An automatic yarn unloading system and a yarn unloading method

Abstract

The present invention provides an automatic yarn unloading system and a yarn unloading method, which relate to the technical field of glass fiber production equipment and solve the technical problems of high cost and low efficiency caused by manual addition of plastic pallets in the prior art. The automatic yarn unloading system includes a yarn unloading device, a yarn receiving device, a conveying device and a pallet disassembling manipulator. The yarn unloading device includes a transportation mechanism and a yarn unloading machine, and the yarn unloading machine is arranged on the transportation mechanism. The transportation mechanism is used to drive the yarn unloading machine to move between the yarn unloading position and the yarn receiving position. The pallet disassembling manipulator includes a moving mechanism, an adsorption mechanism and a pallet storage mechanism. The adsorption mechanism is connected to the moving mechanism, and the moving mechanism is used to drive the adsorption mechanism to move between the pallet storage mechanism and the yarn placing position. The yarn receiving device includes a flipping device and a yarn receiving component, and the yarn receiving component is arranged on the flipping device. The flipping device is used to drive the yarn receiving component to flip and move between the yarn receiving position and the yarn placing position. The present invention is used to provide an automatic yarn unloading system that improves efficiency and reduces costs.

Description

Technical Field

[0001] The present invention relates to the technical field of fiberglass production equipment, and in particular to an automatic yarn unloading system and a yarn unloading method. Background Art

[0002] Fiberglass is wound around a paper tube through a winding process to form a yarn ball. After the yarn ball is taken off the winding machine, it is placed on a circular plastic tray with an internal chip. The tray (including the yarn ball) is transported to the inspection station via a conveyor line for quality inspection, and the quality inspection results of each yarn ball are bound to the chip of its tray to record the yarn ball information.

[0003] Currently, the winding process in the fiberglass manufacturing workshop mainly relies on manual operation. The winding workers manually add plastic empty trays, and manually or use a yarn unloading device to transport the yarn balls onto the plastic trays, and perform winding and yarn ball transportation operations. Manual operation has high costs, high labor intensity for workers, and low efficiency. Summary of the Invention

[0004] The purpose of the present invention is to provide an automatic yarn unloading system and a yarn unloading method to solve the technical problems of high costs and low efficiency caused by manually adding plastic trays in the prior art. The preferred technical solutions among the many technical solutions provided by the present invention can produce many technical effects as described below.

[0005] To achieve the above purpose, the present invention provides the following technical solutions:

[0006] The automatic yarn unloading system provided by the present invention includes a yarn unloading device, a yarn receiving device, a conveying device, and a tray disassembling manipulator.

[0007] The yarn unloading device includes a transportation mechanism and a yarn unloading machine. The yarn unloading machine is arranged on the transportation mechanism, and the transportation mechanism is used to drive the yarn unloading machine to move between the yarn unloading position and the yarn receiving position.

[0008] The tray disassembling manipulator includes a moving mechanism, an adsorption mechanism, and a tray storage mechanism. The adsorption mechanism is connected to the moving mechanism, and the moving mechanism is used to drive the adsorption mechanism to move between the tray storage mechanism and the yarn placing position to transport the plastic tray on the tray storage mechanism to the yarn placing position on the conveying device.

[0009] The yarn receiving device includes a flipping device and a yarn receiving component. The yarn receiving component is arranged on the flipping device, and the flipping device is used to drive the yarn receiving component to flip and move between the yarn receiving position and the yarn placing position to receive the material transported by the yarn unloading machine and transport it into the plastic tray on the conveying device.

[0010] Optionally, a turntable assembly is provided between the yarn unloading machine and the transportation mechanism, and the turntable assembly is used to drive the yarn unloading machine to rotate on the transportation mechanism; the turntable assembly includes a turntable driving device and a turntable, and the turntable driving device is in transmission connection with the turntable.

[0011] Optionally, the yarn unloading machine includes a yarn unloading gripper telescopic assembly and a yarn unloading gripper assembly, and the yarn unloading gripper telescopic assembly is arranged on the turntable assembly;

[0012] The yarn unloading gripper telescopic assembly includes a telescopic driving assembly, a gear, a rack, a second guide rail and a second slider. The second slider is connected to the second guide rail. The rack is connected to the yarn unloading gripper assembly. The gear is matched with the rack. The telescopic driving assembly drives the yarn unloading gripper assembly to reciprocate on the second guide rail through the gear;

[0013] The yarn unloading gripper assembly includes a bottom connecting plate. The bottom connecting plate is connected to the second slider. A yarn unloading gripper driving device, a first guide rail, a first slider, a left yarn unloading gripper and a right yarn unloading gripper are arranged on the bottom connecting plate. The first guide rail is matched with the first slider. Both the left yarn unloading gripper and the right yarn unloading gripper are connected to the first guide rail through the first slider. The yarn unloading gripper driving device is used to drive the left yarn unloading gripper and the right yarn unloading gripper to move closer to each other to clamp the material, or to drive the left yarn unloading gripper and the right yarn unloading gripper to move away from each other to release the material.

