Stacking system and stacking method for achieving outward cheese labels after stacking

Abstract

The invention relates to the field of textile machinery, in particular to a stacking system and a stacking method for achieving outward cheese labels after stacking. Comprising a stacking table module, a stacking robot and a plurality of stacking positions, the stacking robot is arranged on the right side of the stacking table module, and the stacking positions are sequentially arranged in front of the stacking table module; the stacking table module comprises a left side beam, a right side beam, a conveying belt assembly, a driving roller and a plurality of driven rollers. The stacking robot comprises a bottom guide rail assembly, a longitudinal moving stand column assembly, a vertical moving cantilever assembly, a rotary transverse moving platform assembly, a mechanical arm and a limiting baffle fixedly arranged near the middle of the rotary transverse moving platform assembly. And the manipulator comprises a plurality of supporting rods. The time cost in the packaging and stacking process of the whole package of cone yarn is reduced, the cost input needed by operation is remarkably reduced, and the overall production efficiency and economic benefits are improved.

Description

Technical Field

[0001] The invention relates to the field of textile machinery, and in particular to a palletizing system and a palletizing method for achieving the goal of having yarn cone labels facing outwards after palletizing. Background Art

[0002] At present, the bobbin packaging line behind the winding machine in the spinning workshop usually packs 12 to 15 bobbins into a whole package after completing the packaging process of the bobbins, so as to form a standardized whole package bobbin unit. In order to improve management efficiency and accuracy, a label containing necessary information is firmly affixed to the outside of each packaging bag. Subsequently, these labeled whole packages of bobbins will be stacked in an orderly manner to form a standardized storage unit with a width of 4 packages and a height of 10 layers, so as to facilitate the space utilization and inventory management of the warehouse. During the stacking process, each layer of bobbins is compactly arranged in the shape of a "U" to ensure the stability of the structure and maximize the use of space.

[0003] It is particularly worth mentioning that in order to meet the customer's strict requirements for inspection and warehousing, special attention is paid to ensure that all labels are always in the outer position during the palletizing process, ensuring that after the complete palletizing is formed, no label is blocked by other bobbin packages.

[0004] The Chinese patent with the publication number CN 109665313 A discloses a multi-station low-energy consumption high-speed palletizer for finished bobbin yarn packaging, including a clamping mechanism, a lifting arm, a column and a bottom beam. The clamping mechanism is a mechanism for clamping finished bobbin yarn composed of a clamping fixing plate, a clamping adjustment plate and a clamping claw; the lifting arm is a mechanical arm structure installed above the clamping mechanism for moving the clamping mechanism; the column includes a column beam, which is a mechanism installed vertically on one side of the lifting arm for lifting the lifting arm; the bottom beam is a mechanism installed at the bottom of the column for moving the column in the horizontal direction. This patented product has detailed protection for the mechanical structure of the stacking claw, lifting arm, column and bottom beam, and adopts the form of a claw for grabbing and unloading bags; but it needs to leave space for the claw to move, which determines that there must be gaps between the whole bags of bobbin yarn during palletizing, resulting in a problem of space waste.

[0005] A Chinese patent with publication number CN 219730451 U discloses a space-saving multi-position palletizing device for a baler, and proposes a palletizing device in which the palletizing positions are placed around a palletizing robot and the palletizing robot can rotate 360°. This solution has certain advantages for three varieties, but has certain limitations for multiple varieties and multiple positions.

[0006] In addition, in order to ensure that all labels are always in the outer position after palletizing, the above two patented products also need to cooperate with multiple labeling machines or a specially designed single labeling machine, such as a double-sided labeling mechanism for bobbin packaging disclosed in the Chinese patent with publication number CN 2017075082U, including a work surface, a first cylinder, a second cylinder, and a suction cup device; a conveyor belt and a first guide rail are provided on the work surface; one end of the conveyor belt is fixedly connected to the work surface through a passive shaft, and the other end is connected to a reduction motor fixed on the work surface through a transmission shaft; the cylinder seat of the first cylinder is slidably connected to the work surface; the piston rod of the first cylinder is fixedly connected to the support seat of the second cylinder; the support seat is slidably connected to the work surface; the cylinder seat of the second cylinder is fixedly connected to the support seat, the piston rod of the second cylinder is fixedly connected to the fixed seat, the fixed seat is fixedly connected to the suction cup device; the fixed seat is slidably connected to the support seat. This patented product can label bobbin packaging on both sides through a set of labeling mechanisms. This patented product uses a mobile labeling machine to label on both sides of the woven bag or other locations, which increases the equipment cost and the production line operation time, which has an adverse effect on reducing energy consumption.

[0007] In summary, the existing palletizing systems and methods have many shortcomings. Either the palletizing system has a limited range of motion and floor space, or it cannot cope well with multiple varieties and multiple positions. Moreover, due to the inadequate design of the existing palletizing system, in order to ensure that all labels are always in the outer position after palletizing, multiple labeling machines or a specially designed single labeling machine are required, which greatly increases the operating cost. Summary of the invention

[0008] The present invention provides a palletizing system and a palletizing method for achieving the goal of all the labels of yarn cones facing outwards after palletizing. The purpose is to solve the problems existing in the prior art of the palletizing system having a large action range and a large floor space, a high time cost and a high use cost for packaging and palletizing of yarn cones, and the need for the cooperation of multiple labeling machines or specially designed labeling machines to achieve that all the labels are always in the outer position after palletizing, through the structures of the palletizing system such as a rotating and transverse platform assembly and a reasonable palletizing method (setting positions of different types of palletizing platforms, the insertion direction of a manipulator when taking a whole package of yarn cones, the withdrawal direction of a manipulator of a palletizing robot, the placement position and the placement sequence of whole packages of yarn cones with odd and even layers, etc.).

