Automatic loading and unloading device and control method for silk cakes

Abstract

This disclosure relates to the field of textile machinery technology, and in particular to an automatic loading and unloading device and control method for yarn cakes. The disclosure provides an automatic loading and unloading device for yarn cakes, including a main frame, a first displacement mechanism, a second displacement mechanism, a loading and unloading mechanism, and a positioning mechanism. The first displacement mechanism, the second displacement mechanism, and the positioning mechanism are disposed on the main frame. The second displacement mechanism drives the main frame to move, and the positioning mechanism controls the movement trajectory of the second displacement mechanism. The main frame has an accommodating space, and the loading and unloading mechanism is disposed within the accommodating space. The loading and unloading mechanism includes a supporting part and an unloading part. The unloading part is disposed on the supporting part and drives the yarn cake to move. The first displacement mechanism is connected to the loading and unloading mechanism and drives the loading and unloading mechanism to move along the extension direction of the accommodating space.

Description

Technical Field

[0001] This disclosure relates to the field of textile machinery technology, and in particular to an automatic loading and unloading device and control method for yarn cakes. Background Technology

[0002] In my country's textile industry, there are two main methods for transporting yarn cakes in spinning workshops: one is the traditional manual handling by trailer. For yarn cakes that are large in size and quantity, this method requires a lot of manpower and takes a long time. This not only increases the cost of recruiting workers for enterprises, but also leads to difficulties in recruiting workers. The project is costly and economically inefficient.

[0003] Another type is the automated guided vehicle (AGV) equipment available on the market, which mainly uses electromagnetic or optical automatic guidance devices to guide it along a predetermined path. However, existing AGV equipment still has shortcomings in transporting silk cakes. For example, in many scenarios, logistics vehicles need to have guide lines laid or markers installed to assist in vehicle positioning, and the mechanical structure is complex, costly, and efficiency is greatly reduced. Summary of the Invention

[0004] This disclosure aims to address at least one of the technical problems existing in the prior art or related technologies.

[0005] To this end, a first aspect of this disclosure provides a device for loading and unloading wire cakes, including a main frame, a first displacement mechanism, a second displacement mechanism, a loading and unloading mechanism, and a positioning mechanism. The first displacement mechanism, the second displacement mechanism, and the positioning mechanism are disposed on the main frame. The second displacement mechanism is used to drive the main frame to move, and the positioning mechanism is used to control the movement trajectory of the second displacement mechanism. The main frame has an accommodating space, and the loading and unloading mechanism is disposed within the accommodating space.

[0006] The loading and unloading mechanism includes a bearing section and an unloading section. The bearing section is used to load materials, and the unloading section is disposed on the bearing section and is used to drive the materials to move.

[0007] The first displacement mechanism is connected to the loading and unloading mechanism, and the first displacement mechanism is used to drive the loading and unloading mechanism to move along the extension direction of the accommodating space.

[0008] In one feasible implementation, the first displacement mechanism includes a first power source and a first moving component, the first moving component being connected to the loading and unloading mechanism, and the first power source being used to drive the first moving component to move.

[0009] In one feasible implementation, the first moving component includes a rack, a transmission gear, and a connector. The rack is disposed on the connector, and the rack and the transmission gear are meshed together. The connector is connected to the loading and unloading mechanism, and the first power source is used to drive the transmission gear to rotate.

[0010] In one feasible implementation, the first power source is configured as a servo motor.

[0011] In one feasible implementation, the second displacement mechanism includes a set of omnidirectional wheels and a set of drive wheels, the set of drive wheels being equipped with a drive motor, and the set of drive wheels and the set of omnidirectional wheels being respectively located on both sides of the bottom of the main frame.

[0012] In one feasible implementation, the caster assembly includes at least two casters, the drive wheel assembly has at least two drive wheels, both drive wheels are equipped with drive motors, and the two drive wheels and the two casters are evenly distributed circumferentially along the bottom of the main frame.

[0013] In one feasible implementation, the supporting part is configured as a cylindrical structure, and the unloading part includes a second power source and a second moving component, wherein the second power source is connected to the second moving component.

[0014] The second moving component includes a transmission component and a pusher component. The transmission component is disposed within the bearing portion and is used to drive the pusher component to move along the extension direction of the bearing portion.

[0015] In one feasible implementation, the pusher is configured as a pusher cylinder, the transmission component includes a transmission wheel and a transmission belt, the transmission wheel is connected to the second power source and meshes with the transmission belt, and the unloading part is connected to the transmission belt.