[0014] Optionally, the flipping device includes a base, a flipping driving device and a flipping block. The yarn receiving assembly is arranged on the flipping block. The flipping block is rotatably connected to the base through a rotating shaft. The flipping driving device is in transmission connection with the rotating shaft to drive the flipping block to flip around the rotating shaft.

[0015] Optionally, the yarn receiving assembly includes a yarn receiving frame and a yarn receiving driving device, a yarn receiving guide rail, a yarn receiving slider, a left yarn receiving gripper and a right yarn receiving gripper arranged on the yarn receiving frame. The yarn receiving frame is connected to the flipping block. The yarn receiving slider is matched with the yarn receiving guide rail. Both the left yarn receiving gripper and the right yarn receiving gripper are connected to the yarn receiving guide rail through the yarn receiving slider. The yarn receiving driving device is used to drive the left yarn receiving gripper and the right yarn receiving gripper to move closer to each other to clamp the material, or to drive the left yarn receiving gripper and the right yarn receiving gripper to move away from each other to release the material.

[0016] Optionally, the yarn receiving assembly further includes a yarn bobbin commutation assembly, which includes a commutation driving device, a connecting seat, and a yarn receiving rubber roller assembly. The connecting seat is arranged on the yarn receiving frame, the yarn receiving rubber roller assembly is arranged between the left yarn receiving pawl and the right yarn receiving pawl, and the commutation driving device is connected to the yarn receiving rubber roller assembly to drive the yarn receiving rubber roller assembly to rotate between the left yarn receiving pawl and the right yarn receiving pawl.

[0017] Optionally, the transportation mechanism includes a four-way vehicle and a walking track. The yarn unloading machine is arranged on the four-way vehicle. The walking track includes a transverse track and a longitudinal track. The longitudinal track is connected between two adjacent transverse tracks. The four-way vehicle reciprocates along the transverse track and the longitudinal track to drive the yarn unloading machine to move between the yarn unloading position and the yarn receiving position.

[0018] Optionally, the tray storage mechanism includes a manipulator support, a lifting assembly, and a tray bracket. The lifting assembly is arranged on the manipulator support, the tray bracket is connected to the lifting assembly, and the lifting assembly drives the tray bracket to move up and down.

[0019] The moving mechanism includes a suction cup transverse movement assembly and a suction cup driving assembly. The suction cup transverse movement assembly is connected to the manipulator support, the suction cup driving assembly is connected to the suction cup transverse movement assembly, and the suction cup transverse movement assembly drives the suction cup driving assembly to move horizontally back and forth.

[0020] The adsorption mechanism is connected to the suction cup driving assembly, and the suction cup driving assembly is used to drive the adsorption mechanism to move up and down.

[0021] Optionally, the adsorption mechanism is a suction cup. The suction cup is arranged on a suction cup connecting plate, and the lifting assembly is connected to the suction cup connecting plate to drive the suction cup connecting plate to move up and down.

[0022] An automatic yarn unloading method, using the automatic yarn unloading system as described above, includes the following steps:

[0023] Obtain the yarn unloading position information of the doffer with the finished yarn bobbins bagged.

[0024] According to the yarn unloading position information of the doffer with the finished yarn bobbins bagged, control the transportation mechanism to drive the yarn unloading machine to move to the yarn unloading position, complete the yarn unloading and send out the yarn unloading completion information.

[0025] Obtain the yarn unloading completion information.

[0026] According to the yarn unloading completion information, control the transportation mechanism to drive the yarn unloading machine to move to the yarn receiving position, and control the flipping device to drive the yarn receiving assembly to flip and move to the yarn receiving position, complete the yarn receiving and send out the yarn receiving completion information.

[0027] Obtain the information that the yarn splicing is completed, control the moving mechanism to drive the adsorption mechanism to move, and convey the plastic tray on the tray storage mechanism to the yarn placing position on the conveying device;

[0028] And control the flipping device to drive the yarn splicing assembly to flip and move to the yarn placing position, complete the yarn placing and issue a yarn placing completion instruction.

