Collecting, falling and arranging device capable of quickly inserting tubes

Abstract

The invention relates to the field of textile machinery production, in particular to a bobbin collecting and arranging device capable of quickly inserting bobbins, which comprises a spinning frame, at least one spindle arranged in a linear array is arranged on the spinning frame, a drafting system used for lengthening and thinning roving is arranged on the spinning frame, and the spinning frame is provided with a bobbin collecting and arranging device capable of quickly inserting the bobbins. Under the cooperation of the operation assembly, the first mechanical arm and the second mechanical arm are matched, when the device receives a signal of taking down the full yarn, the two mechanical arms can grab the full yarn on a spindle and an empty tube placed on the spindle at the same time, then the full yarn on the spindle and the empty tube placed on the spindle are taken down, and then the full yarn on the spindle and the empty tube are taken down. The first electric push rod drives the intermittent disc and the lifting plate to be lifted, synchronous transfer of full yarn and empty yarn is achieved, then the motor is started to drive the intermittent disc to rotate anticlockwise, position conversion of the full yarn and the empty yarn is rapidly completed, step-by-step operation is not needed, time is greatly saved, and the overall operation efficiency is improved.

Description

Technical Field

[0001] The invention relates to the field of textile machinery production, in particular to a colony management device capable of rapid tube insertion. Background Art

[0002] With the continuous advancement of science and technology, spinning companies are paying more and more attention to intelligent production. The application of intelligent equipment such as automated production lines, robots, and intelligent logistics systems can improve production efficiency. In the spinning process, the spinning frame continuously spins coarse yarn into fine yarn and winds it on the yarn tube. When the yarn on the yarn tube is full, it is necessary to change the tube. The full yarn tube is removed and replaced with an empty tube to continue spinning. Therefore, it is necessary to use a collection and management device through a manipulator to quickly and accurately complete the action of pulling out the full yarn and inserting the empty tube to ensure the continuity of the spinning production, greatly shorten the tube change time, and reduce the production stoppage caused by tube change, thereby improving the production efficiency of the entire spinning process.

[0003] An existing collection and management device that can quickly insert tubes has certain defects during use: since a hoist and a tube management machine are specially designed in the traditional method to respectively complete the collection of full yarns and the insertion of empty tubes, after the full yarn is taken off the spinning frame, it needs to be transported to the placement rod by the hoist first, and then moved inside the yarn frame by the conveyor, which greatly reduces the efficiency of collecting full yarns. Subsequently, the tube management machine performs the insertion of empty tubes. This process not only has many steps, but also has time delays, which greatly reduces the overall operating speed. At the same time, the two devices themselves require a large space, and the layout and connection between the devices also require a certain amount of space, which makes the entire collection and management system occupy a large area in the spinning workshop.

[0004] Therefore, it is necessary to propose a colony management device capable of rapid intubation to solve the above technical problems. Summary of the invention

[0005] In view of the shortcomings of the prior art, the present invention provides a colony management device capable of rapid tube insertion, which solves the technical problems in the prior art that the traditional method of using a hoist and a tube management machine to collect full yarns and insert empty tubes respectively, involves many steps, has time delays, reduces the operating speed and occupies a large area of ​​equipment.

[0006] To achieve the above objectives, the present invention is implemented through the following technical solutions: The technical solution adopted by the present invention to solve the technical problem is: a collection pipe management device capable of rapid pipe insertion, comprising a roving frame, on which spindles arranged in a linear array are arranged, and there is at least one spindle, and a drafting system for drawing and thinning the coarse yarn is arranged on the roving frame, and a yarn frame for collecting full yarn is arranged at the bottom of the roving frame; A lifting plate, which is arranged above the spindle and arranged in a long shape; There is at least one No. 1 manipulator, which corresponds to each spindle one by one and is arranged below the lifting plate to grab the full yarn on the spindle; Two first electric push rods are provided and symmetrically distributed below the lifting plate; A running assembly, which is arranged on the lifting plate and is used to run the full yarn on the spindle and quickly insert the empty tube on the spindle; The folding assembly is arranged below the lifting plate and is used for folding the lifting plate when it is not in use.