[0016] In one feasible implementation, the positioning mechanism includes a mounting bracket and a lidar, the mounting bracket being disposed on the top of the main frame, and the lidar being mounted on the mounting bracket.

[0017] A second aspect of this disclosure provides a control method for an automatic loading and unloading device for yarn cakes, comprising the following steps:

[0018] The positioning mechanism receives the control signal from the terminal equipment and drives the automatic loading and unloading yarn cake device to the designated position. The first displacement mechanism is activated to connect the loading and unloading mechanism with the winding head of the winding machine.

[0019] The winding head automatically pushes the yarn cake onto the carrier and detects whether the yarn cake is properly loaded.

[0020] The automatic loading and unloading device for shredded sheets uses a laser SLAM algorithm to obtain a 3D environmental point cloud with depth information through a positioning mechanism. Based on the route of the 3D environmental point cloud, it reaches the preset unloading position, and the loading and unloading mechanism is activated to push the shredded sheet to the unloading position.

[0021] Compared to existing technologies, this disclosure offers at least the following advantages: This disclosure sets a first displacement mechanism, a second displacement mechanism, and a positioning mechanism on the main frame to form an automatic loading and unloading device for yarn cakes that can be controlled via a terminal. The second displacement mechanism, controlled by the terminal device and the positioning mechanism, drives the main frame to predetermined loading and unloading positions. The positioning mechanism controls the movement trajectory of the second displacement mechanism via movement commands issued by the terminal device, thereby easily bypassing obstacles, automatically transporting yarn cakes across layers, efficiently and safely completing the loading and unloading work, and optimizing productivity. The main frame has a accommodating space, within which the loading and unloading mechanism is located. The loading and unloading mechanism includes a supporting part and an unloading part. The first displacement mechanism is connected to the loading and unloading mechanism and is used to drive the loading and unloading mechanism to move along the extension direction of the accommodating space. The unloading part is located on the supporting part, and the supporting part, through the first displacement mechanism, cooperates with the winding machine to load the yarn cakes. The unloading part is used to move the yarn cakes to achieve unloading, simplifying the mechanical structure while ensuring that the yarn cakes can withstand maximum load when fully loaded. Attached Figure Description

[0022] The accompanying drawings, which are incorporated in and form a part of this specification, illustrate embodiments consistent with this disclosure and, together with the description, serve to explain the principles of this disclosure.

[0023] To more clearly illustrate the technical solutions in the embodiments of this disclosure or the prior art, the accompanying drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, those skilled in the art can obtain other drawings based on these drawings without creative effort.

[0024] Various other advantages and benefits will become apparent to those skilled in the art upon reading the following detailed description of exemplary embodiments. The accompanying drawings are for illustrative purposes only and are not intended to limit the scope of this application. Furthermore, the same reference numerals denote the same parts throughout the drawings. In the drawings:

[0025] Figure 1 This is a three-dimensional structural diagram of the present disclosure;

[0026] Figure 2 This is a schematic diagram of the main framework of this disclosure;

[0027] Figure 3 This is a schematic diagram of the structure of the bearing section and the unloading section of this disclosure;

[0028] Figure 4 This is a schematic diagram of the unloading section of this disclosure.

[0029] in, Figures 1 to 4 The correspondence between the reference numerals and component names in the attached drawings is as follows: 1-Main frame; 21-First power source; 221-Rack; 222-Transmission gear; 22-First moving component; 31-Drive motor; 32-Universal wheel; 33-Drive wheel; 4-Loading and unloading mechanism; 41-Bearing part; 42-Unloading part; 420-Transmission wheel; 421-Second power source; 422-Pushing component; 423-Transmission belt; 5-Positioning mechanism. Detailed Implementation

[0030] To better understand the above-mentioned objectives, features, and advantages of this disclosure, the solutions disclosed herein will be further described below. It should be noted that, unless otherwise specified, the embodiments and features described herein can be combined with each other.

[0031] Numerous specific details are set forth in the following description in order to provide a full understanding of this disclosure, but this disclosure may also be implemented in other ways different from those described herein; obviously, the embodiments in the specification are only some, and not all, of the embodiments of this disclosure.

[0032] The current method of transporting yarn cakes in spinning workshops is mainly the traditional manual handling by trailer. For yarn cakes that are large in size and numerous, this method requires a lot of manpower and takes a long time. This not only increases the company's recruitment costs but also leads to difficulties in recruiting workers. As a result, the project is costly and economically inefficient.

