is a hanging yarn workbench, 19 is a hanging yarn rack, 20 is a hanging yarn rod, 21 is a positioning induction block for the traveling transport vehicle, 22 is a positioning hole, 23 is a yarn spindle, 24 is a yarn bobbin, 25 is a vertical positioning ring for the yarn spindle, 26 is a bottom layer yarn spindle positioning column, 27 is a positioning sleeve for the hanging yarn platform steering, 28 is a positioning spring for the hanging yarn platform steering, 29 is a positioning pin for the hanging yarn platform steering, 30 is a handle for the positioning pin of the hanging yarn platform steering, 31 is a handle groove, 32 is a positioning sleeve for the yarn spindle preparation workbench, 33 is a positioning cone for the yarn spindle preparation workbench, 34 is a strong needle, 35 is an additional cushion, 36 is a pneumatic jaw. Specific embodiments

[0031] The following further describes the present invention in conjunction with the drawings and embodiments. The following description is by way of example, but the protection scope of the present invention should not be limited thereto.

[0032] The direction descriptions in this specification and in the drawings are as follows:

[0033] Figure 1 、 Figures 4 - 7 The front of [[ ]] is the front, the inside is the rear, and the left, right, up, and down are the same as the actual;

[0034] Figure 2 The front of [[ ]] is the upper side, the inside is the lower side, the upper side is the rear, the lower side is the front, and the left and right are the same as the actual;

[0035] Figure 3The front side is to the left, the inside is to the right, the left side is to the rear, the right side is to the front, and the up and down directions are the same as in reality.

[0036] The automatic yarn hanging machine of this embodiment is composed of a yarn hanging workbench 18, a yarn spindle preparation workbench 15, a multi-axis robot 11, an air compressor 8, an electric controller 9, an inverter 10, a manual operation screen 12, as well as a walking and transporting device, a scissor lift device 4, and a yarn hanging platform steering device.

[0037] The walking and transporting device is composed of a walking transport vehicle 3 and a walking platform. The walking platform can be a flat plate or a leveled ground (such as in this example); two groove-shaped walking tracks 1 (channel steel is used in this example) are set on the walking platform. The walking transport vehicle 3 uses a commercially available walking transport vehicle, and its wheels 2 are placed in the concave grooves of the walking tracks 1 to ensure that its walking direction remains unchanged. The walking tracks 1 are set on the front side of the yarn hanging rack 19.

[0038] In order to ensure that the position of the walking transport vehicle 3 moves accurately each time, a walking transport vehicle positioning component is also set in the walking and transporting device. The walking transport vehicle positioning component is composed of a walking transport vehicle positioning sensor 5 and multiple (the specific quantity needs to be determined according to the total length of the yarn hanging rack and the width of yarn hanging each time) walking transport vehicle positioning induction blocks 21; the walking transport vehicle positioning sensor 5 is set at one end of the walking direction of the walking transport vehicle 3 (in this example, it is set at the upper middle part of the right end face of the walking transport vehicle 3), and the walking transport vehicle positioning induction blocks 21 are evenly arranged on the walking platform (that is, the leveled ground) between the two groove-shaped walking tracks 1 at a certain interval distance (that is: the width of yarn hanging each time).

[0039] The scissor lift device 4 uses a commercially available scissor lift device (including supporting components such as lifting oil cylinders inside), its lower part is set on the top of the walking transport vehicle 3, and its upper part is connected to the yarn hanging platform steering device under the yarn hanging workbench 18.

[0040] The yarn hanging platform steering device is composed of a yarn hanging workbench 18, a yarn hanging platform steering seat plate 6, a yarn hanging platform steering plain bearing 16, more than two (two are used in this example) yarn hanging workbench support beams 7, and a yarn hanging platform steering positioning component.

[0041] The yarn hanging platform steering seat plate 6 is set on the top of the scissor lift device 4, the yarn hanging platform steering plain bearing 16 is set in the middle of its top, and the yarn hanging workbench support beams 7 are respectively set on both sides of the yarn hanging platform steering seat plate 6, and together with the yarn hanging platform steering plain bearing 16, they support the lower part of the yarn hanging workbench 18.

