Automatic stacking compound machine for automatic joint

Abstract

The invention discloses an automatic jointing and stacking compound machine which comprises a main belt line, batch yarn rolls needing jointing are a plurality of first yarn rolls, batch yarn rolls without jointing are a plurality of second yarn rolls, and after the first yarn rolls are stacked, inner joints and outer joints of every two adjacent upper and lower first yarn rolls are connected. A branch conveying line is arranged on the downstream portion of the main belt line and comprises a first branch conveying line and a second branch conveying line, the first branch conveying line is used for conveying a plurality of first yarn rolls, the second branch conveying line is used for conveying a plurality of second yarn rolls, the stacking connector part is arranged on the downstream portion of the first branch conveying line and used for stacking and jointing, and the transferring part is arranged on the downstream portion of the first branch conveying line and used for transferring the second yarn rolls. The controller is electrically connected with a main motor for driving the main belt line, a first motor for driving the first branch conveying line, a second motor for driving the second branch conveying line and the stacking connector part. Automatic connector stacking is achieved, and the working efficiency is greatly improved.

Description

Technical Field

[0001] The invention relates to the technical field of glass fibers, and in particular to an automatic jointing and automatic stacking composite machine. Background Art

[0002] During the production of glass fiber, some varieties need to connect two or more yarn heads to ensure the continuity of product use when downstream customers use them without re-joining. The yarn jointing and stacking in the glass fiber industry currently rely more on manual work, which has the following shortcomings:

[0003] 1. Inefficiency: The speed and accuracy of manual operation are limited by the workers’ proficiency and fatigue, resulting in unstable joint production efficiency;

[0004] 2. High cost: It relies on manual labor, which is an important part of production costs. With the changes in the labor market, labor costs continue to rise;

[0005] 3. Unstable quality: There may be large errors in manual operation, resulting in a high proportion of unstable yarn joint tension and missed joints, and a high probability of flowing into end customers;

[0006] 4. High labor intensity: Workers need to perform repetitive work for a long time with high labor intensity, which may affect work efficiency and worker health;

[0007] 5. Great impact on personal safety: In the working environment, the diameter of glass fiber is small and there is a lot of dust, which has certain harm to the workers' respiratory system and skin.

[0008] Therefore, how to provide an automatic joint and automatic stacking composite machine that can avoid the above-mentioned defects has become a technical problem that technical personnel in this field urgently need to solve. Summary of the invention

[0009] To achieve the above-mentioned purpose, the present invention provides an automatic joint and automatic palletizing composite machine for realizing automatic jointing and automatic palletizing, and the specific technical scheme is as follows:

[0010] A composite machine for automatic jointing and automatic stacking comprises a main belt line for conveying a plurality of single yarn rolls arranged at intervals, wherein the single yarn rolls are formed into batch yarn rolls that need joints with each other or do not need joints with each other, the batch yarn rolls that need joints are a plurality of first yarn rolls, and the batch yarn rolls that do not need joints are a plurality of second yarn rolls, the joints being the inner joints and outer joints of two adjacent upper and lower first yarn rolls connected after the plurality of first yarn rolls are stacked, a branch conveyor line is arranged downstream of the main belt line, namely a first branch conveyor line and a second branch conveyor line, the first branch conveyor line is used to convey a plurality of first yarn rolls, and the second branch conveyor line is used to convey a plurality of second yarn rolls, and also comprises a stacking joint part, which is arranged downstream of the first branch line and is used to stack and joint a plurality of first yarn rolls, and also comprises a controller, which is electrically connected to a main motor driving the main belt line, a first motor driving the first branch conveyor line, a second motor driving the second branch conveyor line, and the stacking joint part.

[0011] Preferably, the palletizing joint portion comprises:

[0012] A transmission belt line and a third motor driving the transmission belt line, wherein the starting end of the transmission belt line is connected to the end of the first branch transmission line for receiving the plurality of first yarn rolls, the inner joint and the outer joint of each of the plurality of first yarn rolls are arranged relatively and are respectively exposed on both sides of the outer side wall of the first yarn roll, and in two first yarn rolls adjacent to each other: the inner joint of the upstream first yarn roll and the outer joint of the downstream first yarn roll are exposed on the outer side wall of the respective first yarn rolls in the same position, and the outer joint of the upstream first yarn roll and the inner joint of the downstream first yarn roll are exposed on the outer side wall of the respective first yarn rolls in the same position;