[0009] To achieve the above object, the technical solution of the present invention is:

[0010] The present invention provides a palletizing system and a palletizing method for achieving the goal of all bobbin yarn labels facing outward after palletizing, comprising a palletizing platform module, a palletizing robot and a plurality of palletizing positions, wherein the palletizing robot is arranged on the right side of the palletizing platform module, and the plurality of palletizing positions are arranged in sequence in front of the palletizing platform module;

[0011] The stacking platform module includes a left beam, a right beam, a conveyor belt assembly, a driving roller and a plurality of driven rollers; the top of the front half of the left beam and the right beam are evenly spaced with a plurality of U-shaped notches, the interval between the driving roller and the adjacent driven roller and the interval between two adjacent driven rollers are equal, the size of the U-shaped notch is equal to the interval between two adjacent rollers, and the U-shaped notch is sequentially arranged between the driving roller and the adjacent driven roller and between two adjacent driven rollers;

[0012] The palletizing robot includes a bottom guide rail assembly, a longitudinal movable column assembly that can move forward and backward and is arranged on the bottom guide rail assembly, a vertical movable cantilever assembly that can move up and down and is arranged on the longitudinal movable column assembly, a rotating and lateral moving platform assembly that can move left and right and is arranged on the vertical movable cantilever assembly and can rotate horizontally, a manipulator that can move left and right and is arranged on the rotating and lateral moving platform assembly, and a limit baffle that is fixedly arranged near the middle of the rotating and lateral moving platform assembly; the manipulator includes a plurality of support rods.

[0013] Furthermore, the number of the stacks is three, which are named stack one, stack two and stack three from back to front.

[0014] Furthermore, the stacking platform module also includes three groups of supporting legs, end beams, ten driven rollers, two groups of toothed idler assemblies, ten groups of toothless idler assemblies, a synchronous belt and a motor assembly.

[0015] Furthermore, the number of U-shaped notches on the left beam and the right beam is ten.

[0016] Furthermore, the left end of the active roller is provided with a sprocket that can rotate together with the outer circle of the roller, the right end is provided with a synchronous pulley that can roll together with the outer circle of the roller, and the right end of the driven roller is provided with a synchronous pulley that can roll together with the outer circle of the roller.

[0017] Furthermore, the synchronous belt is wound around the synchronous pulley of the active roller, the synchronous pulley of the driven roller, the toothed idler assembly and the toothless idler assembly to connect the active roller and the driven roller in series, while bypassing the U-shaped notch of the right beam.

[0018] Furthermore, the rotating and transverse shifting platform assembly includes a platform frame, a rotating motor, a transverse shifting motor, a manipulator movable frame and a rotating gear.

[0019] Furthermore, the manipulator is an L-shaped structure as a whole, and comprises a plurality of support rods and a manipulator mounting seat, wherein the plurality of support rods are evenly spaced and vertically fixed on the manipulator mounting seat.

[0020] A method for achieving palletizing with the labels of the yarn packages facing outward after palletizing, comprising the following steps:

[0021] S1. According to the needs of various varieties of palletizing, set the initial test parameters, the initial test parameters include the number of stacks M and the number of layers N of each stack, wherein the number of stacks M is three and the number of layers N is ten;

[0022] S2. The labeling machine labels the i-th package yarn of the n-th layer of the m-th stack;

[0023] Wherein, m=1, 2, ....M;

[0024] n=1,2,...,N;

[0025] i = 1, 2, 3, 4;

[0026] S3. The motor assembly moves, and the i-th package yarn on the conveyor belt assembly flows forward to the top of the active roller and the driven roller until the front end of the i-th package yarn hits the end beam;

[0027] S4. The longitudinal moving column assembly moves backward to the bag grabbing position; if i = 1 or 2, the rotating and lateral moving platform assembly rotates and moves to the left bag grabbing position, and the manipulator retreats to the left side of the limit baffle; if i = 3 or 4, the rotating and lateral moving platform assembly rotates and moves to the right bag grabbing position, and the manipulator retreats to the right side of the limit baffle;

[0028] S5. The vertically movable cantilever assembly moves downward until the axis of the support rod of the manipulator and the axis of the driven roller are at the same horizontal height and stops. The manipulator moves toward the direction of the bobbin so that its support rod is inserted under the whole bag of bobbin through the U-shaped notch. Then the vertically movable cantilever assembly moves upward to lift the whole bag of bobbin and move until the bottom height of the manipulator exceeds the end beam.

[0029] S6. Rotate the traverse platform assembly to rotate the manipulator to change the orientation of the entire package of yarn; specifically, if m is an odd number, when i=1, the tip of the manipulator's support rod points forward or right, when i=2, the tip of the manipulator's support rod points right or forward, when i=3, the direction of the manipulator's support rod tip is the same as when i=1, and when i=4, the direction of the manipulator's support rod tip is the same as when i=2; if m is an even number, when i=1, the tip of the manipulator's support rod tip points right or backward, when i=2, the tip of the manipulator's support rod tip points backward or right, when i=3, the direction of the manipulator's support rod tip is the same as when i=1, and when i=4, the direction of the manipulator's support rod tip is the same as when i=2; wherein, the direction of the manipulator's support rod tip when i=1 is different from the direction of the manipulator's support rod tip when i=2;

[0030] S7. The rotating transverse platform assembly moves transversely, the longitudinal moving column assembly moves forward, and the manipulator moves to the top of the m-th stack; specifically, if m is an odd number and i=1, the manipulator moves to the top right front of the m-th stack; if m is an even number and i=1, the manipulator moves to the top right rear of the m-th stack;

[0031] S8. The vertically movable cantilever assembly moves down to the set height, and the manipulator withdraws in the opposite direction of the tip of the support rod. The whole package of yarn cannot move due to the limit baffle, and finally falls to the set position under the action of gravity;

[0032] S9. Loop through S2 to S8 until i=4 to complete the stacking of the nth layer of the yarn at the mth stack, and in the process of stacking each layer of yarn, the four packages of yarn are compactly arranged in a clockwise or counterclockwise order into a "return" shape;

[0033] S10. Loop through S2 to S9 until the mth stack of yarns is stacked when n=N, and the arrangement order of the yarns in the n+1th layer is opposite to that of the yarns in the nth layer;

[0034] S11. Loop through S2 to S10 until all the bobbin yarns in all the stacks are stacked when m=M, and the arrangement order of the bobbin yarns in the same layer of the mth stack and the m+1th stack is the same; in addition, when m is an even number, the m+1th stack is spaced a certain distance from the mth stack, and the spacing distance is greater than the width of the robot.