[0033] Large automated guided vehicles (AGVs) mainly use electromagnetic or optical automatic guidance devices to guide them along a prescribed path, but their mechanical structure is complex, their cost is high, and their efficiency is greatly reduced.

[0034] Based on this, this disclosure provides an automatic loading and unloading device for yarn cakes. This disclosure arranges a first displacement mechanism, a second displacement mechanism, and a positioning mechanism on a main frame to form an automatic loading and unloading device that can be controlled via a terminal. The second displacement mechanism, controlled by the terminal device and the positioning mechanism, drives the main frame to predetermined loading and unloading positions. The positioning mechanism controls the movement trajectory of the second displacement mechanism through movement commands issued by the terminal device, thereby easily bypassing obstacles, automatically transporting across layers, efficiently and safely completing the loading and unloading of yarn cakes, and optimizing productivity. The main frame has a accommodating space, and the loading and unloading mechanism is arranged within the accommodating space. The loading and unloading mechanism includes a supporting part and an unloading part. The first displacement mechanism is connected to the loading and unloading mechanism and is used to drive the loading and unloading mechanism to move along the extension direction of the accommodating space. The unloading part is arranged on the supporting part, and the supporting part, through the first displacement mechanism, cooperates with the winding machine to load the yarn cakes. The unloading part is used to move the yarn cakes to achieve unloading, simplifying the mechanical structure while ensuring that the yarn cakes can withstand the maximum load when fully loaded.

[0035] The automatic loading and unloading device for yarn cakes will be described in detail below through specific embodiments:

[0036] Reference Figures 1 to 4 As shown, a first aspect of this disclosure provides an automatic loading and unloading device for yarn cakes, including a main frame 1, a first displacement mechanism, a second displacement mechanism, a loading and unloading mechanism 4, and a positioning mechanism 5. The first displacement mechanism, the second displacement mechanism, and the positioning mechanism 5 are disposed on the main frame 1. The second displacement mechanism is used to drive the main frame 1 to move, and the positioning mechanism 5 is used to control the movement trajectory of the second displacement mechanism. The main frame 1 has an accommodating space, and the loading and unloading mechanism 4 is disposed in the accommodating space. The loading and unloading mechanism 4 includes a bearing part 41 and an unloading part 42. The unloading part 42 is disposed on the bearing part 41 and is used to drive the yarn cake to move. The first displacement mechanism is connected to the loading and unloading mechanism 4 and is used to drive the loading and unloading mechanism 4 to move along the extension direction of the accommodating space.

[0037] This disclosure establishes a first displacement mechanism, a second displacement mechanism, and a positioning mechanism 5 on the main frame 1 to form an automatic loading and unloading device for silk cakes that can be controlled by a terminal device. The terminal device described in this disclosure is a terminal computer, control unit, or control unit, etc., used for operation, programming, and issuing commands. All power sources and drive steering wheel sets in this disclosure can be connected to the terminal device via signal receivers. Specifically, the second displacement mechanism, controlled by the terminal device and the positioning mechanism 5, moves the main frame 1 to predetermined loading and unloading positions. The positioning mechanism 5 controls the movement trajectory of the second displacement mechanism through movement commands issued by the terminal device, thereby easily bypassing obstacles, automatically transporting across layers, efficiently and safely completing the loading and unloading of silk cakes, and optimizing productivity. The main frame 1 has a accommodating space, and the loading and unloading mechanism 4 is disposed within the accommodating space. The loading and unloading mechanism 4 includes a supporting part 41 and an unloading part 42. A first displacement mechanism 1 is connected to the loading and unloading mechanism 4. The first displacement mechanism is used to drive the loading and unloading mechanism 4 to move along the extension direction of the accommodating space. The unloading part 42 of this disclosure is disposed on the supporting part 41. The supporting part 41 cooperates with the winding machine through the first displacement mechanism 3 to load the yarn cake, and the unloading part is used to drive the yarn cake to move to achieve unloading. This simplifies the mechanical structure while ensuring that the yarn cake can withstand the maximum load when fully loaded. It should be noted that the first displacement mechanism of this disclosure is intended to drive the front end of the supporting part 41 of the loading and unloading mechanism 4 to connect with the winding head of the winding machine, thereby realizing the loading of the yarn cake. Therefore, the first displacement mechanism should be able to drive the front end of the supporting part 41 to contact the winding head of the winding machine. In specific implementation, the first displacement mechanism can drive the front end of the supporting part 41 to move outside the accommodating space, or the accommodating space can accommodate the winding head. Furthermore, in order to prevent damage when the front end of the support part 41 comes into contact with the winding head, a collision protection pad can be provided at the front end of the support part 41.