[0029] The beneficial effects of the present invention are as follows: The automatic yarn unloading system and method provided by the present invention include a yarn unloading device, a yarn splicing device, a conveying device, and a pallet disassembling manipulator. The yarn unloading device includes a transportation mechanism and a yarn unloading machine. The transportation mechanism conveys the yarn unloading machine to move between the yarn unloading position and the yarn splicing position, and can take down the finished yarn balls with bags from the winding machine, complete the yarn unloading and convey them to the yarn splicing position; the yarn splicing device includes a flipping device and a yarn splicing assembly. The flipping device is used to drive the yarn splicing assembly to flip and move between the yarn splicing position and the yarn placing position, and can flip to receive the finished yarn balls conveyed by the yarn unloading machine at the yarn splicing position and flip them to the yarn placing position; the pallet disassembling manipulator includes a moving mechanism, an adsorption mechanism, and a tray storage mechanism. The moving mechanism and the adsorption mechanism can convey the plastic tray on the tray storage mechanism to the yarn splicing and placing position to receive the finished yarn balls conveyed by the yarn splicing device, and finally convey them through the conveying device, completing the fully automated conveying of the finished yarn balls, greatly improving the efficiency and reducing the labor cost. Description of the Drawings

[0030] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the following drawings are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0031] Figure 1 is a schematic structural diagram of the automatic yarn unloading system of the present invention;

[0032] Figure 2 is a schematic structural diagram of the walking track of the automatic yarn unloading system of the present invention;

[0033] Figure 3 is a schematic structural diagram of the yarn unloading device of the automatic yarn unloading system of the present invention;

[0034] Figure 4 is a schematic structural diagram of the yarn unloading machine of the yarn unloading device of the automatic yarn unloading system of the present invention;

[0035] Figure 5 is a schematic diagram of a partial structure of the yarn unloading machine of the automatic yarn unloading system of the present invention;

[0036] Figure 6It is a schematic structural diagram of the yarn connecting device of the automatic yarn unloading system of the present invention;

[0037] Figure 7 It is a schematic structural diagram of the flipping device of the automatic yarn unloading system of the present invention;

[0038] Figure 8 It is a schematic partial structural diagram of the yarn connecting component of the automatic yarn unloading system of the present invention;

[0039] Figure 9 It is a schematic structural diagram of the yarn ball commutation component of the automatic yarn unloading system of the present invention;

[0040] Figure 10 It is a schematic structural diagram of the pallet removing manipulator of the automatic yarn unloading system of the present invention;

[0041] Figure 11 It is a side view of the pallet removing manipulator of the automatic yarn unloading system of the present invention.

[0042] In the figure, 10 is the yarn unloading device; 20 is the yarn connecting device; 30 is the conveying device; 40 is the pallet removing manipulator; 11 is the transportation mechanism; 12 is the yarn unloading machine; 13 is the turntable assembly; 21 is the flipping device; 22 is the yarn connecting component; 41 is the moving mechanism; 42 is the adsorption mechanism; 43 is the pallet storage mechanism; 111 is the four-way vehicle; 112 is the horizontal track; 113 is the vertical track; 121 is the yarn unloading claw telescopic component; 122 is the yarn unloading claw component; 131 is the turntable driving device; 132 is the turntable; 133 is the chassis bracket; 211 is the base; 212 is the flipping driving device; 213 is the flipping block; 214 is the flipping shaft; 221 is the yarn connecting driving device; 222 is the yarn connecting guide rail; 223 is the yarn connecting slider; 224 is the left yarn connecting claw; 225 is the right yarn connecting claw; 226 is the yarn ball commutation component; 227 is the yarn connecting frame; 411 is the suction cup transverse movement component; 412 is the suction cup driving component; 431 is the manipulator bracket; 432 is the lifting component; 433 is the pallet bracket; 1211 is the telescopic driving component; 1212 is the gear; 1213 is the rack; 1214 is the second guide rail; 1215 is the second slider; 1221 is the bottom connecting plate; 1222 is the yarn unloading claw driving device; 1223 is the first guide rail; 1224 is the first slider; 1225 is the left yarn unloading claw; 1226 is the right yarn unloading claw; 2261 is the commutation driving device; 2262 is the connecting seat; 2263 is the yarn connecting rubber roller component; 4331 is the guide post. Detailed implementation manners

[0043] The following can refer to the attached drawings Figures 1 to 11Understand the content of the present invention and the differences between the present invention and the prior art in terms of text content. The following further elaborates on the technical solutions (including preferred technical solutions) of the present invention by means of the accompanying drawings and by listing some alternative embodiments of the present invention. It should be noted that: Any technical feature and any technical solution in this embodiment are one or several of a variety of alternative technical features or alternative technical solutions. For the sake of concise description, all alternative technical features and alternative technical solutions of the present invention cannot be exhausted in this document, nor is it convenient to emphasize that each implementation manner of each technical feature is one of the multiple alternative implementation manners. Therefore, those skilled in the art should be aware that: Any technical means provided by the present invention can be replaced, or any two or more technical means or technical features provided by the present invention can be combined with each other to obtain a new technical solution. Any technical feature and any technical solution within this embodiment do not limit the protection scope of the present invention. The protection scope of the present invention should include any alternative technical solution that those skilled in the art can think of without creative labor and any new technical solution obtained by those skilled in the art by combining any two or more technical means or technical features provided by the present invention with each other.