[0013] A yarn roll stacking conveying belt line and a fourth motor driving the belt line, the yarn roll stacking conveying belt line is used to convey a yarn roll stack after a plurality of first yarn rolls are stacked, the yarn roll stacking conveying belt line has a first side and a second side opposite to each other, the direction of the first side toward the second side is perpendicular to the conveying direction of the yarn roll stacking conveying belt line, in the direction toward the first side: the inner and outer joints of the upper and lower adjacent first yarn rolls are arranged alternately in sequence, in the direction toward the second side: the inner and outer joints of the upper and lower adjacent first yarn rolls are distributed alternately in sequence;

[0014] A stacking mechanism, which is used to move the first yarn roll located on the transmission belt line to the yarn roll stacking conveying belt line for stacking;

[0015] A plurality of joint mechanisms, the number of which is less than the number of first yarn rolls in the yarn roll stack, and the difference between the two numbers is 1, the plurality of joint mechanisms are arranged in sequence along the conveying direction of the yarn roll stack conveying belt line, and the arrangement is arranged in sequence along the first side and the second side of the yarn roll stack conveying belt line, and the alternating arrangement is staggered in height;

[0016] A plurality of yarn roll stack pressing mechanisms, the number of which is the same as the number of the plurality of joint mechanisms, the plurality of yarn roll stack pressing mechanisms are arranged in sequence along the direction of the yarn roll stack conveying belt line and are all located above the conveyed yarn roll stack, each yarn roll stack pressing mechanism can synchronously reciprocate in the horizontal direction and synchronously reciprocate in the vertical direction, so that the yarn roll stack conveying belt line can press the top of the corresponding yarn roll stack when conveying the yarn roll stack;

[0017] The controller is electrically connected to the third motor, the fourth motor, the stacking mechanism, a plurality of joint mechanisms and a plurality of yarn roll stacking and pressing mechanisms.

[0018] Preferably, the joint mechanism comprises:

[0019] The mounting base has an internal space, and the inner joints and outer joints of two first yarn rolls adjacent to each other in the upper and lower directions facing the yarn roll stack of the mounting base corresponding to the internal space are openly arranged, and a side wall of the mounting base corresponding to the internal space away from the yarn roll stack is a first side wall, and a side wall adjacent to the internal space and perpendicular to the first side wall is a second side wall, and two through holes arranged in an upper and lower direction are provided on the first side wall;

[0020] Each of the through holes is provided with a telescopic rod that reciprocates in the horizontal direction, a suction cup that can suck the inner joint or the outer joint is fixed at the end of the telescopic rod, and also includes a first cylinder that synchronously drives the two telescopic rods to reciprocate and a vacuum solenoid valve that controls the suction force generated by the suction cup;

[0021] A rectangular through hole is provided on the second side wall at a position close to the first side wall, the long side of the rectangular through hole extends in the vertical reverse direction, and the short side extends in the horizontal direction, the two long sides are respectively the first long side and the second long side, the first long side is close to the first side wall, a telescopic cylinder is provided on the inner side wall of the first long side, a clamping cylinder is provided at the end of the telescopic cylinder, and also includes a first rodless cylinder for driving the telescopic cylinder to reciprocate up and down along the first long side, a telescopic cylinder is provided on the inner side wall of the second long side, a clamping cylinder is provided at the end of the telescopic cylinder, and also includes a second rodless cylinder for driving the telescopic cylinder to reciprocate up and down along the second long side, and the second side wall is provided with two vertically distributed The through holes are an upper through hole and a lower through hole, and the positions of the upper and lower through holes correspond one to one to the two through holes on the first side wall in the horizontal direction. A telescopic cylinder is arranged at the position of the upper through hole, and a clamping cylinder is arranged at the end of the telescopic cylinder. A telescopic cylinder is arranged at the position of the lower through hole, and a clamping cylinder is arranged at the end of the telescopic cylinder. In the initial state: the telescopic cylinder on the first side wall and the telescopic cylinder at the upper through hole are located at the same height, and the clamping cylinders at the ends of the two are located at the same height and can face the yarn sucked by the suction cup of the upper telescopic rod, and the telescopic cylinder on the second side wall and the telescopic cylinder at the lower through hole are located at the same height, and the clamping cylinders at the ends of the two are located at the same height and can face the yarn sucked by the suction cup of the lower telescopic rod;

[0022] A telescopic cylinder is provided on the second side wall at a position close to the upper through hole and flush with the upper through hole, and a yarn sensor is provided at the end of the telescopic cylinder. A telescopic cylinder is provided on the second side wall at a position close to the lower through hole and flush with the lower through hole, and a yarn sensor is provided at the end of the telescopic cylinder. The two yarn roll sensors are arranged in the up-down direction;