[0038] In some embodiments, the first displacement mechanism includes a first power source 21 and a first moving component 22. The first moving component 22 is connected to the loading and unloading mechanism 4, and the first power source 21 is used to drive the first moving component 22 to move. In this embodiment, the first power source 21 can be a servo motor, stepper motor, or other driving mechanism. In this disclosure, a servo motor is specifically selected as the main power structure for driving the first moving component 22.

[0039] In some embodiments, the first moving component 22 includes a rack 221, a transmission gear 222 and a connector. The connector is connected to the loading and unloading mechanism 4. The rack 221 and the transmission gear 222 are meshed together. The first power source 21 is used to drive the transmission gear 222 to rotate.

[0040] In this embodiment, such as Figure 1As shown, the rack 221 of the first moving component 22 is disposed in a groove at the top of the main frame 1, while the transmission gear 222 is disposed on the main frame 1. The rack 221 and the transmission gear 222 are meshed together. When the first power source 21 drives the transmission gear 222 to rotate, the transmission gear 222 drives the rack 221 to move in the direction of extension of the accommodating space. The rack 221 drives the connecting piece and the loading and unloading mechanism 4 to move together, thereby achieving docking with the winding head. Furthermore, in order to prevent the rack 221 from deviating during movement, a guide groove can be provided on the main frame 1 to limit the movement direction of the rack 221; alternatively, a guide block can be provided to connect with the end of the rack 221 to guide the movement direction of the rack 221.

[0041] In some embodiments, the second displacement mechanism includes a set of omnidirectional wheels and a set of drive wheels. The set of drive wheels is equipped with a drive motor 31. The set of drive wheels and the set of omnidirectional wheels are respectively located on both sides of the bottom of the main frame 1.

[0042] In this embodiment, the second displacement mechanism, which drives the entire device to move within the scene, achieves movement by using a set of omnidirectional wheels and a set of drive wheels. Specifically, in this embodiment, the number of omnidirectional wheels and drive wheels is not limited, as long as it ensures the balance of the main frame 1 and its smooth movement. For example, each set of wheels can be configured as a single set. It should be noted that the drive wheels should be able to provide front-wheel drive, rear-wheel drive, and steering functions.

[0043] In some embodiments, the caster assembly includes at least two casters 32, the drive wheel assembly includes at least two drive wheels 33, each drive wheel 33 is provided with a drive motor 31, and the two drive wheels 33 and the two casters 32 are evenly arranged circumferentially along the bottom of the main frame 1.

[0044] In this embodiment, the drive wheel assembly includes at least two drive wheels 33, and the caster wheel assembly includes at least two caster wheels 32. When the main frame 1 is a rectangular frame, the two drive wheels 33 and the two caster wheels 32 are respectively located at the four corners of the bottom surface of the main frame 1. When the drive wheels 33 move according to instructions, the caster wheels 32 move accordingly. This arrangement can better maintain the balance of the device, and the two drive wheels 33 can adapt to more turning angles, providing better flexibility.

[0045] In some embodiments, the bearing portion 41 is configured as a cylindrical structure, and the unloading portion 42 includes a second power source 421 and a second moving component. The second power source 421 is connected to the second moving component. The second moving component includes a transmission member and a pusher member 422. The transmission member is disposed inside the bearing portion 41 and is used to drive the pusher member 422 to move along the extension direction of the bearing portion.

[0046] In this embodiment, the support part 41 is configured as a cylindrical structure, and the transmission component is arranged inside the support part, so that the overall structure occupies less space. Furthermore, the target object of this disclosure is a silk cake, and when it is loaded onto the support part 41, the smoother the support part 41 and the fewer the devices, the easier it is to load.

[0047] In some embodiments, the pusher 422 is configured as a pusher cylinder, and the transmission component includes a transmission wheel 420 and a transmission belt 423. The transmission wheel 420 is connected to the second power source 421, and the unloading part 42 is connected to the transmission belt 423.

[0048] In this embodiment, to facilitate the loading and unloading of the silk cake, the pusher 422 of this disclosure is configured as a pusher cylinder. Because the contact surface between the pusher cylinder and the silk cake is annular and does not produce sharp edges, this structure can effectively protect the silk cake when it is pushed out. Furthermore, in this embodiment, the pusher 422 is sleeved on the support part 41, and the support part 41 has a slide rail along its extending direction. The slide rail is configured as a through hole. The pusher 422 of this disclosure is connected to the transmission belt 423 through the slide rail via a pusher connector, so that the pusher 422 can move in the extending direction of the support part 41.