[0044] In the description of the present invention, it should be noted that unless otherwise specified, the meaning of "a plurality of" is two or more; the orientation or positional relationship indicated by terms such as "upper", "lower", "left", "right", "inner", "outer", "front end", "rear end", "head", "tail", etc. is based on the orientation or positional relationship shown in the accompanying drawings, and is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be construed as a limitation to the present invention. In addition, terms such as "first", "second", "third", etc. are only used for descriptive purposes and cannot be construed as indicating or implying relative importance.

[0045] In the description of the present invention, it should also be noted that unless otherwise clearly specified and defined, the terms "installed", "connected", "connected" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0046] The present invention provides an automatic yarn unloading system and a yarn unloading method that improve efficiency and reduce labor costs.

[0047] The following will be combined with Figures 1 to 11 to elaborate more details on the technical solutions provided by the present invention.

[0048] The present invention provides an automatic yarn unloading system, which includes a yarn unloading device 10, a yarn receiving device 20, a conveying device 30 and a pallet disassembling manipulator 40;

[0049] The yarn unloading device 10 includes a transportation mechanism 11 and a yarn unloading machine 12. The yarn unloading machine 12 is arranged on the transportation mechanism 11, and the transportation mechanism 11 is used to drive the yarn unloading machine 12 to move between a yarn unloading position and a yarn receiving position;

[0050] The pallet disassembling manipulator 40 includes a moving mechanism 41, an adsorption mechanism 42 and a pallet storage mechanism 43. The adsorption mechanism 42 is connected to the moving mechanism 41. The moving mechanism 41 is used to drive the adsorption mechanism 42 to move between the pallet storage mechanism 43 and a yarn placing position, so as to convey the plastic pallet on the pallet storage mechanism 43 to the yarn placing position on the conveying device 30;

[0051] The yarn receiving device 20 includes a flipping device 21 and a yarn receiving assembly 22. The yarn receiving assembly 22 is arranged on the flipping device 21. The flipping device 21 is used to drive the yarn receiving assembly 22 to flip and move between a yarn receiving position and a yarn placing position, so as to receive the material conveyed by the yarn unloading machine 12 and convey it into the plastic pallet on the conveying device 30.

[0052] The automatic yarn unloading system provided by the present invention includes a yarn unloading device 10, a yarn receiving device 20, a conveying device 30 and a pallet disassembling manipulator 40. The yarn unloading device 10 includes a transportation mechanism 11 and a yarn unloading machine 12. The transportation mechanism 11 conveys the yarn unloading machine 12 to move between a yarn unloading position and a yarn receiving position, and can take down the finished yarn bales completed with bagging from the winding machine, complete yarn unloading and convey it to the yarn receiving position; the yarn receiving device 20 includes a flipping device 21 and a yarn receiving assembly 22. The flipping device 21 is used to drive the yarn receiving assembly 22 to flip and move between a yarn receiving position and a yarn placing position, and can flip to receive the finished yarn bales conveyed by the yarn unloading machine 12 at the yarn receiving position and flip it to the yarn placing position; the pallet disassembling manipulator 40 includes a moving mechanism 41, an adsorption mechanism 42 and a pallet storage mechanism 43. The moving mechanism 41 and the adsorption mechanism 42 can convey the plastic pallet on the pallet storage mechanism 43 to the yarn receiving and placing position to receive the finished yarn bales conveyed by the yarn receiving device 20, and finally convey them through the conveying device 30, completing the fully automated conveying of the finished yarn bales, greatly improving the efficiency and reducing the labor cost.

[0053] Furthermore, the transport mechanism 11 includes a four-way vehicle 111 and a running track, the yarn unloading machine 12 is arranged on the four-way vehicle 111, the running track includes a transverse track 112 and a longitudinal track 113, the longitudinal track 113 is connected between the two transverse tracks 112, and the four-way vehicle 111 reciprocates along the transverse track 112 and the longitudinal track 113 to drive the yarn unloading machine 12 to move between the yarn unloading position and the yarn connecting position.

[0054] Specifically, the yarn unloading machine 12 is fixedly connected to the four-way car 111, and the yarn unloading machine 12 and the four-way car 111 remain relatively still. The four-way car 111 moves on the transverse track 112 and the longitudinal track 113, driving the yarn unloading machine 12 to move. If the yarn unloading position is on the first transverse track 112, the four-way car 111 directly goes to the workstation to unload the yarn; if the yarn unloading position is on the second transverse track 112, the four-way car 111 uses the reversible function of the four-way car 111 to go to the second transverse track 112 through the longitudinal track 113 to unload the yarn, and then returns to the first transverse track 112 to transport the finished yarn ball to the yarn joining device.

[0055] More specifically, the transverse rails 112 are provided in multiple groups, and two adjacent transverse rails 112 are connected by the longitudinal rails 113 .