[0007] Preferably, the operating component includes a motor installed on the right side of the lifting plate through a motor seat, the motor is a servo motor, the top of the lifting plate is rotatably connected to a plurality of rollers, the outer sides of the plurality of rollers are rotatably connected to a conveyor belt, the bottom of the lifting plate is rotatably connected to an intermittent disk corresponding to the rollers, the top of the intermittent disk and the conveyor belt are fixedly connected by a rotating shaft, the No. 1 manipulator is installed at the rear end of the intermittent disk, the No. 2 manipulator and the No. 3 manipulator are respectively installed from right to left below the intermittent disk and at the front end of the No. 1 manipulator, the No. 1 manipulator, the No. 2 manipulator and the No. 3 manipulator are distributed at an angle of 120 on the intermittent disk, a limited position frame is arranged above the yarn frame, a placing spindle is arranged at the top of the limit frame and below the No. 2 manipulator, an insertion component for arranging and inserting empty pipes into the placing spindle is arranged at the front end of the No. 2 manipulator, a limited position cover is arranged at the top of the limit frame and below the No. 3 manipulator, the limit cover corresponds to the No. 3 manipulator, the top of the limit cover is a trumpet-shaped, and the limit cover and the limit frame are connected.

[0008] Preferably, a control frame is installed below the limit frame, the longitudinal section of the control frame is an inverted cone-shaped structure, and the control frame as a whole protrudes from the front end of the limit frame and extends into the interior of the yarn frame.

[0009] Preferably, the insertion component includes slide plates which slide symmetrically at the left and right ends of the bottom of the lifting plate, a running plate is installed between the front ends of the two slide plates, a No. 4 manipulator is installed on the side of the bottom of the running plate corresponding to the No. 2 manipulator, and when docking with an external empty pipe, the empty pipe in the external transportation system is inserted into the No. 2 manipulator through the No. 4 manipulator, which can quickly improve the efficiency of inserting the empty pipe, and a second electric push rod is installed on the top of the lifting plate, and a limit plate is installed on the movable end of the second electric push rod, and the bottom of the limit plate is fixedly connected to the running plate.

[0010] Preferably, a limiting groove is provided in the middle of the front end of the lifting plate, the limiting groove corresponds to the limiting plate, a bolt rod is threadedly connected to the middle of the limiting plate, and an adjustment plate is installed at the rear end of the bolt rod.

[0011] Preferably, the folding assembly includes a support frame installed on the top of the roving frame, the support frame is a U-shaped structure, and a limit rod is installed at the bottom of the two vertical ends of the support frame, and a first expansion spring is sleeved on the outer side of the limit rod, and an L-shaped piece is installed at the left and right ends of the limit frame, the bottom of the limit rod slides through the horizontal end of the L-shaped piece, and a sliding groove is opened at the front end of the limit rod, and a locking plate is installed inside the sliding groove. The inner cavity of the limit rod is connected to a control plate that can move along the front and rear directions through a slide rail cooperation mode, and corners are opened on opposite sides of the locking plate and the control plate, and the control plate is used to lock the locking plate, and the inner cavity of the limit rod is installed with a second expansion spring fixedly connected to the control plate, and a driving rope passing through the middle of the second expansion spring is installed in the middle part of the rear end of the control plate, and one end of the two driving ropes slides through the bottom of the limit rod respectively, and at the same time extends to the middle position of the limit frame and is connected to each other, and the driving rope is located in the middle position of the limit frame and a pull rope is installed.

[0012] Preferably, the bottom of the ingot placement slides through the interior of the limiting frame and is installed with a baffle, the interior of the limiting frame is installed with a circular cover corresponding to the bottom of the ingot placement, and the interior of the circular cover is installed with a third expansion spring sleeved on the outside of the ingot placement.

[0013] Preferably, the manipulator No. 1, manipulator No. 2, manipulator No. 3 and manipulator No. 4 all include a fixed ring, the outer side of the fixed ring is rotatably connected to a rotating plate, an electric telescopic rod is installed inside the fixed ring, an auxiliary ring is installed at the movable end of the electric telescopic rod, the outer side of the auxiliary ring is rotatably connected to a mechanical claw hand in a ring array, and the top of the mechanical claw hand and the bottom of the rotating plate are rotatably connected via a rotating shaft.

[0014] Beneficial effects: (1) The present invention sets the cooperation of the operation component, through the cooperation of the No. 1 manipulator and the No. 2 manipulator. When the device receives the signal to remove the full yarn, the two manipulators can simultaneously grab the full yarn on the spindle and the empty tube on the placement spindle respectively. Then, the first electric push rod drives the intermittent disk and the lifting plate to lift up, so as to realize the synchronous transfer of the full yarn and the empty tube. Then, the motor starts to drive the intermittent disk to rotate counterclockwise, so as to quickly complete the position conversion of the full yarn and the empty tube without step-by-step operation, which greatly saves time and improves the overall operation efficiency. The present invention also sets the insertion component, sets a slidable slide plate, an operation plate and a No. 4 manipulator at the bottom of the lifting plate, so as to quickly insert the empty tube in the external transport system into the placement spindle, which greatly improves the efficiency of inserting the empty tube. Compared with the traditional method in which a specially designed elevator and a tube handling machine are used to respectively complete the full yarn collection and the empty tube insertion, the time delay is reduced and the overall operation speed is accelerated.