[0049] The transmission structure of the transmission component disclosed herein is configured as a belt drive, wherein the transmission belt 423 is a ring belt, and the transmission gears are located at both ends of the inner side of the transmission belt 423 and mesh with the transmission belt 423. A connecting rod can be provided between the two transmission gears 420 for support. The rotation of the second power source 421 drives the transmission gears 420 to rotate, causing the transmission belt 423 to move circumferentially around the transmission gears 420, thereby driving the pusher 422 connected to it to move. It can be understood that when the transmission gears 420 rotate forward, the pusher 422 moves towards the front end of the bearing part 41, and when the transmission gears 420 rotate backward, they move in the opposite direction.

[0050] In some embodiments, the positioning mechanism 5 includes a mounting bracket and a lidar, with the mounting bracket disposed on the top of the main frame 1 and the lidar mounted on the mounting bracket.

[0051] It should be noted that the bottom surface of the main frame 1 in this disclosure is the side closest to the bottom, and the top surface is the side furthest from the inside.

[0052] A second aspect of this disclosure provides a control method for an automatic loading and unloading device for yarn cakes, comprising the following steps:

[0053] The positioning mechanism receives the control signal from the terminal equipment and drives the automatic loading and unloading yarn cake device to the designated position. The first displacement mechanism is activated to connect the loading and unloading mechanism with the winding head of the winding machine.

[0054] The winding head automatically pushes the yarn cake onto the carrier and detects whether the yarn cake is properly loaded.

[0055] The automatic loading and unloading device for shredded sheets uses a laser SLAM algorithm to obtain a 3D environmental point cloud with depth information through a positioning mechanism. Based on the route of the 3D environmental point cloud, it reaches the preset unloading position, and the loading and unloading mechanism is activated to push the shredded sheet to the unloading position.

[0056] Specifically, when the positioning mechanism 5 receives the control signal from the terminal equipment, it drives the automatic loading and unloading yarn cake device to the designated position. The first power source 21 starts, causing the front end of the bearing part 41 of the loading and unloading mechanism 4 to extend and retract (maximum 350mm), connecting the front end of the bearing part 41 with the winding head. To prevent the bearing part 41 from colliding with the winding head during extension and retraction, the front end of the bearing part 41 is equipped with an anti-collision contact. Furthermore, when a collision occurs, the contact retracts and can be detected by a proximity switch at the rear. If the proximity switch is detected, the extension and retraction action stops and an alarm is triggered, while the extension and retraction shaft retracts.

[0057] Under normal telescopic conditions, the winding head automatically pushes the yarn cake onto the support section 41. At this time, the photoelectric sensor (yarn cake positioning DI 7) will detect whether the distance of the yarn cake is in place and whether the yarn cake docking is completed. After docking is completed, the support section 41 retracts and stops when the zero position proximity switch (telescopic zero position DI 6) detects it.

[0058] When the carrier unit 41 receives the wire cake, the automatic wire cake loading and unloading device uses a laser SLAM algorithm to obtain a 3D environmental point cloud with depth information through the positioning mechanism 5. Following the route of the 3D environmental point cloud, it reaches the preset unloading position. The unloading unit 42 of the loading and unloading mechanism 4 is activated, and the pusher 422 pushes the wire cake to the unloading position. Specifically, upon reaching the unloading position, the first power source 21 is activated, extending and retracting a certain distance (maximum 350mm). If there is no collision, the second power source 421 is activated, and the pusher 422 pushes the wire cake to the unloading position. After the wire cake is pushed out, the second power source 421 is activated first, and the pusher 422 returns to its zero position. When the proximity switch detects (pusher 422 zero position DI 2) that it has reached the correct position, the first power source 21 is activated to retract the loading and unloading mechanism 4, stopping when the proximity switch detects a signal (extension zero position DI 6).

[0059] Whether the wire cake is being received at the winding head or being placed at the unloading position, if the bearing part 41 is involved in a collision during the process, triggering the anti-collision DI 0, the bearing part 41 will immediately stop extending and retract to the zero position (extension zero position DI 6), and the second power source 421 must not be started. The operation will only resume after a manual inspection of the winding head and the loading and unloading mechanism 4 to see if they are damaged.