[0042] The yarn-hanging platform steering positioning component is arranged at the front side of the left part between the yarn-hanging platform steering seat plate 6 and the yarn-hanging workbench 18, and is composed of a yarn-hanging platform steering positioning sleeve 27, a yarn-hanging platform steering positioning spring 28 and a yarn-hanging platform steering positioning pin shaft 29. The yarn-hanging platform steering positioning sleeve 27 is a cylinder (or a section of round pipe), and a handle groove 31 for accommodating the yarn-hanging platform steering positioning pin shaft handle 30 on the yarn-hanging platform steering positioning pin shaft 29 is arranged in the upper middle part on its right side; the lower end of the yarn-hanging platform steering positioning sleeve 27 is fixed on the yarn-hanging platform steering seat plate 6, the yarn-hanging platform steering positioning spring 28 is installed in the lower part of its inner cavity, and the yarn-hanging platform steering positioning pin shaft 29 with a smaller upper part and a larger lower part (forming a step) is installed on the yarn-hanging platform steering positioning spring 28. At the same time, positioning holes 22 for accommodating the upper end (i.e., the smaller end) of the yarn-hanging platform steering positioning pin shaft 29 are opened at the part of the yarn-hanging workbench 18 corresponding to the upper end of the yarn-hanging platform steering positioning pin shaft 29 and at the part of the yarn-hanging workbench 18 that is symmetric to it after rotating 180°.

[0043] The yarn-hanging workbench 18 arranged at the upper part of the yarn-hanging platform steering device has an air compressor 8, an electric controller 9 and an inverter 10 respectively arranged on the left part of its upper surface; a yarn spindle preparation platform is arranged in the middle, and the yarn spindle preparation platform is composed of a yarn spindle preparation workbench 15 (rectangular shape), more than three (in this example, four yarn spindle preparation workbench support feet 17 are used, which are respectively arranged at the four corners under the yarn spindle preparation workbench 15) yarn spindle preparation workbench support feet 17 and multiple bottom layer yarn spindle positioning columns 26.

[0044] A yarn spindle preparation workbench positioning device (used for positioning the position of the yarn spindle preparation platform on the yarn-hanging workbench 18 or the position on the whole machine) is also arranged in the yarn spindle preparation workbench support feet 17. The yarn spindle preparation workbench positioning device is composed of a yarn spindle preparation workbench positioning sleeve 32 and a yarn spindle preparation workbench positioning cone 33. The yarn spindle preparation workbench positioning sleeve 32 is an inverted conical sleeve, which is arranged in the lower end inner cavity of the tubular yarn spindle preparation workbench support feet 17; the yarn spindle preparation workbench positioning cone 33 is a conical body, which is vertically arranged on the yarn-hanging workbench 18, and the yarn spindle preparation workbench positioning sleeve 32 is sleeved on it.

[0045] Multiple bottom layer yarn spindle positioning columns 26 are arranged on the yarn spindle preparation workbench 15, and are distributed in an n×m (i.e., n rows and m columns) form, where: both n and m are natural numbers greater than or equal to 1, and can be 1 row and 1 column or 1 row and 2 columns or 2 rows and 2 columns, etc. In this example, a 2×2 distribution form is adopted. The setting of the bottom layer yarn spindle positioning columns 26 is used for positioning the position of the yarn spindle 23 on the yarn spindle preparation workbench 15, or the position of the yarn spindle 23 on the whole machine.