[0056] By setting up the four-way vehicle 111, the transverse track 112 and the longitudinal track 113, the yarn unloading device 10 can realize the yarn unloading operation of the finished yarn balls at different positions, realize flexible switching and scheduling of the yarn unloading operation, reduce the size of the equipment, reduce the occupied space, improve the efficiency of the yarn unloading operation, and make the application more flexible.

[0057] Furthermore, a turntable assembly 13 is provided between the yarn unloading machine 12 and the transport mechanism 11, and the turntable assembly 13 is used to drive the yarn unloading machine 12 to rotate on the transport mechanism 11; the turntable assembly 13 includes a turntable driving device 131 and a turntable 132, and the turntable driving device 131 is transmission-connected to the turntable 132.

[0058] Specifically, the turntable driving device 131 is disposed on a chassis bracket 133, and the turntable driving device 131 includes a driving motor and a conveyor belt assembly. The driving motor drives the turntable 132 to rotate through the conveyor belt assembly to drive the yarn unloading machine 12 to rotate.

[0059] The yarn unloading machine 12 comprises a yarn unloading claw telescopic assembly 121 and a yarn unloading claw assembly 122, and the yarn unloading claw telescopic assembly 121 is arranged on the turntable assembly 13;

[0060] The yarn unloading gripper telescopic assembly 121 includes a telescopic drive assembly 1211, a gear 1212, a rack 1213, a second guide rail 1214, and a second slider 1215. The second slider 1215 is connected to the second guide rail 1214. The rack 1213 is connected to the yarn unloading gripper assembly 122. The gear 1212 is engaged with the rack 1213. The telescopic drive assembly 1211 drives the yarn unloading gripper assembly 122 to reciprocate on the second guide rail 1214 through the gear 1212;

[0061] The yarn unloading gripper assembly 122 includes a bottom connecting plate 1221. The bottom connecting plate 1221 is connected to the second guide rail 1214. A yarn unloading gripper drive device 1222, a first guide rail 1223, a first slider 1224, a left yarn unloading gripper 1225, and a right yarn unloading gripper 1226 are provided on the bottom connecting plate 1221. The first guide rail 1223 is engaged with the first slider 1224. Both the left yarn unloading gripper 1225 and the right yarn unloading gripper 1226 are connected to the first guide rail 1223 through the first slider 1224. The yarn unloading gripper drive device 1222 is used to drive the left yarn unloading gripper 1225 and the right yarn unloading gripper 1226 to move closer to each other to clamp the material, or to drive the left yarn unloading gripper 1225 and the right yarn unloading gripper 1226 to move away from each other to release the material.

[0062] Specifically, the yarn unloading gripper drive device 1222 (not shown in the figure) is a ball screw nut pair, and the structure of the yarn receiving drive device 221 is the same as that of the yarn unloading gripper drive device 1222. The yarn unloading gripper drive device 1222 is fixedly connected to the bottom connecting plate 1221. The first guide rail 1223 is fixedly connected to the bottom connecting plate 1221. The left yarn unloading gripper 1225 and the right yarn unloading gripper 1226 are installed on the driving screw nut and are respectively fixedly connected to the first slider 1224.

[0063] The specific working process of the yarn unloading device 10:

[0064] After the finished yarn ball is bagged, the transportation mechanism 11 drives the yarn unloading machine 12 to the corresponding yarn unloading position. If the yarn unloading position does not require track change, the yarn unloading device 10 directly goes to this station. According to the yarn unloading position, the turntable assembly 13 adjusts the rotation direction of the yarn unloading gripper assembly 122, and the yarn unloading gripper telescopic assembly 121 adjusts the moving direction of the yarn unloading gripper assembly 122 to ensure that the yarn unloading gripper assembly 122 clamps the yarn ball and moves to the yarn receiving position under the transportation of the transportation mechanism 11.

[0065] If the yarn unloading position requires track change, the reversible function of the four-way vehicle 111 is used to go to other transverse tracks 112 for yarn unloading work through the longitudinal track 113, and then return to the first transverse track 112 to transport the finished yarn ball to the yarn receiving device.

[0066] Further, the flipping device 21 includes a base 211, a flipping driving device 212, and a flipping block 213. The yarn receiving assembly 22 is disposed on the flipping block 213. The flipping block 213 is rotatably connected to the base 211 through a rotating shaft 214. The flipping driving device 212 is in transmission connection with the rotating shaft 214 to drive the flipping block 213 to flip around the rotating shaft 214.

[0067] Specifically, the flipping driving device 212 is a motor. The rotating shaft 214 is rotatably connected to the base 211 through a bearing.