[0035] The beneficial effects achieved by the present invention are:

[0036] The present invention does not require additional modification or equipment to the labeling machine, and can meet the requirement of uniform label orientation for the entire bundle of yarn in the case of single-side labeling. At the same time, the innovative palletizing method can significantly shorten the guide rail length and cantilever extension range required by the palletizing robot, thereby effectively reducing the action area and overall floor space of the palletizing robot. The present invention not only reduces the time cost in the process of packaging and palletizing a whole bundle of yarn, but also significantly reduces the cost investment required for operation, thereby improving the overall production efficiency and economic benefits. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without paying creative work.

[0038] Figure 1 Schematic diagram of the stacking robot and the stacking platform module of the present invention; wherein the X direction is defined as front and back (longitudinal), and the arrow direction is defined as front; the Y direction is defined as left and right (lateral), and the arrow direction is defined as left; the Z direction is defined as up and down (vertical), and the arrow direction is defined as up.

[0039] Figure 2 The stacking platform module of the present invention is a three-dimensional Figure 1 .

[0040] Figure 3 The stacking platform module of the present invention is a three-dimensional Figure 2 .

[0041] Figure 4 It is a schematic diagram of the motor assembly of the present invention being connected to the active roller and the conveyor belt assembly through a chain.

[0042] Figure 5 It is a schematic diagram of the synchronous belt of the present invention connecting the active roller and the driven roller.

[0043] Figure 6 It is a structural schematic diagram of the palletizing robot of the present invention.

[0044] Figure 7 yes Figure 6 A partial enlarged view of part A in the middle.

[0045] Figure 8 It is a schematic diagram of the left bag grabbing position of the palletizing robot of the present invention.

[0046] Fig. 9 It is a left side insertion robot indication.

[0047] Fig.10 The robot is inserted on the right side.

[0048] Fig.11 This is a schematic diagram of the whole stack state.

[0049] Fig.12 It is the placement order of each layer and the withdrawal direction of the robot; the direction of the arrow is the withdrawal direction of the robot, that is, the opposite direction of the tip of the robot support rod; among them, part a shows the placement order of odd / even layers and the withdrawal direction of the robot, and part b shows the placement order of even / odd layers and the withdrawal direction of the robot.

[0050] In the figure, 1, stacking platform module; 101, supporting leg; 102, left beam; 102a, U-shaped notch; 103, right beam; 104, end beam; 105, conveyor belt assembly; 106, driving roller; 106a, sprocket; 106b, synchronous pulley; 107, driven roller; 108, toothed idler assembly; 109, toothless idler assembly; 110, synchronous belt; 111, motor assembly; 111a, chain; 2, stacking robot; 210, bottom guide rail assembly; 220, longitudinal moving column assembly; 2 21. Longitudinal moving motor; 222. Lifting motor; 223. Screw; 230. Vertical moving cantilever assembly; 231. Cantilever mounting base; 232. Pull rod; 233. Cantilever; 240. Rotating and lateral moving platform assembly; 241. Platform frame; 242. Rotating motor; 243. lateral moving motor; 244. Manipulator movable frame; 245. Rotating gear; 250. Manipulator; 251. Support rod; 252. Manipulator mounting seat; 260. Limit baffle; 3. Stacking position one; 4. Stacking position two; 5. Stacking position three. DETAILED DESCRIPTION

[0051] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0052] It should be noted that if the embodiments of the present invention involve directional indications (such as up, down, left, right, front, back, etc.), the directional indications are only used to explain the relative position relationship, movement status, etc. between the components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0053] In addition, if there are descriptions involving "first", "second", etc. in the embodiments of the present invention, the descriptions of "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, if the meaning of "and / or" appearing in the full text is to include three parallel schemes, taking "A and / or B" as an example, it includes scheme A, or scheme B, or a scheme that satisfies both A and B. In addition, the technical solutions between the various embodiments can be combined with each other, but it must be based on the ability of ordinary technicians in this field to implement. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such a combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0054] In order to achieve the ultimate goal of making the labels of the whole package of yarn bobbins face outward, the present invention provides a palletizing system and a palletizing method in which the labels of the yarn bobbins are all facing outward after palletizing. Through a reasonable palletizing method (setting the positions of different types of palletizing platforms, the insertion direction of the manipulator 250 when taking a whole package of yarn bobbins, the withdrawal direction of the manipulator 250 of the palletizing robot 2, the placement position and placement order of whole packages of yarn bobbins with odd and even layers, etc.), the length of the guide rail and the cantilever 233 of the palletizing robot 2 is effectively shortened, thereby reducing the motion range and floor space occupied by the palletizing robot 2.

[0055] The invention can effectively reduce equipment costs, save the action of moving the labeling component to the opposite side of the labeling machine, and at the same time reduce the floor space and action time of the stacking robot 2, thereby reducing the time cost and operation cost of packaging and stacking a whole package of yarn.