[0046] Under normal circumstances, the number of spindles 23 prepared on the spindle stock preparation workbench 15 should meet the number of spindles to be hung on the yarn hanging rack faced by the walking transport vehicle 3 each time it moves. Therefore, in addition to the distribution method of n×m, the spindles 23 placed on the spindle stock preparation workbench 15 also need to be stacked to increase the number of spindles 23 placed (in this example, the number of spindles to be hung on the yarn hanging rack faced by the walking transport vehicle 3 each time it moves is eight rows and two columns, that is: the walking transport vehicle 3 needs to hang sixteen spindles 23 each time it moves. Therefore, the spindles 23 on the spindle stock preparation workbench 15 need to be stacked four layers). Therefore, in order to ensure the accurate vertical position of the stacked spindles 23, a spindle vertical positioning ring 25 is respectively provided between every two spindles 23 above the spindle 23 sleeved on the bottom spindle positioning column 26. The spindle vertical positioning ring 25 is a short cylinder with chamfered outer walls at both ends, which is convenient for inserting into the inner hole of the yarn tube 24 in the middle of the spindle 23; in the middle of its outer wall, a ring is also added to separate two spindles 23. The spindle vertical positioning ring 25 is used for positioning the vertical position of the stacked spindles 23 on the spindle stock preparation workbench 15, or for positioning the vertical position of the stacked spindles 23 on the whole machine.

[0047] In order to improve work efficiency, under normal circumstances, multiple sets of spindle stock preparation workbenches 15 will be prepared (in the spare spindle stock preparation workbenches 15, the spindle stock preparation workbench positioning cone 33 is no longer provided, but a shared method is adopted), and spindles 23 are stacked on them (a spindle vertical positioning ring 25 is installed between every two spindles 23 in the up and down direction) to improve the stock preparation speed; during use, the method of directly replacing the spindle stock preparation workbench 15 with a forklift is adopted.

[0048] The multi-axis robot 11 is a six-axis robot (six-axis robots produced by companies such as Elite Robot, YASKAWA, FANUC, and Sinsung can be selected), and it is set at the middle and rear part of the right end above the yarn hanging workbench 18.

[0049] At the end of the multi-axis robot 11 (that is: the wrist part), a three-jaw pneumatic fixture is also provided. The three-jaw pneumatic fixture is composed of a three-jaw pneumatic chuck 14, three pneumatic jaws 36 (the three-jaw pneumatic chuck 14 is an existing commercially available product, and the three pneumatic jaws 36 are accessories installed on the three-jaw pneumatic chuck 14) and three additional pads 35; the three-jaw pneumatic chuck 14 is connected to the end of the multi-axis robot 11, and the three additional pads 35 are respectively arranged on the outer sides of the pneumatic jaws 36 installed on the three-jaw pneumatic chuck 14; on the outer side surface of the additional pad 35, a plurality of conical strong needles 34 are provided to enhance the grasping force of the outer side surface of the additional pad 35 on the inner hole wall of the yarn tube 24.

[0050] At the front part of the upper right of the yarn hanging workbench 18 is a 90° dead angle of the robotic arm of the multi-axis robot 11. Therefore, an inverted "L"-shaped guardrail 13 is provided at the front part of the upper right of the yarn hanging workbench 18. The space enclosed by the guardrail 13, the multi-axis robot 11 and the yarn spindle stockpiling workbench 15 serves as an operation station, allowing operators to stand or sit at this position for operation when necessary; the hand control operation screen 12 for operator control is wired and movable, and usually the hand control operation screen 12 is hung on the guardrail 13.

[0051] The walking transport vehicle 3 is equipped with a rechargeable battery. In addition to its own use, this rechargeable battery provides a 24V DC power supply to the inverter 10, and then the inverter 10 provides a 220V AC power supply to the electric controller 9 of the multi-axis robot 11 and the air compressor 8. The control line of the hand control operation screen 12 is led out from the electric controller 9.

[0052] Before use, first use the control software provided by the six-axis robot manufacturing company to integrate the control of the walking transport device (including the walking transport vehicle 3 and the walking transport vehicle positioning component) and the scissor lift device 4, place the equipment at the origin position, and place the yarn spindle stockpiling workbench 15 loaded with yarn spindles 23 on the yarn hanging workbench 18 (the yarn spindle stockpiling workbench positioning device inside the yarn spindle stockpiling workbench support feet 17 at the lower part of the yarn spindle stockpiling workbench 15 can ensure the accurate positioning of the yarn spindle stockpiling workbench 15).