[0023] A telescopic cylinder is arranged at the middle position between the two yarn sensors, an air splicer controlled by a solenoid valve is fixed at the end of the telescopic cylinder, a telescopic cylinder is arranged between the air splicer and the upper yarn sensor, a W-shaped yarn overlapping structure is fixed at the end of the telescopic cylinder, a telescopic cylinder is arranged between the air splicer and the lower yarn sensor, a W-shaped yarn overlapping structure is fixed at the end of the telescopic cylinder, and the two W-shaped gaps of the two W-shaped yarn overlapping structures are used for overlapping yarn rolls;

[0024] The mounting base further comprises a waste yarn collecting funnel located below the internal space thereof and connected to the internal space, wherein the waste yarn collecting funnel is located below the extended air splicer;

[0025] The controller is electrically connected to the first cylinder, the vacuum solenoid valve, all telescopic cylinders and the clamping cylinder, the yarn sensor and the solenoid valve.

[0026] Preferably, the second branch conveyor line includes a roller conveyor line and a main belt extension conveyor line, the roller conveyor line includes a support platform and a plurality of rollers, the support platform is located at a downstream position of the main belt line, the plurality of rollers are arranged in parallel and spaced apart and are at the same height as the main belt line, the axial direction of each roller is perpendicular to the conveying direction of the main belt line, support plates are provided on the upper surface of the support platform at positions corresponding to the two ends of the axial direction of each roller, both ends of each roller in the axial direction are rotatably connected to the corresponding support plates, and the ends of the plurality of rollers in the axial direction on the same side are formed with transmission sections , the roller close to the main belt line among the plurality of rollers is the first roller, an input sprocket and an output sprocket are installed on the transmission section of the first roller, and also includes a fifth motor, a sprocket is fixed to the output end of the fifth motor, the sprocket and the input sprocket are driven by a chain, the output sprocket and the input sprocket on the transmission section of the second roller adjacent to the first roller are driven by a chain, and the transmission section between every two adjacent rollers is driven by a sprocket chain transmission method, the main belt extension conveyor line is arranged downstream of the roller far from the main belt line among the plurality of rollers, and the roller and the main belt extension conveyor line are at the same height;

[0027] The first branch conveyor line includes a plurality of sorting belt lines for sorting the first yarn rolls, one of the sorting belt lines is arranged between two rollers arranged at intervals, and also includes a lifting cylinder and a lifting platform located at the end thereof, the lifting platform is located above the supporting platform and below the plurality of rollers, a plurality of the sorting belt lines are arranged on the lifting platform, a main transmission rod is arranged at a position corresponding to the same end of the plurality of sorting belt lines on the lifting platform, and also includes a sixth motor, the sixth motor is connected to one end of the main transmission rod through a belt drive, one end of each of the sorting belt lines is sleeved on the main transmission rod, and the other end of each of the sorting belt lines is sleeved on a separate rotating rod, and the separate rotating rod is arranged on the lifting platform;

[0028] The controller is electrically connected to the fifth motor, the sixth motor, the lifting cylinder and the seventh motor for controlling the start and stop of the main belt extension conveyor line;

[0029] When the second branch conveyor line conveys a plurality of second yarn rolls, the lifting cylinder is in a retracted state so that a plurality of sorting belt lines are lower than the drum; when the first branch conveyor line conveys a plurality of first yarn rolls, the drum conveyor line and the main belt extension line stop moving and the lifting cylinder is in an extended state so that a plurality of sorting belt lines are at the same height as the main belt line and the transmission belt line.

[0030] Preferably, the number of first yarn rolls in each yarn roll stack is 4.

[0031] Preferably, the stacking joint part also includes a joint support platform, the transmission belt line and the yarn roll stacking transmission belt line are both arranged on the joint support platform, and the conveying directions of the two are arranged vertically, the starting end of the yarn roll stacking transmission line is close to the end of the transmission belt line, and a first slide rail is arranged above the end of the transmission belt line, and the extension direction of the first slide rail is perpendicular to the conveying direction of the transmission belt line. A slider is slidably installed on the first slide rail, and a mechanical arm that can rotate 90° is installed at the end of the slider. The first slide rail is supported by a second slide rail arranged in a vertical direction and fixed on the joint support platform, the first slide rail is slidably connected to the second slide rail, and also includes a first cylinder that drives the first slide rail to slide up and down along the second slide rail, and also includes a second cylinder that drives the slide to reciprocate along the first slide rail, and the controller is electrically connected to the mechanical arm, the first cylinder and the second cylinder.