[0056] like Figures 1 to 12 As shown, the palletizing system comprises a palletizing platform module 1, a palletizing robot 2 and a plurality of palletizing positions, wherein the palletizing robot 2 is arranged on the right side of the palletizing platform module 1, and the plurality of palletizing positions are arranged in sequence in front of the palletizing platform module 1;

[0057] The stacking platform module 1 includes a left beam 102, a right beam 103, a conveyor belt assembly 105, a driving roller 106 and a plurality of driven rollers 107; the top of the front half of the left beam 102 and the right beam 103 are evenly spaced with a plurality of U-shaped notches 102a, the interval between the driving roller 106 and the adjacent driven roller 107 and the interval between two adjacent driven rollers 107 are equal, the size of the U-shaped notch 102a is equal to the interval between two adjacent driven rollers 107, and the U-shaped notch 102a is sequentially arranged between the driving roller 106 and the adjacent driven roller 107 and between two adjacent driven rollers 107;

[0058] The palletizing robot 2 includes a bottom guide rail assembly 210, a longitudinal movable column assembly 220 that can move forward and backward and is arranged on the bottom guide rail assembly 210, a vertical movable cantilever assembly 230 that can move up and down and is arranged on the longitudinal movable column assembly 220, a rotating and lateral platform assembly 240 that can move left and right and is arranged on the vertical movable cantilever assembly 230 and can rotate horizontally, a manipulator 250 that can move left and right and is arranged on the rotating and lateral platform assembly 240, and a limit baffle 260 that is fixedly arranged near the middle of the rotating and lateral platform assembly 240; the manipulator 250 includes a plurality of support rods 251.

[0059] To meet the requirements of palletizing various varieties, the bottom guide rail assembly 210 of the palletizing robot 2 can be extensible, and corresponding pallet positions can be added. It should be noted that an operating space for the manipulator 250 to unload yarn needs to be reserved between every even-numbered pallet position and the subsequent pallet position, that is, (the second and third pallet positions, the fourth and fifth pallet positions, the sixth and seventh pallet positions...). However, the extension of the bottom guide rail assembly 210 will inevitably lead to a decrease in the palletizing efficiency and an increase in energy consumption for the pallet positions far from the palletizing module. Therefore, when adding pallet positions, production capacity requirements, energy consumption requirements, equipment costs, etc. should be comprehensively considered. For the convenience of description, the number of pallet positions is three, which are named pallet position one 3, pallet position two 4, and pallet position three 5 from back to front in sequence.

[0060] As Figure 2 and 3 shown, the pallet module 1 includes three groups of support legs 101, a left beam 102, a right beam 103, an end beam 104, a conveyor belt assembly 105, a driving roller 106, ten driven rollers 107, two groups of toothed idler assemblies 108, ten groups of toothless idler assemblies 109, a synchronous belt 110, and a motor assembly 111; the three groups of support legs 101 are parallel to each other and arranged at equal intervals; the left beam 102 and the right beam 103 have the same symmetrical structure, the left beam 102 and the right beam 103 are arranged in parallel on the tops of the three groups of support legs 101, the end beam 104 is arranged at the front ends of the left beam 102 and the right beam 103, and the left beam 102, the right beam 103, and the end beam 104 form a "C"-shaped structure; the conveyor belt assembly 105 is arranged in the second half of the left beam 102 and the right beam 103, the driving roller 106 and the ten driven rollers 107 are arranged at equal intervals in sequence in the first half of the left beam 102 and the right beam 103, and the top surface of the conveyor belt assembly 105 and the vertices of the driving roller 106 and the driven rollers 107 are located on the same horizontal plane.

[0061] A number of U-shaped notches 102a are evenly spaced on the tops of the first half of the left beam 102 and the right beam 103. Specifically, the number of U-shaped notches 102a on the left beam 102 and the right beam 103 is ten each. The size of the U-shaped notch 102a is equal to the interval between adjacent rollers. The U-shaped notches 102a are sequentially arranged between the driving roller 106 and the adjacent driven roller 107 and between adjacent two driven rollers 107. The purpose of the U-shaped notch 102a is to facilitate the insertion of the support rod 251 of the manipulator 250 between adjacent two rollers.

[0062] The left end of the active roller 106 is provided with a sprocket 106a that can rotate with the outer circle of the roller, and the right end is provided with a synchronous pulley 106b that can roll with the outer circle of the roller. The right end of the driven roller 107 is provided with a synchronous pulley 106b that can roll with the outer circle of the roller; the toothed idler assembly 108 and the toothless idler assembly 109 are both arranged on the inner side of the right beam 103, and the two groups of the toothed idler assemblies 108 are respectively arranged directly below the active roller 106 and directly below the frontmost driven roller 107 and are located in the same horizontal plane. The toothless idler assembly 109 is respectively arranged directly below the ten U-shaped notches 102a and located on the same horizontal plane, and the toothless idler assembly 109 is located above the toothed idler assembly 108; the synchronous belt 110 is wound around the synchronous pulley 106b of the active roller 106, the synchronous pulley 106b of the driven roller 107, the toothed idler assembly 108 and the toothless idler assembly 109 to connect the active roller 106 and the driven roller 107 in series, and at the same time bypasses the U-shaped notch 102a of the right beam 103 to facilitate the insertion of the support rod 251 of the manipulator 250, as shown in FIG. Figure 5 As shown; the motor assembly 111 drives the conveyor belt assembly 105 and the active roller 106 through the chain 111a, and the active roller 106 drives all the driven rollers 107 to roll through the synchronous belt 110.

[0063] Among them, the conveyor belt assembly 105, the toothed idler wheel assembly 108, the toothless idler wheel assembly 109 and the motor assembly 111 are all existing technologies and are mature products in the market.