[0068] The yarn receiving assembly 22 includes a yarn receiving frame 227, and a yarn receiving driving device 221, a yarn receiving guide rail 222, a yarn receiving slider 223, a left yarn receiving gripper 224, and a right yarn receiving gripper 225 disposed on the yarn receiving frame 227. The yarn receiving slider 223 is matched with the yarn receiving guide rail 222. The left yarn receiving gripper 224 and the right yarn receiving gripper 225 are both connected to the yarn receiving guide rail 222 through the yarn receiving slider 223. The yarn receiving driving device 221 is used to drive the left yarn receiving gripper 224 and the right yarn receiving gripper 225 to move closer to each other to clamp the material, or to drive the left yarn receiving gripper 224 and the right yarn receiving gripper 225 to move away from each other to release the material.

[0069] Specifically, the structure of the yarn receiving driving device 221 is the same as that of the yarn discharging gripper driving device 1222, and both are ball screw nut pairs.

[0070] The yarn receiving assembly 22 further includes a yarn ball commutation assembly 226. The yarn ball commutation assembly 226 includes a commutation driving device 2261, a connection seat 2262, and a yarn receiving rubber roller assembly 2263. The connection seat 2262 is disposed on the yarn receiving frame 227. The yarn receiving rubber roller assembly 2263 is disposed between the left yarn receiving gripper 224 and the right yarn receiving gripper 225. The commutation driving device 2261 is connected to the yarn receiving rubber roller assembly 2263 to drive the yarn receiving rubber roller assembly 2263 to rotate between the left yarn receiving gripper 224 and the right yarn receiving gripper 225.

[0071] Specifically, the commutation driving device 2261 is a 180° rotating cylinder. The commutation driving device 2261 drives the yarn receiving rubber roller assembly 2263 to rotate 180 degrees to realize yarn ball commutation.

[0072] Working process of the yarn receiving device 20:

[0073] The yarn unloading machine 12 places the yarn cake on the yarn receiving rubber roller assembly 2263. The yarn cake is driven to rotate 180° by the yarn cake reversing assembly 226, and the opening direction of the yarn cake bag is reversed. After the reversal, the yarn receiving driving device 221 drives the left yarn receiving pawl 224 and the right yarn receiving pawl 225 to move closer to each other to clamp the material. The flipping driving device 212 is started to drive the yarn cake to flip around the flipping shaft 214, and the yarn cake is placed on the plastic tray 360 on the conveying device 30.

[0074] Further, the tray storage mechanism 43 includes a manipulator bracket 431, a lifting assembly 432, and a tray bracket 433. The lifting assembly 432 is arranged on the manipulator bracket 431. The tray bracket 433 is connected to the lifting assembly 432, and the lifting assembly 432 drives the tray bracket 433 to move up and down.

[0075] The moving mechanism 41 includes a suction cup transverse movement assembly 411 and a suction cup driving assembly 412. The suction cup transverse movement assembly 411 is connected to the manipulator bracket 431. The suction cup driving assembly 412 is connected to the suction cup transverse movement assembly 411. The suction cup transverse movement assembly 411 drives the suction cup driving assembly 412 to reciprocate horizontally; the adsorption mechanism 42 is connected to the suction cup driving assembly 412, and the suction cup driving assembly 412 is used to drive the adsorption mechanism 42 to move up and down.

[0076] In this further improvement scheme, the suction cup transverse movement assembly 411 drives the suction cup driving assembly 412 to reciprocate horizontally, so as to realize the reciprocating movement of the adsorption mechanism 42 between the tray storage mechanism 43 and the yarn placing position of the conveying device 30, so as to realize the suction and conveying of the plastic tray. The lifting assembly 432 is used to ensure that the plastic tray on the tray bracket 433 is always in the position to be sucked, so as to ensure that the plastic tray can be sucked by the adsorption mechanism 42; the suction cup driving assembly 412 is used to drive the adsorption mechanism 42 to move up and down to complete the adsorption or release of the plastic tray.

[0077] Specifically, the suction cup transverse movement assembly 411 is a rodless cylinder. The adsorption mechanism 42 is a suction cup. The suction cup is arranged on the suction cup connecting plate. The suction cup driving assembly 412 is connected to the suction cup connecting plate and is used to drive the suction cup connecting plate to move up and down. The suction cup driving assembly 412 is a single-rod cylinder. Four guide columns 4331 are arranged on the tray bracket 433. The four guide columns 4331 are evenly distributed on the outside of the plastic tray on the tray bracket 433 with the plastic tray as the center to prevent the plastic tray from tipping over and can ensure the accuracy of yarn cake picking and placing.

[0078] The lifting assembly 432 is a ball screw nut pair. The tray bracket 433 is fixedly connected to the screw nut and moves up and down with the rotation of the screw.

[0079] Further, in order to ensure the stable lifting of the tray bracket 433, a reciprocating movement mechanism such as a guide rail slider can also be provided between the manipulator bracket 431 and the tray bracket 433 to ensure the smooth operation of the tray bracket 433.