[0053] When using for the first time, real-time programming is required. The specific steps are as follows (see Appendix Figures 1 - 3 ):

[0054] The operator stands or sits at the operation station, holds the hand control operation screen 12, and first controls the walking transport vehicle 3 to move from the origin to the first yarn hanging position (at this time, the walking transport vehicle positioning induction block 21 on the ground is sensed by the walking transport vehicle positioning sensor 5 on the walking transport vehicle 3); then, controls the scissor lift device 4 (let the built-in oil cylinder of it lift the yarn hanging platform steering and positioning components and the above components upward), and stops rising when it reaches the highest position; thereafter, controls the three-jaw pneumatic fixture at the end of the multi-axis robot 11 to grasp the yarn spindle 23 on the yarn spindle preparation workbench 15 on the side close to the yarn hanging rack 19 and far from the multi-axis robot 11 (at this time, the pneumatic jaws 36 on the three-jaw pneumatic chuck 14 expand with three additional pads 35, supporting the inner wall of the yarn bobbin 24, and the conical force needles 34 on the outer side of the additional pad 35 can enhance the grasping force of the outer side of the additional pad 35 on the inner hole wall of the yarn bobbin 24), then, controls the multi-axis robot 11 to hang the grasped yarn spindle 23 on the highest-position yarn hanging rod 20 of the column of yarn hanging racks closest to the multi-axis robot 11 (at this time, the yarn spindle vertical positioning ring 25 inserted into the lower inner hole of the yarn bobbin 24 is hung on the yarn hanging rod 20 together); then, controls the multi-axis robot 11 to return and grasp the yarn spindle 23 on the yarn spindle preparation workbench 15 on the side close to the yarn hanging rack 19 and close to the multi-axis robot 11, and then hangs it on the highest-position yarn hanging rod 20 of the column of yarn hanging racks far from the multi-axis robot 11; thereafter, controls the multi-axis robot 11 to grasp the yarn spindle 23 on the yarn spindle preparation workbench 15 on the side far from the yarn hanging rack 19 and far from the multi-axis robot 11, and then, controls the multi-axis robot 11 to hang the grasped yarn spindle 23 on the second-highest-position yarn hanging rod 20 of the column of yarn hanging racks closest to the multi-axis robot 11; then, controls the multi-axis robot 11 to return and grasp the yarn spindle 23 on the yarn spindle preparation workbench 15 on the side far from the yarn hanging rack 19 and close to the multi-axis robot 11, and then hangs it on the second-highest-position yarn hanging rod 20 of the column of yarn hanging racks far from the multi-axis robot 11; similarly, the multi-axis robot 11 can be controlled to continue grasping and hanging on the third and fourth-highest-position yarn hanging rods 20; when the yarn hanging at the fourth-highest position is completed, at this time, controls the scissor lift device 4 to descend to the lowest position, and repeat the above actions in sequence until the hanging of the last yarn spindle 23 is completed. Thus, the yarn hanging work at the first yarn hanging position of the walking transport vehicle 3 is completed; then, controls the walking transport vehicle 3 to return to the origin, uses a forklift to unload the yarn spindle preparation workbench 15 that has finished taking the yarn spindles 23 (re-prepare materials), and load the spare yarn spindle preparation workbench 15 equipped with the yarn spindles 23; thereafter, controls the walking transport vehicle 3 to move to the second yarn hanging position (positioned by the walking transport vehicle positioning induction block 21 at the second position), and let the scissor lift device 4 rise to the highest position, and repeat the above process until all the yarn hanging rods 20 on the yarn hanging rack 19 are hung with the yarn spindles 23, and the entire yarn hanging work of one cycle is completed;So far, the entire yarn hanging process is memorized and stored in the manual operation screen 12, becoming the program for subsequent operations.

[0055] Since each column on the yarn hanging frame 19 can rotate 180°, when the fine yarn on the yarn spools 23 on the yarn hanging frame 19 is completely wound, directly rotate each column on the yarn hanging frame 19 by 180°. After connecting the wire heads respectively, the winding can continue. Therefore, the process of hanging the yarn spools does not affect the winding work.