[0060] In this disclosure, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance; the term "multiple" refers to two or more unless otherwise expressly defined. The terms "install," "connect," "link," and "fix" should be interpreted broadly. For example, "connect" can be a fixed connection, a detachable connection, or an integral connection; "link" can be a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in this disclosure according to the specific circumstances.

[0061] In the description of this disclosure, it should be understood that the terms "upper," "lower," "left," "right," "front," "rear," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this disclosure and simplifying the description, and do not indicate or imply that the device or unit referred to must have a specific orientation or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this disclosure.

[0062] In the description of this specification, the terms "one embodiment," "some embodiments," "specific embodiment," etc., refer to a specific feature, structure, material, or characteristic described in connection with that embodiment or example, which is included in at least one embodiment or example of this disclosure. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0063] The above are merely preferred embodiments of this disclosure and are not intended to limit this disclosure. Various modifications and variations can be made to this disclosure by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this disclosure should be included within the scope of protection of this disclosure.

Claims

1. An automatic loading and unloading device for silk cakes, characterized in that, The system includes a main frame, a first displacement mechanism, a second displacement mechanism, a loading / unloading mechanism, and a positioning mechanism. The first displacement mechanism, the second displacement mechanism, and the positioning mechanism are mounted on the main frame. The second displacement mechanism drives the main frame to move, and the positioning mechanism controls the movement trajectory of the second displacement mechanism. The main frame has a accommodating space, and the loading and unloading mechanism is disposed within the accommodating space; The loading and unloading mechanism includes a bearing section and an unloading section. The bearing section is used to load materials, and the unloading section is disposed on the bearing section and is used to drive the materials to move. The first displacement mechanism is connected to the loading and unloading mechanism, and the first displacement mechanism is used to drive the loading and unloading mechanism to move along the extension direction of the accommodating space; The supporting part is configured as a cylindrical structure, and the unloading part includes a second power source and a second moving component, wherein the second power source is connected to the second moving component. The second moving component includes a transmission component and a pusher component. The transmission component is disposed within the bearing portion and is used to drive the pusher component to move along the extension direction of the bearing portion. The pushing component is configured as a pusher cylinder, the transmission component includes a transmission wheel and a transmission belt, the transmission wheel is connected to the second power source and the transmission wheel meshes with the transmission belt, and the unloading part is connected to the transmission belt; The positioning mechanism includes a mounting bracket and a lidar. The mounting bracket is located on the top of the main frame, and the lidar is mounted on the mounting bracket.

2. The automatic loading and unloading device for yarn cakes according to claim 1, characterized in that, The first displacement mechanism includes a first power source and a first moving component. The first moving component is connected to the loading and unloading mechanism, and the first power source is used to drive the first moving component to move.

3. The automatic loading and unloading device for yarn cakes according to claim 2, characterized in that, The first moving component includes a rack, a transmission gear, and a connector. The rack is disposed on the connector and is meshed with the transmission gear. The connector is connected to the loading and unloading mechanism. The first power source is used to drive the transmission gear to rotate.

4. The automatic loading and unloading device for yarn cakes according to claim 2, characterized in that, The first power source is a servo motor.

5. The automatic loading and unloading device for yarn cakes according to claim 1, characterized in that, The second displacement mechanism includes a set of omnidirectional wheels and a set of drive wheels. The set of drive wheels is equipped with a drive motor. The set of drive wheels and the set of omnidirectional wheels are respectively located on both sides of the bottom of the main frame.

6. The automatic loading and unloading device for yarn cakes according to claim 5, characterized in that, The caster wheel assembly includes at least two caster wheels, and the drive wheel assembly has at least two drive wheels. Both drive wheels are equipped with drive motors, and the two drive wheels and the two caster wheels are evenly distributed circumferentially along the bottom of the main frame.

7. A control method for an automatic loading and unloading device for shredded bread, characterized in that, Includes the following steps: The positioning mechanism receives the control signal from the terminal equipment and drives the automatic loading and unloading yarn cake device to the designated position. The first displacement mechanism is activated to connect the loading and unloading mechanism with the winding head of the winding machine. The winding head automatically pushes the yarn cake onto the carrier and detects whether the yarn cake is properly loaded. The automatic loading and unloading of wire cakes utilizes a laser SLAM algorithm to obtain a 3D environmental point cloud with depth information through a positioning mechanism. Based on the route of the 3D environmental point cloud, it reaches the preset unloading position, and the loading and unloading mechanism is activated to push the wire cake to the unloading position.

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