[0015] (2) The present invention sets a folding component. When it is necessary to operate on the spindle or when the operating component is not in use, the control frame and the limit frame are lifted up by the handle, and the control plate is bound to the locking plate to limit the movement of the L-shaped part. At this time, the lifting plate, the limit frame and the control frame are moved to the top of the roving frame, which provides convenience for the subsequent manual operation of the roving and also reduces the occupied space. At the same time, the limit plate and the operating plate can be driven by the second electric push rod to move to the lower position of the lifting plate, so that the lifting plate and the operating plate will form a superimposed state, thereby effectively improving the utilization efficiency of the space. Furthermore, when the operating plate is close to the limit frame, the placement spindle on the limit frame will contact the middle part of the No. 4 robot, and the placement spindle as a whole can be retracted along the inside of the circular cover, so that the entire device can be arranged more compactly under a specific state, reducing the space occupied and further improving the space utilization. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The present invention is further described below in conjunction with the accompanying drawings and embodiments.

[0017] Figure 1 It is a schematic diagram of the overall structure of the present invention; Figure 2 It is a front view of the overall structure of the present invention; Figure 3 It is a schematic diagram of the operating components of the present invention; Figure 4 It is a schematic diagram of the first manipulator, the second manipulator, the third manipulator and the fourth manipulator of the present invention; Figure 5 It is a schematic diagram of the ingot, the ingot placement and the limiting cover of the present invention; Figure 6 for Figure 3 A partial enlarged view of middle A; Figure 7 It is a partial longitudinal cross-sectional view of the limiting rod of the present invention; Figure 8 It is a partial longitudinal cross-sectional view of the limiting frame of the present invention; Fig. 9 for Figure 1 A partial enlarged view of B.

[0018] Numbers in the figure: roving frame; 11, spindle; 12, drafting system; 13, yarn frame; 14, lifting plate; 15, manipulator No. 1; 16, first electric push rod; 151, fixed ring; 152, rotating plate; 153, electric telescopic rod; 154, auxiliary ring; 155, mechanical claw hand; operating assembly; 21, motor; 22, roller; 23, conveyor belt; 24, intermittent disk; 25, manipulator No. 2; 26, manipulator No. 3; 27, limit frame; 271, control frame; 28, place spindle; 29 , limit cover; 211, slide plate; 212, running plate; 213, fourth manipulator; 214, second electric push rod; 215, limit plate; 216, limit slot; 217, bolt rod; 218, adjustment plate; folding assembly; 31, support frame; 32, limit rod; 33, first expansion spring; 34, L-shaped piece; 35, locking plate; 36, control board; 37, second expansion spring; 38, driving rope; 311, baffle; 312, third expansion spring; 313, round cover. In order to make the technical means, creative features, objectives and effects achieved by the present invention easy to understand, the present invention is further explained below in conjunction with specific implementation methods.

[0019] like Figure 1 and Figure 2 As shown, a collection management device capable of rapid tube insertion comprises a roving frame 1, on which spindles 11 arranged in a linear array are arranged, and there is at least one spindle 11. The roving frame 1 is provided with a drafting system 12 for drawing and thinning the coarse yarn, which is responsible for drawing and thinning the coarse yarn, and through precise stretching, the fiber arrangement of the coarse yarn is more neat and the fineness is more uniform, laying a foundation for producing high-quality spun yarn. The bottom of the roving frame 1 is provided with a yarn frame 13 for collecting full yarn. When the yarn on the spindle 11 is processed, the full yarn needs to be collected in time. The yarn frame 13 provides storage and transportation space for the full yarn, and the lifting plate 14 , which is arranged above the spindle 11 and is arranged in a long shape. There is at least one No. 1 manipulator 15, which corresponds to the spindle 11 one by one and is arranged below the lifting plate 14 to grab the full yarn on the spindle 11. There are two first electric push rods 16, which are symmetrically distributed below the lifting plate 14. The lifting plate 14 can be driven up and down by the first electric push rods 16 to adjust the distance between the No. 1 manipulator 15 below and the spindle 11. In the process of grabbing full yarn and inserting empty tubes, the height adjustment of the lifting plate 14 can ensure that the No. 1 manipulator 15 accurately reaches the position of the spindle 11, thereby improving the accuracy and efficiency of the operation; like Figure 1-Figure 5As shown, the running component 2 is arranged on the lifting plate 14, and is used for running the full yarn on the spindle 11 and quickly inserting the empty tube into the spindle 11. The running component 2 includes a motor 21 installed on the right side of the lifting plate 14 through a motor 21 seat, and the motor 21 is a servo motor 21. The top of the lifting plate 14 is rotatably connected to a plurality of rollers 22, and the outer sides of the plurality of rollers 22 are rotatably connected to a conveyor belt 23. The lower part of the lifting plate 14 is rotatably connected to an intermittent disk 24 corresponding to the rollers 22, and the top of the intermittent disk 24 and the conveyor belt 23 are fixedly connected by a rotating shaft. The No. 1 manipulator 15 is installed at the rear end of the intermittent disk 24, and the intermittent disk 24 and the front end of the No. 1 manipulator 15 are located below the intermittent disk 24. From right to left, manipulator No. 25 and manipulator No. 3 26 are installed respectively, manipulator No. 1 15, manipulator No. 2 25 and manipulator No. 3 26 are distributed at an angle of 120 on the intermittent disk 24, a limit frame 27 is arranged above the yarn frame 13, a placing spindle 28 is arranged at the top of the limit frame 27 and below the manipulator No. 2 25, an insertion component for arranging empty tubes and inserting them into the placing spindle 28 is arranged at the front end of the manipulator No. 2 25, a limit cover 29 is arranged at the top of the limit frame 27 and below the manipulator No. 3 26, the limit cover 29 corresponds to the manipulator No. 3 26, the top of the limit cover 29 is a trumpet-shaped, and the limit cover 29 and the limit frame 27 are connected.