[0064] After the whole package of bobbin yarn is labeled (assuming that the labeling machine is placed on the right side of the stacking platform module 1, the same below), the motor rotates to convey the whole package of bobbin yarn on the conveyor belt forward until the front end of the bobbin yarn hits the end beam 104. The manipulator 250 of the stacking robot 2 moves to the top of the whole package of bobbin yarn. During the movement, the manipulator 250 retreats, and the manipulator 250 moves down until the axis of the support rod 251 and the axis of the roller are basically at the same horizontal height and stop, and the support rod 251 is inserted forward to the bottom of the whole package of bobbin yarn. Whether the support rod 251 is inserted from the left side of the stacking platform or from the right side is related to the position of the bobbin yarn in the whole stack. By reasonably planning the insertion direction and the withdrawal direction of the support rod 251, the interval between different types of stacking platforms and the distance between the stacking platform and the track of the stacking robot 2 can be set to be relatively small, thereby significantly reducing the floor space of the workstation of the stacking robot 2, and effectively shortening the action time of the stacking robot 2, thereby improving work efficiency and reducing work energy consumption.

[0065] The palletizing robot 2 includes a bottom guide rail assembly 210, a longitudinally movable column assembly 220 that can move forward and backward and is arranged on the bottom guide rail assembly 210, a vertically movable cantilever assembly 230 that can move up and down and is arranged on the longitudinally movable column assembly 220, a rotating and lateral platform assembly 240 that can move left and right and is arranged on the vertically movable cantilever assembly 230 and can rotate horizontally, a manipulator 250 that can move left and right and is arranged on the rotating and lateral platform assembly 240, and a limit baffle 260 that is fixedly arranged near the middle of the rotating and lateral platform assembly 240.

[0066] The bottom rail assembly 210 includes a rail fixed to the ground, the length of which is determined according to the number of stacking positions, so as to facilitate the longitudinally movable column assembly 220 to move to a suitable position; wherein a rack is provided on the inner side of the rail.

[0067] The longitudinal moving column assembly 220 is located on the guide rail; the longitudinal moving column assembly 220 includes a longitudinal moving motor 221, a lifting motor 222 and a screw 223, the longitudinal moving motor 221 is arranged at the bottom of the longitudinal moving column assembly 220, and the output shaft of the longitudinal moving motor 221 is provided with a gear that engages with the rack on the inner side of the guide rail, and the longitudinal moving column assembly 220 is driven by the longitudinal moving motor 221, and moves back and forth along the bottom guide rail assembly 210; the lifting motor 222 is arranged at the bottom of the longitudinal moving column assembly 220, and the screw 223 is rotatably arranged on the left side of the longitudinal moving column assembly 220, and the bottom end of the screw 223 is connected to the output shaft of the lifting motor 222.

[0068] The vertically movable cantilever assembly 230 includes a cantilever mounting base 231, a pull rod 232 and a cantilever 233. The cantilever mounting base 231 is movably arranged on the longitudinally movable column assembly 220, and a nut sleeved on the screw 223 is arranged on the cantilever mounting base 231. The vertically movable cantilever assembly 230 moves up and down along the longitudinally movable column assembly 220 driven by the screw 223; the cantilever 233 is vertically arranged on the cantilever mounting base 231 and points to the left, and a rack is arranged on the inner side of the cantilever 233; the pull rod 232 is inclined, one end of the pull rod 232 is fixed on the cantilever 233, and the other end is fixed on the cantilever mounting base 231, and the pull rod 232 is used to increase the strength of the cantilever 233.

[0069] The rotating and transverse moving platform assembly 240 includes a platform frame 241, a rotating motor 242, a transverse moving motor 243, a manipulator movable frame 244 and a rotating gear 245; the platform frame 241 is arranged on the cantilever 233 so as to be movable left and right, the rotating motor 242 and the transverse moving motor 243 are both arranged on the platform frame 241, and a gear engaging with a rack on the inner side of the cantilever 233 is arranged on the output shaft of the transverse moving motor 243, and the rotating and transverse moving platform assembly 240 moves left and right along the cantilever 233 under the drive of the transverse moving motor 243; the rotating gear 245 is fixed on the top of the manipulator movable frame 244, and the rotating gear 245 is rotatably connected to the platform frame 241, and a driving gear engaging with the rotating gear 245 is arranged on the output shaft of the rotating motor 242, and the manipulator movable frame 244 can rotate horizontally under the drive of the rotating motor 242.

[0070] The manipulator 250 is an L-shaped structure as a whole. The manipulator 250 includes a plurality of support rods 251 and a manipulator mounting seat 252. The plurality of support rods 251 are evenly spaced and vertically fixed on the manipulator mounting seat 252. The plurality of support rods 251 are located in the same horizontal plane. One end of the support rod 251 is fixed on the manipulator mounting seat 252, and the other end is the tip of the support rod 251, which is a free end. There are ten support rods 251, and the support rods 251 correspond one-to-one to the U-shaped notches 102a on the left beam 102 and the right beam 103. The manipulator mounting seat 252 can be movably arranged on the manipulator movable frame 244 to the left and right, and can be driven by a cylinder arranged on the manipulator movable frame 244 to move left and right.

[0071] The limit baffle 260 is fixedly disposed near the middle of the manipulator movable frame 244 to prevent the bobbin from further moving during unloading.

[0072] Among them, the positioning of various actions of the palletizing platform module 1 and the palletizing robot 2 all adopt existing technologies, which can be achieved with the help of travel switches and / or laser ranging sensors, etc. For those skilled in the art, it is easy to implement and there is no creative work, so the specific principles and technical details are not repeated here.