[0032] Preferably, each of the yarn roll stacking pressing mechanisms includes a third cylinder and a circular pressure plate at the end of the third cylinder, the size of the circular pressure plate matches the size of the yarn roll, the extension direction of the third cylinder is up and down, and also includes a third slide rail, the extension direction of the third slide rail is the same as the conveying direction of the yarn roll stacking conveyor belt line, the third slide rail is supported by a support rod on the joint support platform, the three third cylinders are all fixed on a moving rod that can move back and forth along the third slide rail, and also include a fourth cylinder that drives the moving rod to move back and forth, and the controller is electrically connected to the third cylinder and the fourth cylinder.

[0033] The automatic joint and automatic stacking composite machine provided by the present invention has the following technical effects:

[0034] 1. Improve production efficiency: Automatic joints and automatic palletizing can realize automatic material picking, placing, and palletizing, reducing manual intervention and thus improving production efficiency. It can also achieve 24-hour uninterrupted operation without rest, further improving production efficiency.

[0035] 2. Reduce labor costs: Automatic joints and automatic palletizing can reduce manual handling and stacking, reduce dependence on workers, and thus reduce labor costs. Moreover, these devices are easy to operate and only one worker is needed to supervise the entire production process, which helps to reduce labor intensity.

[0036] 3. Improve product quality: Automatic joints and automatic palletizing are controlled by computer programs to complete operations, avoiding errors caused by human factors, thereby improving product quality. At the same time, automatic palletizing stacks materials according to preset rules, which can ensure that the packaging is neat, compact, and beautiful, increasing product added value.

[0037] 4. Save space: Automatic palletizing can accurately control the palletizing position and height, effectively utilize warehouse space and reduce space waste.

[0038] 5. Improve safety: There may be some safety hazards in the production process of the glass fiber industry, such as flying glass fibers, dust pollution, etc. Automatic joints and automatic stacking equipment can reduce manual operations, thereby reducing these safety hazards and improving the safety of the production process.

[0039] In general, the advantages of automatic joints and automatic palletizing in the glass fiber industry are mainly reflected in improving production efficiency, reducing labor costs, improving product quality, saving space and improving safety. These advantages help to enhance the competitiveness and sustainable development capabilities of glass fiber enterprises. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] Figure 1 This is a schematic diagram of the overall structure of the automatic joint and automatic stacking composite machine provided by the present invention;

[0041] Figure 2 It is a structural schematic diagram of a specific implementation method of a palletizing joint part;

[0042] Figure 3 It is a structural schematic diagram of a specific implementation method of the joint mechanism;

[0043] Figure 4 It is a structural schematic diagram of a specific implementation method of a roller conveyor line and a sorting belt line;

[0044] Figure 5 It is a structural schematic diagram of a specific implementation of a joint stacking fixture, a non-joint stacking fixture and a cardboard suction fixture.

[0045] Figure 1-5 The accompanying drawings are denoted as follows:

[0046] 1 main belt line, 2 first yarn roll, 3 second yarn roll, 4 stacking joint part, 5 transmission belt line, 6 yarn roll stacking conveying belt line, 7 joint mechanism, 8 installation base, 9 first side wall, 10 second side wall, 11 telescopic rod, 12 suction cup, 13 first long side, 14 second long side, 15-23 telescopic cylinder, 24-27 clamping cylinder, 28 first rodless cylinder, 29 second rodless cylinder, 30 upper through hole, 31 lower through hole, 32 yarn sensor, 33 air splicer, 34 W-shaped yarn overlapping structure, 35 waste yarn collecting funnel, 36 support platform, 37 roller, 38 support plate, 39 first roller, 40 fifth motor , 41 main belt extension conveyor line, 42 sorting belt line, 43 lifting cylinder, 44 lifting platform, 45 main transmission rod, 46 sixth motor, 47 joint support platform, 48 first slide rail, 49 robotic arm, 50 second slide rail, 51 circular pressure plate, 52 third slide rail, 536-axis robot, 54 fixture placement rack, 55 joint stacking fixture, 56 non-joint stacking fixture, 57 cardboard suction fixture, 58 robot quick change plate, 59 servo clamp, 60 cylinder, 61 yarn roll clamping claw, 62 vacuum generator, 63 aluminum alloy fixture bracket, 64 vacuum suction cup, 65 cardboard placement station, 66 yarn roll stacking, 67 vacuum pump. DETAILED DESCRIPTION