[0020] Before the entire colony management device starts working, it is necessary to put an empty tube on the placement spindle 28 in advance to prepare for the subsequent insertion of the empty tube into the spindle 11. When the device receives a signal that the full yarn needs to be removed, the first electric push rod 16 starts working and pushes the lifting plate 14 to move downward. As the lifting plate 14 descends, the No. 1 robot 15 gradually moves towards the full yarn on the spindle 11. At the same time, the No. 2 robot 25 moves towards the empty tube on the placement spindle 28. When the No. 1 robot 15 and the No. 2 robot 25 reach the position of the full yarn and the empty tube respectively, they perform the grabbing action at the same time. Manipulator No. 1 15 tightly grasps the full yarn on spindle 11, and manipulator No. 2 25 grabs the empty tube on the placement spindle 28, and then the first electric push rod 16 drives the intermittent disk 24 and the lifting plate 14 to lift up. At this time, the full yarn is taken away from spindle 11 by manipulator No. 1 15, and at the same time, the empty tube is also lifted from the placement spindle 28 by manipulator No. 2 25. Subsequently, the motor 21 starts, driving the roller 22 to rotate, and the intermittent disk 24 rotates 120 degrees counterclockwise through the transmission of the conveyor belt 23. In this process, the originally lifted empty tube is rotated to a position facing the spindle 11, and the originally lifted full yarn enters the limit cover 29 corresponding to the No. 3 manipulator 26. Then, the first electric push rod 16 moves downward again, and the No. 1 manipulator 15 and the No. 2 manipulator 25 are relaxed, so that the empty tube enters the spindle 11, and the full yarn enters the limit frame 27 through the limit cover 29, and finally falls into the yarn frame 13 for collection. In the present invention, with the cooperation of the operating component 2, the No. 1 manipulator 15 and the No. 2 manipulator 25 grab the full yarn and the empty tube at the same time, and the position conversion of the full yarn and the empty tube is quickly completed through the rotation of the intermittent disk 24. With the cooperation of the limit cover 29, the full yarn that is about to fall can pass through the limit frame 27 and be quickly collected in the sand frame. There is no need to use the hoist and the pipe handling machine for step-by-step operation as in the traditional way, which greatly saves time and improves the overall operation speed.

[0021] like Figure 2 As shown, a control frame 271 is installed below the limit frame 27 . The longitudinal section of the control frame 271 is an inverted cone-shaped structure. The control frame 271 as a whole protrudes from the front end of the limit frame 27 and extends into the yarn frame 13 .

[0022] When the full yarn passes through the limit cover 29 and enters the limit frame 27, a control frame 271 with an inverted cone-shaped longitudinal section is installed below the limit frame 27, and the control frame 271 as a whole protrudes from the front end of the limit frame 27 and extends into the yarn frame 13. In this way, the full yarn can be arranged in a more orderly manner and enter the yarn frame 13, which plays a guiding and orienting role, and also facilitates the subsequent transportation and processing of the full yarn.

[0023] like Figure 3 and Figure 4As shown, the insertion component includes a slide plate 211 which slides symmetrically at the left and right ends of the bottom of the lifting plate 14, and a running plate 212 is installed between the front ends of the two slide plates 211. A No. 4 manipulator 213 is installed on the side of the bottom of the running plate 212 corresponding to the No. 2 manipulator 25. When docking with an external empty pipe, the empty pipe in the external transportation system is inserted into the No. 2 manipulator 25 through the No. 4 manipulator 213, which can quickly improve the efficiency of inserting the empty pipe. A second electric push rod 214 is installed on the top of the lifting plate 14, and a limit plate 215 is installed on the movable end of the second electric push rod 214. The bottom of the limit plate 215 is fixedly connected to the running plate 212.