[0080] Working process of the pallet removing manipulator 40:

[0081] The plastic pallet to be removed is placed on the tray bracket 433 and lifted in place by the lifting assembly 432. The suction cup cross-movement assembly 411 drives the adsorption mechanism 42 to reach the plastic pallet removing position. The suction cup driving assembly 412 drives the adsorption mechanism 42 (single-rod cylinder) to extend. After sucking the plastic pallet at the top of the tray bracket 433, the suction cup driving assembly 412 drives the adsorption mechanism 42 (single-rod cylinder) to retract. The suction cup cross-movement assembly 411 drives the adsorption mechanism 42 to reach the discharging position. The suction cup driving assembly 412 drives the adsorption mechanism 42 (single-rod cylinder) to extend. The adsorption mechanism 42 places the plastic pallet at the discharging position. The suction cup driving assembly 412 drives the adsorption mechanism 42 to retract, and the above process is repeated.

[0082] The present invention also provides an automatic yarn unloading method, which adopts the automatic yarn unloading system as described above and includes the following steps:

[0083] Obtain the yarn unloading position information of the doffer with the finished yarn bales bagged;

[0084] According to the yarn unloading position information of the doffer with the finished yarn bales bagged, control the transportation mechanism 11 to drive the doffer to move to the yarn unloading position, complete the yarn unloading and send out the yarn unloading completion information;

[0085] Obtain the yarn unloading completion information;

[0086] According to the yarn unloading completion information, control the transportation mechanism 11 to drive the doffer 12 to move to the yarn receiving position, and control the flipping device 21 to drive the yarn receiving assembly 22 to flip and move to the yarn receiving position, complete the yarn receiving and send out the yarn receiving completion information;

[0087] Obtain the yarn receiving completion information, control the moving mechanism 41 to drive the adsorption mechanism 42 to move, and convey the plastic pallet on the tray storage mechanism 43 to the yarn placing position on the conveying device 30;

[0088] And control the flipping device 21 to drive the yarn receiving assembly 22 to flip and move to the yarn placing position, complete the yarn placing and send out the yarn placing completion instruction.

[0089] The yarn unloading method provided by the present invention can remove the finished yarn bales completed with bagging from the doffing machine, complete yarn unloading and convey them to the yarn receiving position by controlling the transportation mechanism 11 to convey the yarn unloading machine 12 to move between the yarn unloading position and the yarn receiving position; by controlling the flipping device 21 to drive the yarn receiving assembly 22 to flip and move between the yarn receiving position and the yarn placing position, it can flip to receive the finished yarn bales conveyed by the yarn unloading machine 12 at the yarn receiving position and flip them to the yarn placing position; controlling the moving mechanism 41 and the adsorption mechanism 42 to convey the plastic trays on the tray storage mechanism 43 to the yarn receiving and placing position to receive the finished yarn bales conveyed by the yarn receiving device 20, and finally conveying them via the conveying device 30, the fully automated conveying of the finished yarn bales is completed, greatly improving the efficiency and reducing the labor cost.

[0090] In the description of this specification, the description with reference to terms such as "example", "embodiment" or "some embodiments" means that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in a suitable manner in any one or more embodiments or examples.

[0091] Certainly, the present invention is not limited to the above-mentioned embodiments. Those skilled in the art can make equivalent deformations or substitutions without departing from the spirit of the present invention, and these equivalent deformations or substitutions are all included in the scope defined by the claims of this application.