[0073] The palletizing method comprises the following steps:

[0074] S1. According to the needs of various varieties of palletizing, set the initial test parameters, the initial test parameters include the number of stacks M and the number of layers N of each stack, wherein the number of stacks M is three and the number of layers N is ten;

[0075] S2. The labeling machine labels the i-th package yarn of the n-th layer of the m-th stack;

[0076] Wherein, m = 1, 2, ....M;

[0077] n=1,2,...,N;

[0078] i = 1, 2, 3, 4;

[0079] Among them, the initial values ​​of m, n and i are all 1, and they are accumulated as the loop proceeds;

[0080] S3. The motor assembly 111 is activated, and the i-th package yarn on the conveyor belt assembly 105 flows forward to the top of the active roller 106 and the driven roller 107 until the front end of the i-th package yarn reaches the end beam 104;

[0081] S4. The longitudinally movable column assembly 220 moves backward to the bag grabbing position; if i=1 or 2, the rotating and lateral platform assembly 240 rotates and moves to the left bag grabbing position, and the manipulator 250 retreats to the left side of the limit baffle 260; if i=3 or 4, the rotating and lateral platform assembly 240 rotates and moves to the right bag grabbing position, and the manipulator 250 retreats to the right side of the limit baffle 260;

[0082] S5. The vertically movable cantilever assembly 230 moves downward until the axis of the support rod 251 of the manipulator 250 and the axis of the driven roller 107 are at the same horizontal height and stops. The manipulator 250 moves toward the direction of the bobbin so that its support rod 251 passes through the U-shaped notch 102a and is inserted under the whole bag of bobbin yarn. Then the vertically movable cantilever assembly 230 moves upward to lift the whole bag of bobbin yarn and moves until the bottom height of the manipulator 250 exceeds the end beam 104.

[0083] S6. Rotate the traverse platform assembly 240 to rotate the manipulator 250 to change the orientation of the entire package of yarn; specifically, if m is an odd number, when i=1, the tip of the support rod 251 of the manipulator 250 points forward or right, when i=2, the tip of the support rod 251 of the manipulator 250 points right or forward, when i=3, the tip of the support rod 251 of the manipulator 250 points in the same direction as when i=1, and when i=4, the tip of the support rod 251 of the manipulator 250 points in the same direction as when i=2; if m is an even number, i When i=1, the tip of the support rod 251 of the manipulator 250 points to the right or back, when i=2, the tip of the support rod 251 of the manipulator 250 points to the back or right, when i=3, the tip of the support rod 251 of the manipulator 250 points in the same direction as when i=1, and when i=4, the tip of the support rod 251 of the manipulator 250 points in the same direction as when i=2; wherein, the tip of the support rod 251 of the manipulator 250 points in a direction different from the tip of the support rod 251 of the manipulator 250 when i=1 and when i=2; Fig.12 As shown;

[0084] S7. The rotating transverse platform assembly 240 moves transversely, the longitudinally movable column assembly 220 moves forward, and the manipulator 250 moves to the top of the m-th stack; specifically, if m is an odd number and i=1, the manipulator 250 moves to the top right front of the m-th stack; if m is an even number and i=1, the manipulator 250 moves to the top right rear of the m-th stack;

[0085] S8. The vertically movable cantilever assembly 230 moves down to the set height, and the manipulator 250 is withdrawn in the opposite direction of the tip of the support rod 251. The entire package of yarn cannot move under the action of the limit baffle 260, and finally falls to the set position under the action of gravity;

[0086] S9. Loop through S2 to S8 until i=4 to complete the stacking of the nth layer of the yarn at the mth stack, and in the process of stacking each layer of yarn, the four packages of yarn are compactly arranged in a clockwise or counterclockwise order into a "return" shape;

[0087] S10. Loop through S2 to S9 until the mth stack of yarns is stacked when n=N, and the arrangement order of the yarns in the n+1th layer is opposite to that of the yarns in the nth layer;

[0088] S11. Loop through S2 to S10 until all the bobbin yarns in all the stacks are stacked when m=M, and the arrangement order of the bobbin yarns in the same layer of the mth stack and the m+1th stack is the same; in addition, when m is an even number, the m+1th stack is spaced a certain distance from the mth stack, and the spacing distance is greater than the width of the robot 250.

[0089] In the present invention, the labeling machine is not limited to being arranged on the right side, but can also be arranged on the left side. The change of the method can be obtained by the technicians in this field without creative labor.

[0090] For example, the labeling machine is placed on the right side of the conveyor belt assembly 105 of the palletizing module for operation description, that is, the label is located on the right side of the whole package of yarn, the goal is to achieve the whole stack as Fig.11 The three-position stacking state is shown. By rationally planning the order of placing each layer of the yarn and the withdrawal direction of the robot 250 (such as Fig.12 As shown), the final goal can be achieved. The detailed workflow is as follows:

[0091] When the first and second packages of yarn in each layer are labeled, the motor assembly 111 is activated, and the yarn on the conveyor belt assembly 105 flows forward to the top of the active roller 106 and the driven roller 107 until the front end of the first package of yarn hits the end beam 104, the longitudinal moving column assembly 220 moves backward to the bag grabbing position, the rotating transverse platform assembly 240 moves to the left bag grabbing position, and the manipulator 250 retreats to the left side of the limit baffle 260 (such as Figure 8As shown), the vertically movable cantilever assembly 230 moves downward until the axis of the support rod 251 of the manipulator 250 and the axis of the driven roller 107 are substantially at the same level and stops, and the manipulator 250 moves rightward so that its support rod 251 passes through the U-shaped notch 102a provided on the left beam 102 and is inserted under the whole bag of bobbin yarn, as shown in FIG. Fig. 9 The vertically movable cantilever assembly 230 moves upward to lift the whole bag of yarn, and moves to the point where the bottom height of the manipulator 250 exceeds the end beam 104, and the rotating transverse platform assembly 240 rotates the manipulator 250 to align the whole bag of yarn with the end beam 104. Fig.12 The same as the stack position 3 shown in the middle a part, the rotating transverse platform assembly 240 moves horizontally, the longitudinal moving column assembly 220 moves forward to the upper right front of the stack position 3, and the vertical moving cantilever assembly 230 moves down to the set height, and the manipulator 250 moves according to Fig.12 The whole package of yarn is withdrawn in the direction of the arrow shown, and the whole package of yarn cannot move under the action of the limit baffle 260, and finally falls to the set position under the action of gravity; Fig.12 Repeat the actions in the order shown in the figure to complete the stacking of the first and second packages of yarn.