[0024] When the empty tube in the external transportation system moves to the side of the operating plate 212, the second electric push rod 214 starts to work, and the moving end of the second electric push rod 214 pushes the limit plate 215, thereby driving the operating plate 212 and the slide plate 211 to move along the lifting plate 14 toward the direction close to the transportation system, and the fourth manipulator 213 at the bottom of the operating plate 212 grabs the new empty tube in the transportation system. After grabbing the empty tube, the second electric push rod 214 drives the operating plate 212, the slide plate 211 and the fourth manipulator 213 to move in the opposite direction, so that the operating plate 212 returns to the bottom of the lifting plate 14, and through precise control, until the fourth manipulator 213 The hand 213 moves to the bottom of the No. 2 robot 25, and then the No. 4 robot 213 puts the grabbed new empty tube on the placement spindle 28, and then resets it to prepare for the subsequent operation of inserting the empty tube into the spindle 11. By arranging a sliding slide 211, a running plate 212 and the No. 4 robot 213 at the bottom of the lifting plate 14, the empty tube in the external transportation system can be quickly inserted into the placement spindle 28, which greatly improves the efficiency of inserting the empty tube. Compared with the traditional method of specially designed elevators and tube handling machines to complete the full yarn collection and empty tube insertion actions respectively, the time delay is reduced and the overall operation speed is accelerated.

[0025] like Figure 3 and Figure 6 As shown, a limiting groove 216 is provided in the middle of the front end of the lifting plate 14, and the limiting groove 216 corresponds to the limiting plate 215. A bolt rod 217 is threadedly connected to the middle of the limiting plate 215, and an adjusting plate 218 is installed at the rear end of the bolt rod 217. When the second electric push rod 214 drives the limit plate 215 to move to the inside of the limit groove 216, the bolt rod 217 is manually rotated. Since the bolt rod 217 is threadedly connected with the limit plate 215, it will drive the rear adjustment plate 218 to move in the limit groove 216 when it rotates. The adjustment plate 218 gradually squeezes the limit groove 216, and through continuous adjustment, until the fourth manipulator 213 and the second manipulator 25 correspond to each other. When the second electric push rod 214 is extended and retracted again in the later stage, since the fourth manipulator 213 and the second manipulator 25 have been accurately aligned, it can ensure that the empty tube is smoothly inserted into the placement ingot 28, prepare for the subsequent operation of inserting the empty tube into the ingot 11, and ensure the accuracy and stability of the empty tube insertion process.

[0026] like Figure 3 and Figure 7 As shown, the folding assembly 3 is arranged under the lifting plate 14, and is used for folding when the lifting plate 14 is not in use. The folding assembly 3 includes a support frame 31 installed on the top of the roving frame 1, and the support frame 31 is a U-shaped structure. Limit rods 32 are installed at the bottom of the two vertical ends of the support frame 31. The outer side of the limit rod 32 is sleeved with a first expansion spring 33, and L-shaped parts 34 are installed at the left and right ends of the limit frame 27. The bottom of the limit rod 32 slides through the horizontal end of the L-shaped part 34, and a slide groove is opened at the front end of the limit rod 32. The horizontal end of the L-shaped part 34 is located in the slide groove and a locking plate 35 is installed inside the slide groove. The inner cavity of the limit rod 32 cooperates with the slide rail The locking plate 35 and the control plate 36 are connected in a forward and backward direction, and corners are provided on the opposite sides of the locking plate 35 and the control plate 36. The control plate 36 is used to lock the locking plate 35. The inner cavity of the limiting rod 32 is equipped with a second expansion spring 37 fixedly connected to the control plate 36. A driving rope 38 passing through the middle of the second expansion spring 37 is installed in the middle of the rear end of the control plate 36. One ends of the two driving ropes 38 respectively slide through the bottom of the limiting rod 32, and extend to the middle position of the limiting frame 27 and are connected to each other. A pull rope is installed at the middle position of the driving rope 38 in the limit frame 27, and a handle is installed at the bottom of the control frame 271.