[0047] like Figure 1-5 As shown, an automatic jointing and automatic stacking composite machine provided by the present invention includes a main belt line 1 for conveying a plurality of single rolls of yarn arranged at intervals, the single rolls of yarn are formed into batches of yarn rolls that need joints or do not need joints with each other, the batches of yarn rolls that need joints are a plurality of first yarn rolls 2, and the batches of yarn rolls that do not need joints are a plurality of second yarn rolls 3, the joints are the inner joints and outer joints of the two adjacent upper and lower first yarn rolls 2 after the first yarn rolls 2 are stacked, and a branch conveyor line is arranged downstream of the main belt line 1, which is a first branch conveyor line and a second branch conveyor line, and the first branch conveyor line is used to convey a plurality of first yarn rolls Roll 2, the second branch conveyor line is used to convey a plurality of second yarn rolls 3, and also includes a stacking joint part 4, which is arranged downstream of the first branch line for stacking and jointing a plurality of first yarn rolls 2, and also includes a transferring part, which is used to move the second yarn rolls 3 on the second branch conveyor line to the desired position or to move a plurality of first yarn rolls 2 that have completed the joint in the stacking joint part 4 to the desired position, and also includes a controller, which is electrically connected to drive the main motor of the main belt line 1, the first motor driving the first branch conveyor line, the second motor driving the second branch conveyor line, the stacking joint part 4 and the transplanting part.

[0048] like Figure 1-5 As shown, in a specific embodiment, the stacking joint portion includes:

[0049] A transmission belt line 5 and a third motor driving the transmission belt line 5, wherein the starting end of the transmission belt line 5 is connected to the end of the first branch conveyor line for receiving the plurality of first yarn rolls 2, wherein the inner joint and the outer joint of each yarn roll of the plurality of first yarn rolls 2 are arranged relatively and are respectively exposed on both sides of the outer side wall of the first yarn roll 2, and among the two first yarn rolls adjacent to each other in front and behind: the inner joint of the upstream first yarn roll 2 and the outer joint of the downstream first yarn roll 2 are exposed on the outer side wall of the respective first yarn roll 2 in the same position, and the outer joint of the upstream first yarn roll 2 and the inner joint of the downstream first yarn roll 2 are exposed on the outer side wall of the respective first yarn roll 2 in the same position;

[0050] A yarn roll stacking conveying belt line 6 and a fourth motor driving the same, the yarn roll stacking conveying belt line 6 is used to convey a yarn roll stack 66 after a plurality of first yarn rolls 2 are stacked, the yarn roll stacking conveying belt line 6 has a first side and a second side opposite to each other, the direction of the first side toward the second side is perpendicular to the conveying direction of the yarn roll stacking conveying belt line 6, in the direction toward the first side: the inner and outer joints of the upper and lower adjacent first yarn rolls 2 are arranged alternately in sequence, in the direction toward the second side: the inner and outer joints of the upper and lower adjacent first yarn rolls 2 are distributed alternately in sequence;

[0051] A stacking mechanism, which is used to move the first yarn roll 2 located on the conveying belt line 5 to the yarn roll stacking conveying belt line 6 for stacking;

[0052] A plurality of jointing mechanisms 7, the number of which is less than the number of first yarn rolls 2 in the yarn roll stack 66, and the difference between the two numbers is 1, the plurality of jointing mechanisms 7 are arranged in sequence along the conveying direction of the yarn roll stack conveying belt line 6, and the sequential arrangement is alternately distributed along the first side and the second side of the yarn roll stack conveying belt line 6, and the alternating distribution is staggered in height; this arrangement improves efficiency by synchronously jointing the yarn roll stacks 66 located at different positions on the yarn roll stack conveying belt line 6.

[0053] A plurality of yarn roll stack pressing mechanisms, the number of which is the same as the number of the plurality of joint mechanisms 7, the plurality of yarn roll stack pressing mechanisms are arranged in sequence along the direction of the yarn roll stack conveying belt line 7 and are all located above the conveyed yarn roll stack 66, each yarn roll stack pressing mechanism can synchronously reciprocate in the horizontal direction and synchronously reciprocate in the vertical direction, so that the yarn roll stack conveying belt line 6 can press the top of the corresponding yarn roll stack 66 when conveying the yarn roll stack 66;

[0054] The controller is electrically connected to the third motor, the fourth motor, the stacking mechanism, a plurality of joint mechanisms 7 and a plurality of yarn roll stacking and pressing mechanisms.