Claims

1. An automatic yarn unloading system, characterized in that: It includes a yarn unloading device, a yarn joining device, a conveying device and a disc disassembling robot, wherein the yarn unloading device includes a transport mechanism and a yarn unloading machine, wherein the yarn unloading machine is arranged on the transport mechanism, and the transport mechanism is used to drive the yarn unloading machine to move between a yarn unloading position and a yarn joining position; The tray disassembly robot comprises a moving mechanism, an adsorption mechanism and a tray storage mechanism, wherein the adsorption mechanism is connected to the moving mechanism, and the moving mechanism is used to drive the adsorption mechanism to move between the tray storage mechanism and the yarn release position, so as to transport the plastic tray on the tray storage mechanism to the yarn release position on the transport device; The yarn joining device comprises a turning device and a yarn joining assembly, wherein the yarn joining assembly is arranged on the turning device, and the turning device is used to drive the yarn joining assembly to turn and move between a yarn joining position and a yarn releasing position, so as to receive the material conveyed by the yarn unloading machine and convey it to the plastic tray on the conveying device; A turntable assembly is provided between the yarn unloading machine and the transport mechanism, and the turntable assembly is used to drive the yarn unloading machine to rotate on the transport mechanism; the turntable assembly includes a turntable driving device and a turntable, and the turntable driving device is in driving connection with the turntable; The yarn unloading machine comprises a yarn unloading claw telescopic assembly and a yarn unloading claw assembly, and the yarn unloading claw telescopic assembly is arranged on the turntable assembly; The yarn unloading claw telescopic assembly includes a telescopic driving assembly, a gear, a rack, a second guide rail and a second slider, the second slider is connected to the second guide rail, the rack is connected to the yarn unloading claw assembly, the gear matches the rack, and the telescopic driving assembly drives the yarn unloading claw assembly to reciprocate on the second guide rail through the gear; The yarn unloading claw assembly comprises a bottom connecting plate, the bottom connecting plate is connected with the second sliding block, the bottom connecting plate is provided with a yarn unloading claw driving device, a first guide rail, a first sliding block, a left yarn unloading claw and a right yarn unloading claw, the first guide rail cooperates with the first sliding block, the left yarn unloading claw and the right yarn unloading claw are both connected with the first guide rail through the first sliding block, the yarn unloading claw driving device is used to drive the left yarn unloading claw and the right yarn unloading claw to move closer to each other to move the clamped material, or to drive the left yarn unloading claw and the right yarn unloading claw to move away from each other to release the material; The turning device comprises a base, a turning drive device and a turning block, the yarn joining assembly is arranged on the turning block, the turning block is rotatably connected to the base via a turning shaft, and the turning drive device is drivingly connected to the turning shaft to drive the turning block to turn around the turning shaft; The yarn joining assembly comprises a yarn joining frame and a yarn joining drive device, a yarn joining guide rail, a yarn joining slider, a left yarn joining claw and a right yarn joining claw arranged on the yarn joining frame, the yarn joining frame is connected to the flip block, the yarn joining slider cooperates with the yarn joining guide rail, the left yarn joining claw and the right yarn joining claw are both connected to the yarn joining guide rail through the yarn joining slider, and the yarn joining drive device is used to drive the left yarn joining claw and the right yarn joining claw to move closer to each other to clamp the material, or to drive the left yarn joining claw and the right yarn joining claw to move away from each other to release the material; The yarn joining assembly also includes a yarn ball reversing assembly, which includes a reversing drive device, a connecting seat and a yarn joining rubber roller assembly. The connecting seat is arranged on the yarn joining frame, and the yarn joining rubber roller assembly is arranged between the left yarn joining claw and the right yarn joining claw. The reversing drive device is connected to the yarn joining rubber roller assembly to drive the yarn joining rubber roller assembly to rotate between the left yarn joining claw and the right yarn joining claw.

2. The automatic yarn unloading system according to claim 1, characterized in that: The transport mechanism includes a four-way vehicle and a travel track. The yarn unloading machine is arranged on the four-way vehicle. The travel track includes a transverse track and a longitudinal track. The longitudinal track is connected between two adjacent transverse tracks. The four-way vehicle reciprocates along the transverse track and the longitudinal track to drive the yarn unloading machine to move between the yarn unloading position and the yarn connecting position.

3. The automatic yarn unloading system according to claim 1, characterized in that: The pallet storage mechanism comprises a manipulator support, a lifting assembly and a pallet bracket, wherein the lifting assembly is arranged on the manipulator support, the pallet bracket is connected to the lifting assembly, and the lifting assembly drives the pallet bracket to move up and down; The moving mechanism comprises a suction cup transverse movement assembly and a suction cup driving assembly, wherein the suction cup transverse movement assembly is connected to the manipulator bracket, the suction cup driving assembly is connected to the suction cup transverse movement assembly, and the suction cup transverse movement assembly drives the suction cup driving assembly to reciprocate horizontally; The adsorption mechanism is connected to the suction cup driving assembly, and the suction cup driving assembly is used to drive the adsorption mechanism to move up and down.

4. The automatic yarn unloading system according to claim 3, characterized in that: The adsorption mechanism is a suction cup, and the suction cup is arranged on a suction cup connecting plate. The lifting assembly is connected to the suction cup connecting plate to drive the suction cup connecting plate to move up and down.

5. An automatic yarn unloading method, characterized in that: The automatic yarn unloading system according to any one of claims 1 to 4 comprises the following steps: Obtain the yarn unloading position information of the doffer where the finished yarn ball is bagged; According to the yarn unloading position information of the doffing machine after bagging of the finished yarn balls, the transport mechanism is controlled to drive the yarn unloading machine to move to the yarn unloading position, the yarn unloading is completed and the yarn unloading completion information is issued; Get the yarn unloading completion information; According to the yarn unloading completion information, the transport mechanism is controlled to drive the yarn unloading machine to move to the yarn joining position, and the flip device is controlled to drive the yarn joining assembly to flip and move to the yarn joining position, the yarn joining is completed and the yarn joining completion information is issued; Acquire the yarn joining completion information, control the moving mechanism to drive the adsorption mechanism to move, and transport the plastic tray on the tray storage mechanism to the yarn placing position on the conveying device; The turning device is controlled to drive the yarn joining assembly to turn over and move to the yarn releasing position, complete the yarn releasing and issue a yarn releasing completion instruction.

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