[0027] When the lifting plate 14 needs to be lifted, the control frame 271 and the limit frame 27 are lifted upward by the handle. At this time, the L-shaped pieces 34 on both sides of the limit frame 27 slide upward along the limit rod 32, and the first expansion spring 33 enters a compressed state. At the same time, the locking plate 35 in the L-shaped piece 34 slides along the slide groove, and the corners of the locking plate 35 contact and squeeze the corners on the control plate 36. This squeezing causes the control plate 36 to squeeze the second expansion spring 37, and the control plate 36 slides inside the limit rod 32. When the locking plate 35 continues to slide upward until it passes over the control plate 36, the second expansion spring 37 is released, and the restoring force of the spring causes the control plate 36 to support the locking plate 35. At this time, the lifting plate 14, the limit frame 27 and the control frame 271 are moved above the roving frame 1, which provides convenience for the later manual operation of spun yarn and also reduces the occupied space. The lifting plate 14 can be lifted by a simple handle operation, which is convenient and fast, reduces the difficulty of operation and improves work efficiency.

[0028] It is worth noting that in order to further improve the space utilization, the second electric push rod 214 can be used to drive the limit plate 215 and the operating plate 212 to move to the position below the lifting plate 14, so that the lifting plate 14 and the operating plate 212 will form an overlapping state, thereby effectively improving the space utilization efficiency.

[0029] like Figure 8 As shown, the bottom of the placement ingot 28 slides through the interior of the limit frame 27 and is installed with a baffle 311. A circular cover 313 is installed inside the limit frame 27 corresponding to the bottom of the placement ingot 28. The inside of the circular cover 313 is installed with a third expansion spring 312 that is sleeved on the outside of the placement ingot 28.

[0030] When the folding assembly 3 is used, the first electric push rod 16 is started, and the first electric push rod 16 drives the lifting plate 14 and the operating plate 212 to approach the limit frame 27. At this time, the fourth manipulator 213 at the bottom of the operating plate 212 faces the placed ingot 28. As the lifting plate 14 and the operating plate 212 continue to approach, the fourth manipulator 213 will generate an extrusion force on the placed ingot 28, prompting the placed ingot 28 to be squeezed downward along the inside of the limit frame 27. The baffle 311 will squeeze the third expansion spring 312 installed in the circular cover 313 under the corresponding placed ingot 28 inside the limit frame 27. Due to the effect of the force, the placed ingot 28 can be retracted along the inside of the circular cover 313 as a whole, so that the entire device can be arranged more compactly under a specific state, reducing space occupancy and improving space utilization. When it is necessary to release the limit frame 27 and the control frame 271 to reset, the driving ropes 38 on both sides are stretched to drive the control board 36 to squeeze the second expansion spring 37. At this time, the control board 36 and the locking plate 35 are separated, and finally the spring potential energy of the first expansion spring 33 is released, thereby pushing the L-shaped parts 34 on both sides to quickly bounce up along the bottom of the limit rod 32, thereby realizing the reset of the limit frame 27 and the control frame 271.

[0031] like Figure 4 and Fig. 9 As shown, manipulator No. 15, manipulator No. 25, manipulator No. 3 26 and manipulator No. 4 213 all include a fixed ring 151, the outer side of the fixed ring 151 is rotatably connected to a rotating plate 152, an electric telescopic rod 153 is installed inside the fixed ring 151, and an auxiliary ring 154 is installed at the movable end of the electric telescopic rod 153, and the outer side of the auxiliary ring 154 is rotatably connected to a mechanical claw hand 155 in a ring array, and the top of the mechanical claw hand 155 and the bottom of the rotating plate 152 are rotatably connected via a rotating shaft.

[0032] When the moving end of the electric telescopic rod 153 is retracted, the auxiliary ring 154 is driven to move toward the fixed ring 151. Since the top of the mechanical claw hand 155 and the bottom of the rotating plate 152 are rotatably connected via a rotating shaft, when the auxiliary ring 154 moves close to the fixed ring 151, the mechanical claw hand 155 rotates around the connecting rotating shaft with the rotating plate 152, so that the lower end of the mechanical claw hand 155 is gradually retracted, thereby achieving the grasping of the object. Conversely, this manipulator design can adapt to the grasping needs of objects of different shapes and sizes. At the same time, the rapid response and precise control of the electric telescopic rod 153 make the operation of the manipulator more flexible, thereby achieving rapid grasping and releasing of empty pipes.