[0055] In one specific implementation, Figure 1-5As shown, the joint mechanism 7 comprises:

[0056] The mounting base 8 has an internal space, and the inner joints and outer joints of the two first yarn rolls 2 adjacent to each other above and below the yarn roll stack 66 of the mounting base 8 corresponding to the internal space are openly arranged, and a side wall of the mounting base 8 corresponding to the internal space away from the yarn roll stack 66 is a first side wall 9, and a side wall adjacent to and perpendicular to the first side wall 9 corresponding to the internal space is a second side wall 10, and two through holes arranged in an upper and lower direction are provided on the first side wall 9;

[0057] Each of the through holes is provided with a telescopic rod 11 that reciprocates in the horizontal direction, a suction cup 12 that can suck the inner joint or the outer joint is fixed at the end of the telescopic rod 11, and further includes a first cylinder that synchronously drives the two telescopic rods 11 to reciprocate and a vacuum solenoid valve that controls the suction force generated by the suction cup 12;

[0058] A rectangular through hole is provided on the second side wall 10 at a position close to the first side wall 9, and the long side of the rectangular through hole extends in the vertical reverse direction and the short side extends in the horizontal direction. The two long sides are respectively a first long side 13 and a second long side 14. The first long side 13 is close to the first side wall 9. A telescopic cylinder 15 is provided on the inner side wall of the first long side 13, and a clamping cylinder 24 is provided at the end of the telescopic cylinder 15, and also includes a first rodless cylinder 28 for driving the telescopic cylinder 15 to reciprocate up and down along the first long side. A telescopic cylinder 22 is provided on the inner side wall of the second long side 14, and a clamping cylinder 27 is provided at the end of the telescopic cylinder 22, and also includes a second rodless cylinder 29 for driving the telescopic cylinder 22 to reciprocate up and down along the second long side 14. The second side wall 10 is provided with two through holes distributed up and down at the boundary away from the first side wall 9. , are an upper through hole 30 and a lower through hole 31, the positions of the upper and lower through holes correspond one to one to the two through holes on the first side wall 9 in the horizontal direction, a telescopic cylinder 16 is arranged at the position of the upper through hole 30, and a clamping cylinder 25 is arranged at the end of the telescopic cylinder 16, and a telescopic cylinder 19 is arranged at the position of the lower through hole 31, and a clamping cylinder 26 is arranged at the end of the telescopic cylinder 19, in the initial state: the telescopic cylinder 15 on the first side wall 9 and the telescopic cylinder 16 at the upper through hole 30 are located at the same height and the clamping cylinders at the ends of the two are located at the same height and can face the yarn sucked by the suction cup 12 of the upper telescopic rod 11, the telescopic cylinder 22 on the second long side 14 and the telescopic cylinder 19 at the lower through hole 31 are located at the same height and the clamping cylinders at the ends of the two are located at the same height and can face the yarn sucked by the suction cup 12 of the lower telescopic rod 11;

[0059] A telescopic cylinder is provided on the second side wall 10 at a position close to the upper through hole 30 and flush with the upper through hole 30, and a yarn sensor 32 is provided at the end of the telescopic cylinder 17. A telescopic cylinder 20 is provided on the second side wall 10 at a position close to the lower through hole 31 and flush with the lower through hole 31, and a yarn sensor 32 is provided at the end of the telescopic cylinder 20. The two yarn roll sensors 32 are arranged in the up-down direction;

[0060] A telescopic cylinder 23 is arranged at the middle position between the two yarn sensors 32, and an air splicer 33 controlled by a solenoid valve is fixed at the end of the telescopic cylinder 23. A telescopic cylinder 18 is arranged between the air splicer 33 and the upper yarn sensor 32, and a W-shaped yarn overlapping structure 34 is fixed at the end of the telescopic cylinder 18. A telescopic cylinder 21 is arranged between the air splicer 33 and the lower yarn sensor 32, and a W-shaped yarn overlapping structure 34 is fixed at the end of the telescopic cylinder 21. The two W-shaped gaps of the two W-shaped yarn overlapping structures 34 are used for overlapping yarn rolls;

[0061] The mounting base 8 further includes a waste yarn collecting funnel 35 located below the internal space thereof and connected to the internal space, and the waste yarn collecting funnel 35 is located below the extended air splicer 33;

[0062] The controller is electrically connected to the first cylinder, the vacuum solenoid valve, all telescopic cylinders and the clamping cylinder, the yarn sensor and the solenoid valve.

[0063] The vacuum suction force of the joint mechanism is provided by a vacuum pump 67 .