[0056] When each column on the yarn hanging frame 19 rotates 180°, the yarn bobbins 24 left on the yarn hanging rod 20 need to be removed and assembled respectively. At this time, first place the container for assembling the yarn bobbins 24 on the yarn spool preparation workbench 15. Then, in the reverse order of the above-mentioned hanging process, remove the yarn bobbins 24 on the yarn hanging rod 20 one by one and put them into the container; the walking transport vehicle 3 also moves in reverse to the initial starting point; meanwhile, this process of removing the yarn bobbins 24 is also memorized and stored in the manual operation screen 12, becoming the program for subsequent operations.

[0057] When the yarn spools 23 need to be hung on the yarn hanging frame 19 arranged on the front side of the walking transport vehicle 3, since the freedom degree of the right part of the yarn hanging workbench 18 is 270° and there is a 90° dead angle, it cannot work directly without changing the direction of the walking transport vehicle 3. At this time, the steering function of the yarn hanging platform steering device needs to be applied. First, hold the handle groove 31 and press down to make the upper small end of the yarn hanging platform steering positioning pin 29 withdraw from the positioning hole 22, forming a positioning unlocking state; then, push the yarn hanging workbench 18 (including the components above it) to rotate around the yarn hanging platform steering plain bearing 16. When the yarn hanging workbench 18 is rotated 180°, release the handle groove 31. At this time, under the elastic force of the yarn hanging platform steering positioning spring 28, the upper small end of the yarn hanging platform steering positioning pin 29 is pushed into another positioning hole 22 that has rotated and realizes positioning self-locking. So far, the multi-axis robot 11 originally arranged on the right part of the yarn hanging workbench 18 has rotated to the left part of the yarn hanging workbench 18, and the yarn hanging work can start according to the above steps.

[0058] The automatic yarn hanging machine of the present invention is suitable for textile enterprises of various scales.

Claims

1. An automatic yarn hanging machine, comprising a yarn hanging workbench (18), a multi-axis robot (11), an air compressor (8), an electric controller (9), an inverter (10) and a manual operation screen (12), wherein the multi-axis robot (11) is arranged at a middle side portion of one end of the yarn hanging workbench (18), and the air compressor (8), the electric controller (9) and the inverter (10) are respectively arranged at the other end of the yarn hanging workbench (18); the manual operation screen (12) is a wired movable type and is placed on the yarn hanging workbench (18); and the characteristics are: A spindle preparation platform is also provided in the middle of the yarn hanging workbench (18), and the spindle preparation platform includes a spindle preparation workbench (15) and three or more spindle preparation workbench support legs (17) arranged on the periphery below the spindle preparation workbench (15); a spindle preparation workbench positioning device including a spindle preparation workbench positioning sleeve (32) and a spindle preparation workbench positioning cone (33) is also provided in the spindle preparation workbench support legs (17), and the spindle preparation workbench positioning sleeve (32) is an inverted cone and is arranged in the lower end inner cavity of the tubular spindle preparation workbench support legs (17); the spindle preparation workbench positioning cone (33) is a cone and is arranged on the yarn hanging workbench (18), and the spindle preparation workbench positioning sleeve (32) is mounted thereon; n×m bottom-level spindle positioning columns (26) are also provided on the spindle preparation workbench (15), wherein n and m are both natural numbers greater than or equal to 1; A spindle vertical positioning ring (25) is provided between each two spindles (23) mounted on the bottom spindle positioning column (26); the spindle vertical positioning ring (25) is a short cylinder with chamfered outer walls at both ends and a ring in the middle of the outer wall.