[0033] The working principle of the present invention is as follows: the colony management device for rapid tube insertion is used. When the empty tube in the external transportation system moves to one side of the operating plate 212, the second electric push rod 214 starts to work, pushing the limit plate 215, thereby driving the operating plate 212 and the slide plate 211 to move along the lifting plate 14 toward the direction close to the transportation system, and the No. 4 manipulator 213 at the bottom of the operating plate 212 grabs the new empty tube in the transportation system. After grabbing the empty tube, the second electric push rod 214 drives the operating plate 212, the slide plate 211 and the No. 4 manipulator 213 to move in the opposite direction, so that the operating plate 212 returns to the bottom of the lifting plate 14, and the No. 4 manipulator 213 sets the grabbed new empty tube on the placement ingot 28, so as to prepare for the subsequent operation of inserting the empty tube into the ingot 11; When the device receives a signal that the full yarn needs to be removed, the first electric push rod 16 starts working and pushes the lifting plate 14 to move downward. As the lifting plate 14 descends, the No. 1 manipulator 15 gradually moves towards the full yarn on the spindle 11. At the same time, the No. 2 manipulator 25 moves towards the empty tube on the placement spindle 28. When the No. 1 manipulator 15 and the No. 2 manipulator 25 reach the positions of the full yarn and the empty tube respectively, they perform the grasping action at the same time. The No. 1 manipulator 15 tightly grasps the full yarn on the spindle 11, and the No. 2 manipulator 25 grasps the empty tube on the placement spindle 28. The first electric push rod 16 drives the intermittent disk 24 and the lifting plate 14 to lift. At this time, the full yarn is removed from the spindle 11. The first manipulator 15 takes it away, and at the same time, the empty tube is also lifted from the placement spindle 28 by the second manipulator 25, and the motor 21 is started to drive the roller 22 to rotate, and the intermittent disk 24 is rotated 120 degrees counterclockwise through the transmission of the conveyor belt 23. In this process, the originally lifted empty tube is rotated to a position facing the spindle 11, and at the same time, the originally lifted full yarn enters the limit cover 29 corresponding to the third manipulator 26, and the first electric push rod 16 moves downward again, and the first manipulator 15 and the second manipulator 25 are relaxed, so that the empty tube enters the spindle 11, and the full yarn passes through the limit cover 29 into the limit frame 27, and finally falls into the yarn frame 13 for collection; When the lifting plate 14 needs to be lifted, the control frame 271 and the limit frame 27 are lifted upward by the handle. At this time, the L-shaped pieces 34 on both sides of the limit frame 27 slide upward along the limit rod 32, and the first expansion spring 33 enters a compressed state. The lock plate 35 in the L-shaped piece 34 slides along the slide groove. The corners of the lock plate 35 contact and squeeze the corners on the control plate 36, causing the control plate 36 to squeeze the second expansion spring 37. The control plate 36 slides inside the limit rod 32. When the lock plate 35 continues to Continue to slide upward until it passes through the top of the control plate 36, release the second expansion spring 37, the restoring force of the spring prompts the control plate 36 to support the locking plate 35, at this time, the lifting plate 14, the limit frame 27 and the control frame 271 are moved to the top of the roving frame 1, to further improve the space utilization, the second electric push rod 214 can be used to drive the limit plate 215 and the running plate 212 to move, so that they move to the position below the lifting plate 14, so that the lifting plate 14 and the running plate 212 are in an overlapping state.

[0034] The above shows and describes the basic principles, main features and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The above embodiments and descriptions are only for explaining the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, which fall within the scope of the present invention. The scope of the present invention is defined by the attached claims and their equivalents.

Claims

1. A colony management device capable of rapid intubation, comprising a roving frame (1), characterized in that: The roving frame (1) is provided with spindles (11) arranged in a linear array, and there is at least one spindle (11); the roving frame (1) is provided with a drafting system (12) for drawing and thinning the coarse yarn; and the bottom of the roving frame (1) is provided with a yarn frame (13) for collecting full yarns; A lifting plate (14) is arranged above the spindle (11) and is arranged in a long shape; At least one No. 1 manipulator (15) corresponding to each spindle (11) and arranged below the lifting plate (14) for grabbing the full yarn on the spindle (11); Two first electric push rods (16) are provided and symmetrically distributed below the lifting plate (14); A running assembly (2) is arranged on the lifting plate (14) and is used to run the full yarn on the spindle (11) and quickly insert the empty tube onto the spindle (11); A folding assembly (3) is arranged below the lifting plate (14) and is used to fold the lifting plate (14) when it is not in use.