[0092] When the 3rd and 4th packages of yarn in each layer are labeled, the motor assembly 111 is activated, and the yarn on the conveyor belt flows forward to the top of the active roller 106 and the driven roller 107 until the front end hits the end beam 104, the longitudinally movable column assembly 220 moves backward to the bag grabbing position, the rotating transverse platform assembly 240 moves to the right bag grabbing position, the manipulator 250 retreats to the right side of the limit baffle 260, and then the vertically movable cantilever assembly 230 moves downward until the axis of the support rod 251 of the manipulator 250 and the axis of the driven roller 107 are basically at the same horizontal height and stop, the manipulator 250 moves to the right so that its support rod 251 passes through the U-shaped notch 102a set on the right beam 103 and is inserted under the whole bag of yarn. Fig.10 The vertically movable cantilever assembly 230 moves upward to lift the whole bag of yarn, and moves to the point where the bottom height of the manipulator 250 exceeds the end beam 104, and the rotating transverse platform assembly 240 rotates the manipulator 250 to adjust the whole bag of yarn to the same position as the end beam 104. Fig.12 The same as shown in the stacking position 3 of part a, the rotating transverse platform assembly 240 moves horizontally, the longitudinal moving column assembly 220 moves forward to the upper right of the stacking position 3, and the vertical moving cantilever assembly 230 moves down to the set height, and the manipulator 250 moves according to the Fig.12 The whole package of yarn is withdrawn in the direction of the arrow shown, and the whole package of yarn cannot move under the action of the limit baffle 260, and finally falls to the set position under the action of gravity; Fig.12 Repeat the steps in the same order to complete the stacking of the 3rd and 4th packages of yarn.

[0093] The above completes the stacking of the first layer of stacking position 13, and the second layer is stacked according to Fig.12As shown in the stack position 3 in the middle b part, the third layer is again Fig.12 As shown in the stack position 1 3 in part a, the stacking of the stack position 1 3 is completed by analogy; the stacking of the stack position 2 4 and the stack position 4 5 is similar to the stacking of the stack position 1 3, and will not be repeated here.

[0094] In order to enable the robot 250 to be inserted under the whole package of yarn from the left and right sides, the left side rail and the right side beam 103 of the new stacking module are respectively provided with U-shaped gaps 102a. At the same time, multiple rollers and idler wheels are provided, and the synchronous belt 110 is used to bypass the U-shaped gap 102a to connect all the rollers in series. Figure 4 and 5 shown.

[0095] This method can make the stacking position as close as possible to the bottom guide rail assembly 210 of the stacking robot 2, and make the distance between the stacking position 1 3 and the stacking position 2 4 very close, and leave enough space for the robot 250 to unload the yarn between the stacking position 2 4 and the stacking position 3 5. The patent can greatly reduce the working time and process from the beginning of labeling to the completion of palletizing, speed up the work efficiency and reduce energy consumption. At the same time, it saves a lot of equipment investment, which plays a significant role in reducing equipment costs.

[0096] The above descriptions are only optional embodiments of the present invention, and are not intended to limit the patent scope of the present invention. All equivalent structural changes made using the contents of the present invention's specification and drawings, or directly / indirectly applied in other related technical fields, are included in the patent protection scope of the present invention.

Claims

1. A palletizing system that realizes palletizing with the labels of the yarn packages facing outwards, characterized in that: It comprises a palletizing module (1), a palletizing robot (2) and a plurality of palletizing positions, wherein the palletizing robot (2) is arranged on the right side of the palletizing module (1), and the plurality of palletizing positions are arranged in sequence in front of the palletizing module (1); The stacking platform module (1) comprises a left beam (102), a right beam (103), a conveyor belt assembly (105), a driving roller (106) and a plurality of driven rollers (107); a plurality of U-shaped notches (102a) are evenly spaced at the top of the front half of the left beam (102) and the right beam (103); the spacing between the driving roller (106) and the adjacent driven roller (107) and the spacing between two adjacent driven rollers (107) are equal; the size of the U-shaped notch (102a) is equal to the spacing between two adjacent driven rollers (107); the U-shaped notch (102a) is sequentially arranged between the driving roller (106) and the adjacent driven roller (107) and between two adjacent driven rollers (107); The palletizing robot (2) comprises a bottom rail assembly (210), a longitudinal movable column assembly (220) which can move forward and backward and is arranged on the bottom rail assembly (210), a vertical movable cantilever assembly (230) which can move up and down and is arranged on the longitudinal movable column assembly (220), a rotating and traversing platform assembly (240) which can move left and right and is arranged on the vertical movable cantilever assembly (230) and can rotate horizontally, a manipulator (250) which can move left and right and is arranged on the rotating and traversing platform assembly (240), and a limit baffle (260) which is fixedly arranged near the middle of the rotating and traversing platform assembly (240); the manipulator (250) comprises a plurality of support rods (251).

2. A palletizing system according to claim 1, wherein the labels of the yarn packages are all facing outward after palletizing, characterized in that: The stacking platform module (1) also includes three groups of support legs (101), an end beam (104), ten driven rollers (107), two groups of toothed idler assemblies (108), ten groups of toothless idler assemblies (109), a synchronous belt (110) and a motor assembly (111).

3. A palletizing system according to claim 2, wherein the labels of the yarn packages are all facing outward after palletizing, characterized in that: The number of U-shaped notches (102a) on the left beam (102) and the number of U-shaped notches (102a) on the right beam (103) are both ten.