2. The automatic yarn hanging machine according to claim 1, characterized in that: A three-jaw pneumatic clamp is also provided at the tail end of the multi-axis robot (11), and the three-jaw pneumatic clamp includes a three-jaw pneumatic chuck (14), three pneumatic clamping claws (36) and three additional clamping pads (35); the three-jaw pneumatic chuck (14) is connected to the tail end of the multi-axis robot (11), and the three additional clamping pads (35) are respectively arranged on the outer sides of the pneumatic clamping claws (36) installed on the three-jaw pneumatic chuck (14); and a plurality of conical strong needles (34) are provided on the outer sides of the additional clamping pads (35).

3. The automatic yarn hanging machine according to claim 1 or 2, characterized in that: An inverted L-shaped guardrail (13) is provided on the opposite side of the multi-axis robot (11) above the yarn hanging workbench (18), and the hand-controlled operation screen (12) is hung on the guardrail (13).

4. The automatic yarn hanging machine according to claim 3, characterized in that: A walking transport device is also provided below the yarn hanging workbench (18); the walking transport device comprises a walking transport vehicle (3) and a walking platform, two groove-shaped walking tracks (1) are provided on the walking platform, and the wheels (2) of the walking transport vehicle (3) are placed in the concave grooves of the walking tracks (1).

5. The automatic yarn hanging machine according to claim 4, characterized in that: The walking transport device also includes a walking transport vehicle positioning assembly, which includes a walking transport vehicle positioning sensor (5) and two or more walking transport vehicle positioning sensing blocks (21); the walking transport vehicle positioning sensor (5) is arranged at one end of the walking transport vehicle (3) in the walking direction, and the walking transport vehicle positioning sensing blocks (21) are evenly arranged on the walking platform between two groove-shaped walking tracks (1) at a certain interval.

6. The automatic yarn hanging machine according to claim 5, characterized in that: A scissor-type lifting device (4) is also provided between the yarn hanging workbench (18) and the traveling transport vehicle (3), and the upper and lower parts of the scissor-type lifting device (4) are respectively connected to the lower part of the yarn hanging workbench (18) and the upper part of the traveling transport vehicle (3).

7. The automatic yarn hanging machine according to claim 6, characterized in that: A yarn hanging platform steering device is also provided between the yarn hanging workbench (18) and the scissor-type lifting device (4); the yarn hanging platform steering device comprises a yarn hanging workbench (18), a yarn hanging platform steering seat plate (6), a yarn hanging platform steering plane bearing (16), and two or more yarn hanging workbench support beams (7); the yarn hanging platform steering seat plate (6) is provided at the lower part of the yarn hanging workbench (18), and the middle part thereof is supported by the yarn hanging platform steering plane bearing (16); the yarn hanging workbench support beams (7) are respectively provided on both sides between the yarn hanging platform steering seat plate (6) and the yarn hanging workbench (18).

8. The automatic yarn hanging machine according to claim 7, characterized in that: A yarn hanging platform steering positioning assembly is also provided in the yarn hanging platform steering device. The yarn hanging platform steering positioning assembly is provided on one side edge between the yarn hanging platform steering seat plate (6) and the yarn hanging workbench (18), and comprises a yarn hanging platform steering positioning sleeve (27), a yarn hanging platform steering positioning spring (28) and a yarn hanging platform steering positioning pin shaft (29); the yarn hanging platform steering positioning sleeve (27) is cylindrical, and a handle groove (31) for accommodating a yarn hanging platform steering positioning pin shaft handle (30) is provided in the middle and upper part of one side of the yarn hanging platform steering positioning sleeve (27 ... The lower end of the yarn hanging platform turning to the positioning sleeve (27) is fixed on the yarn hanging platform turning to the seat plate (6), and the yarn hanging platform turning to the positioning spring (28) is installed in the lower part of its inner cavity, and the yarn hanging platform turning to the positioning pin (29) with a small upper part and a large lower part is installed on the yarn hanging platform turning to the positioning spring (28); the position of the yarn hanging workbench (18) corresponding to the upper end of the yarn hanging platform turning to the positioning pin (29) and the position of the yarn hanging workbench (18) rotated 180 ° symmetrically are all provided with a positioning hole (22) for allowing the yarn hanging platform to turn to the upper end of the positioning pin (29).

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