2. A colony management device capable of rapid intubation according to claim 1, characterized in that; The operating assembly (2) comprises a motor (21) mounted on the right side of the lifting plate (14) via a motor (21) seat, the motor (21) being a servo motor (21), the top of the lifting plate (14) being rotatably connected to a plurality of rollers (22), the outer sides of the plurality of rollers (22) being rotatably connected to a conveyor belt (23), the bottom of the lifting plate (14) being rotatably connected to an intermittent disk (24) corresponding to the rollers (22), the top of the intermittent disk (24) and the conveyor belt (23) being fixedly connected via a rotating shaft, the first manipulator (15) being mounted at the rear end of the intermittent disk (24), the second manipulator (25) and the third manipulator (23) being mounted from right to left below the intermittent disk (24) and at the front end of the first manipulator (15), respectively. 6), the first manipulator (15), the second manipulator (25) and the third manipulator (26) are distributed at an angle of 120 on the intermittent disk (24), a limit frame (27) is arranged above the yarn frame (13), a placement spindle (28) is arranged at the top of the limit frame (27) and below the second manipulator (25), an insertion component for arranging and inserting empty tubes into the placement spindle (28) is arranged at the front end of the second manipulator (25), a limit cover (29) is arranged at the top of the limit frame (27) and below the third manipulator (26), the limit cover (29) corresponds to the third manipulator (26), the top of the limit cover (29) is in the shape of a trumpet, and the limit cover (29) and the limit frame (27) are connected.

3. A colony management device capable of rapid intubation according to claim 2, characterized in that; A control frame (271) is installed below the limit frame (27); the longitudinal section of the control frame (271) is in the shape of an inverted cone; the control frame (271) as a whole protrudes from the front end of the limit frame (27) and extends into the interior of the yarn frame (13).

4. A colony management device capable of rapid intubation according to claim 2, characterized in that: The insertion assembly comprises a slide plate (211) that slides symmetrically at the left and right ends of the bottom of the lifting plate (14); a running plate (212) is installed between the front ends of the two slide plates (211); a fourth manipulator (213) is installed on the side of the bottom of the running plate (212) corresponding to the second manipulator (25); when docking with an external empty pipe, the fourth manipulator (213) is used to insert the empty pipe in the external transportation system into the second manipulator (25), thereby quickly improving the efficiency of inserting the empty pipe; a second electric push rod (214) is installed on the top of the lifting plate (14); a limit plate (215) is installed on the movable end of the second electric push rod (214); and the bottom of the limit plate (215) is fixedly connected to the running plate (212).

5. A colony management device capable of rapid intubation according to claim 4, characterized in that; A limiting groove (216) is provided in the middle of the front end of the lifting plate (14), the limiting groove (216) corresponds to the limiting plate (215), a bolt rod (217) is threadedly connected to the middle of the limiting plate (215), and an adjustment plate (218) is installed at the rear end of the bolt rod (217).

6. A colony management device capable of rapid intubation according to claim 2, characterized in that; The folding assembly (3) comprises a support frame (31) mounted on the top of the roving frame (1), the support frame (31) being in a U-shaped structure, a limiting rod (32) being mounted at the bottom of the two vertical ends of the support frame (31), a first expansion spring (33) being sleeved on the outer side of the limiting rod (32), an L-shaped member (34) being mounted at the left and right ends of the limiting frame (27), the bottom of the limiting rod (32) slidingly passing through the horizontal end of the L-shaped member (34), a sliding groove being provided at the front end of the limiting rod (32), a locking plate (35) being mounted inside the sliding groove at the horizontal end of the L-shaped member (34), and the inner cavity of the limiting rod (32) being connected to a movable member along the sliding rail by means of a slide rail. A control plate (36) is arranged to move in the front-rear direction, and corners are provided on opposite sides of the locking plate (35) and the control plate (36), and the control plate (36) is used to lock the locking plate (35). A second expansion spring (37) fixedly connected to the control plate (36) is installed in the inner cavity of the limit rod (32), and a driving rope (38) passing through the middle of the second expansion spring (37) is installed in the middle of the rear end of the control plate (36), and one end of the two driving ropes (38) respectively slides through the bottom of the limit rod (32), and at the same time extends to the middle position of the limit frame (27) and is connected to each other, and a pull rope is installed on the driving rope (38) located in the middle position of the limit frame (27).

7. A colony management device capable of rapid intubation according to claim 2, characterized in that: The bottom of the placement ingot (28) slides through the interior of the limiting frame (27) and is installed with a baffle (311); a circular cover (313) is installed inside the limiting frame (27) corresponding to the bottom of the placement ingot (28); and a third expansion spring (312) sleeved on the outside of the placement ingot (28) is installed inside the circular cover (313).

8. A colony management device capable of rapid intubation according to claim 2 or 4, characterized in that; The first manipulator (15), the second manipulator (25), the third manipulator (26) and the fourth manipulator (213) all comprise a fixed ring (151), the outer side of the fixed ring (151) is rotatably connected to a rotating plate (152), an electric telescopic rod (153) is installed inside the fixed ring (151), an auxiliary ring (154) is installed at the movable end of the electric telescopic rod (153), the outer side of the auxiliary ring (154) is rotatably connected to a mechanical claw hand (155) in a ring array, and the top of the mechanical claw hand (155) and the bottom of the rotating plate (152) are rotatably connected via a rotating shaft.

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