[0064] like Figure 1-5In a specific embodiment, the second branch conveyor line includes a roller conveyor line and a main belt extension conveyor line 41, the roller conveyor line includes a support platform 36 and a plurality of rollers 37, the support platform 36 is located at the downstream position of the main belt line 1, the plurality of rollers 37 are arranged in parallel and spaced apart and are at the same height as the main belt line 1, the axial direction of each roller 37 is perpendicular to the conveying direction of the main belt line 1, and support plates 38 are provided on the upper surface of the support platform 36 at positions corresponding to the axial ends of each roller 37, and both ends of each roller 37 along the axial direction are rotatably connected to the corresponding support plates 38, and the ends of the plurality of rollers 37 located on the same side along the axial direction are formed There is a transmission section, the roller close to the main belt line 1 among the several rollers 37 is the first roller 39, the transmission section of the first roller 39 is equipped with an input sprocket and an output sprocket, and also includes a fifth motor 40, a sprocket is fixed to the output end of the fifth motor 40, the sprocket and the input sprocket are driven by a chain, the output sprocket and the input sprocket on the transmission section of the second roller adjacent to the first roller 39 are driven by a chain, the transmission section between each two adjacent rollers 37 is driven by a sprocket chain transmission method, the main belt extension conveyor line 41 is arranged downstream of the roller 37 away from the main belt line 1 among the several rollers 37, and the roller 37 and the main belt extension conveyor line 41 are at the same height;

[0065] The first branch conveyor line includes a plurality of sorting belt lines 42 for sorting the first yarn rolls 2, one of the sorting belt lines 42 is arranged between two rollers 37 arranged at intervals, and also includes a lifting cylinder 43 and a lifting platform 44 at the end thereof, the lifting platform 44 is located above the support platform 36 and below the plurality of rollers 37, a plurality of the sorting belt lines 42 are arranged on the lifting platform 44, a main transmission rod 45 is arranged at a position corresponding to the same end of the plurality of sorting belt lines 42 on the lifting platform 44, and also includes a sixth motor 46, the sixth motor 46 is connected to one end of the main transmission rod 45 through a belt drive, one end of each of the sorting belt lines 42 is sleeved on the main transmission rod 45, and the other end of each of the sorting belt lines 42 is sleeved on a separate rotating rod, and the separate rotating rod is arranged on the lifting platform 44;

[0066] The controller is electrically connected to the fifth motor 40, the sixth motor 46, the lifting cylinder 43 and the seventh motor for controlling the start and stop of the main belt extension conveyor line 41;

[0067] When the second branch conveyor line conveys a plurality of second yarn rolls 3, the lifting cylinder 43 is in a retracted state so that a plurality of sorting belt lines 42 are lower than the drum 37; when the first branch conveyor line conveys a plurality of first yarn rolls 2, the drum conveyor line and the main belt extension conveyor line 41 stop moving and the lifting cylinder 43 is in an extended state so that a plurality of sorting belt lines 42 are at the same height as the main belt line 1 and the transmission belt line 5.

[0068] The number of first yarn rolls 2 in each yarn roll stack 66 is four.

[0069] like Figure 1-5 As shown, in a specific embodiment, the stacking joint part 4 also includes a joint support platform 47, the transmission belt line 5 and the yarn roll stacking transmission belt line 6 are both arranged on the joint support platform 47, and the conveying direction of the two is arranged vertically, the starting end of the yarn roll stacking transmission line 6 is close to the end of the transmission belt line 5, and a first slide rail 48 is arranged above the end of the transmission belt line 5, and the extension direction of the first slide rail 48 is perpendicular to the conveying direction of the transmission belt line 5, and a slider is slidably installed on the first slide rail 48, and a mechanical arm 49 capable of rotating 90° is installed at the end of the slider, and the first slide rail 48 is supported by a second slide rail 50 arranged in a vertical direction and fixed on the joint support platform 47, the first slide rail 48 is slidably connected to the second slide rail 50, and also includes a first cylinder driving the first slide rail 48 to slide up and down along the second slide rail 50, and also includes a second cylinder driving the sliding to move back and forth along the first slide rail 48, and the controller is electrically connected to the mechanical arm 49, the first cylinder and the second cylinder.

[0070] Among them, each of the yarn roll stacking clamping mechanisms includes a third cylinder and a circular pressure plate 51 located at the end of the third cylinder. The size of the circular pressure plate 51 matches the size of the yarn roll. The extension direction of the third cylinder is the up and down direction. It also includes a third slide rail 52. The extension direction of the third slide rail 52 is the same as the conveying direction of the yarn roll stacking conveying belt line 6. The third slide rail 52 is supported by a support rod on the joint support platform 47. The three third cylinders are all fixed on a moving rod that can move back and forth along the third slide rail 52. It also includes a fourth cylinder that drives the moving rod to move back and forth. The controller is electrically connected to the third cylinder and the fourth cylinder.