4. A palletizing system according to claim 2, wherein the labels of the yarn packages are all facing outward after palletizing, characterized in that: The left end of the active roller (106) is provided with a sprocket (106a) that can rotate together with the outer circle of the roller, and the right end is provided with a synchronous belt pulley (106b) that can roll together with the outer circle of the roller. The right end of the driven roller (107) is provided with a synchronous belt pulley (106b) that can roll together with the outer circle of the roller.

5. A palletizing system according to claim 4, wherein the labels of the yarn packages are all facing outward after palletizing, characterized in that: The synchronous belt (110) is wound around the synchronous pulley (106b) of the active roller (106), the synchronous pulley (106b) of the driven roller (107), the toothed idler assembly (108) and the toothless idler assembly (109) to connect the active roller (106) and the driven roller (107) in series, while bypassing the U-shaped notch (102a) of the right beam (103).

6. A palletizing system according to claim 1, wherein the labels of the yarn packages are all facing outward after palletizing, characterized in that: The rotating and transverse shifting platform assembly (240) comprises a platform frame (241), a rotating motor (242), a transverse shifting motor (243), a manipulator movable frame (244) and a rotating gear (245).

7. A palletizing system according to claim 1, wherein the labels of the yarn packages are all facing outward after palletizing, characterized in that: The manipulator (250) is an L-shaped structure as a whole. The manipulator (250) comprises a plurality of supporting rods (251) and a manipulator mounting seat (252). The plurality of supporting rods (251) are evenly spaced and vertically fixed on the manipulator mounting seat (252).

8. A palletizing method with all the labels of the yarn packages facing outward after palletizing, based on the palletizing system according to any one of claims 1 to 7, characterized in that: The following steps are involved: S1. According to the needs of various varieties of palletizing, set the initial test parameters, the initial test parameters include the number of stacking positions M and the number of layers N for each stacking position; S2. The labeling machine labels the i-th package yarn of the n-th layer of the m-th stack; Wherein, m=1, 2, ....M; n=1,2,...,N; i＝1，2，3，4； S3. The motor assembly (111) is activated, and the i-th wrapped yarn on the conveyor belt assembly (105) flows forward to the top of the active roller (106) and the driven roller (107), until the front end of the i-th wrapped yarn hits the end beam (104); S4. The longitudinally movable column assembly (220) moves backward to the bag grabbing position; if i=1 or 2, the rotating and lateral moving platform assembly (240) rotates and moves to the left bag grabbing position, and the manipulator (250) retreats to the left side of the limit baffle (260); if i=3 or 4, the rotating and lateral moving platform assembly (240) rotates and moves to the right bag grabbing position, and the manipulator (250) retreats to the right side of the limit baffle (260); S5. The vertically movable cantilever assembly (230) moves downward until the axis of the support rod (251) of the manipulator (250) and the axis of the driven roller (107) are at the same horizontal height and stops, the manipulator (250) moves in the direction of the bobbin so that its support rod (251) passes through the U-shaped notch (102a) and is inserted under the whole bag of bobbin yarn, and then the vertically movable cantilever assembly (230) moves upward to lift the whole bag of bobbin yarn and moves until the bottom height of the manipulator (250) exceeds the end beam (104); S6. The rotating transverse platform assembly (240) rotates the manipulator (250) to change the orientation of the entire package of yarn; specifically, if m is an odd number, when i=1, the tip of the support rod (251) of the manipulator (250) points forward or to the right, when i=2, the tip of the support rod (251) of the manipulator (250) points to the right or to the front, when i=3, the tip of the support rod (251) of the manipulator (250) points in the same direction as when i=1, and when i=4, the tip of the support rod (251) of the manipulator (250) points in the same direction as when i=2; if m is an even number, i=1 When i=1, the tip of the support rod (251) of the manipulator (250) points to the right or backward; when i=2, the tip of the support rod (251) of the manipulator (250) points backward or to the right; when i=3, the tip of the support rod (251) of the manipulator (250) points in the same direction as when i=1; when i=4, the tip of the support rod (251) of the manipulator (250) points in the same direction as when i=2; wherein, when i=1, the tip of the support rod (251) of the manipulator (250) points in a different direction than when i=2; S7. The rotating transverse platform assembly (240) moves transversely, the longitudinally movable column assembly (220) moves forward, and the manipulator (250) moves to the top of the m-th stack; specifically, if m is an odd number and i=1, the manipulator (250) moves to the top right front of the m-th stack; if m is an even number and i=1, the manipulator (250) moves to the top right rear of the m-th stack; S8. The vertically movable cantilever assembly (230) moves down to the set height, and the manipulator (250) is withdrawn in the opposite direction of the tip of the support rod (251). The entire package of yarn cannot move under the action of the limit baffle (260), and finally falls to the set position under the action of gravity; S9. Loop through S2 to S8 until i=4 to complete the stacking of the nth layer of the yarn at the mth stack, and in the process of stacking each layer of yarn, the four packages of yarn are compactly arranged in a clockwise or counterclockwise order to form a "return" shape; S10. Loop through S2 to S9 until the mth stack of yarns is stacked when n=N, and the arrangement order of the yarns in the n+1th layer is opposite to that of the yarns in the nth layer; S11. Loop through S2 to S10 until all the bobbins in the stacks are stacked when m=M, and the arrangement order of the bobbins in the same layer of the mth stack and the m+1th stack is the same; in addition, when m is an even number, the m+1th stack is spaced a certain distance from the mth stack, and the spacing distance is greater than the width of the robot (250).

9. A method for achieving palletizing with the labels of the yarn packages facing outwards after palletizing according to claim 8, characterized in that: The number M of stack positions is three, and the number N of layers is ten.

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