[0071] In this specific implementation, Figure 2As shown, the positions of the inner joint and the outer joint of the second yarn roll 3 transported by the transmission belt line 5 are already determined (similarly, the positions of the inner joint and the outer joint of the adjacent second yarn rolls 3 on the main belt line 1 are also determined. After passing through the sorting belt line 42, the orientation of the second yarn roll 3 is rotated ninety degrees). From the figure, the direction of the inner joint toward the outer joint is perpendicular to the conveying direction of the transmission belt line 5. Then, a sensor arranged on one side of the transmission belt line 5 is used to sense whether a second yarn roll 3 passes by. If sensed, a signal is transmitted to the controller, and then the controller controls the mechanical arm 49 to move along the first slide rail 48, and the first slide rail 48 moves along the second slide rail 50. Then, the mechanical arm 49 rotates 90° to grab the second yarn roll 3, and then resets to place the second yarn roll 3 on the yarn roll stacking conveying belt line 6. When four second yarn rolls 3 are grabbed to form a yarn roll stack 66, the controller controls the joint mechanism 7 to act. After the jointing action is completed, the controller will drive the yarn stack pressing mechanism to operate, so that its circular pressure plate 51 presses the top of the yarn stack 66, and slides along the third slide rail 52 to synchronously follow the yarn stack and move along the conveying direction of the yarn stack conveying belt line 6. It can be understood that a sensor electrically connected to the controller is also provided on one side of the main belt line 1, which is used to sense whether the first yarn roll 2 passes by. If sensed, the signal is transmitted to the controller to control the sorting belt line 42 to operate, and the roller 37 and the main belt extension conveyor line 41 to not operate. Correspondingly, when the second yarn roll 3 is transported in batches, after the sensor senses the second yarn roll 3, the controller controls the roller 37 and the main belt extension conveyor line 41 to operate, and the sorting belt line 42 to not operate.

[0072] In a specific implementation manner, Figure 1-5 As shown, the transfer section includes a 6-axis robot 53 and a fixture placement rack 54, on which a joint stacking fixture 55, a non-joint stacking fixture 56 and a cardboard suction fixture 57 are placed. The joint stacking fixture 55 is used to grab the yarn roll stack 66 with completed joints transported by the yarn roll stacking conveying belt line 6, and the non-joint stacking fixture 56 is used to grab each second yarn roll 3 transported by the main belt extension line 41. The cardboard suction fixture 57 is used to grab the cardboard. The joint stacking fixture 55, the non-joint stacking fixture 56 and the cardboard suction fixture 57 can all be detachably connected to the mechanical arm of the 6-axis robot 53.

[0073] The system further comprises a cardboard placement station 65 for placing a plurality of cardboards stacked on top of each other.

[0074] The sorting belt line 42 is used to sort and transport the first yarn roll 2 that needs to be spliced ​​on the main belt line 1 to the splicing station. The main belt extension conveyor line 41 is mainly used to transport the second yarn roll 3 that does not need to be spliced ​​to the stacking station of the 6-axis robot 53 for direct stacking by the 6-axis robot 53. Figure 1-5 As shown, different fixtures all use the robot quick-change plate 58 as a unified interface. The robot quick-change plate 58 has a power interface, a signal line interface, and an air source interface, which can provide power, air source and control signal requirements for the fixture. The joint stacking fixture 55 uses two servo clamps 59 to grab the yarn roll stack 66. The non-joint stacking fixture 56 uses a cylinder 60 as a power drive to drive the yarn roll clamping claw 61 to clamp a single second yarn roll 3 for stacking to the required workstation. The cardboard suction fixture 57 uses a vacuum generator 62 to generate a vacuum degree, and the vacuum suction cup 64 set on the aluminum alloy fixture bracket 63 sucks the partition of the cardboard placement station 65 and places it on the stacking tray.

[0075] like Figure 1 As shown, the second yarn roll 3 that does not need a joint is transferred from the main belt line 1, transported by several rotating rollers 37 (the sorting belt line 42 is in a stopped state at this time) and the main belt extension conveyor line 41, and the second yarn roll 3 is clamped and stacked by the 6-axis robot 53 with the corresponding clamp. After stacking a layer of yarn rolls, the 6-axis robot 53 replaces the clamp to grab the paper partition and put it on the stacking tray, and then replaces the robot clamp to continue to grab the second yarn roll for stacking, and repeats this process until the stacking is completed. Figure 1 As shown, the first yarn roll 2 that needs to be spliced ​​is transmitted from the main belt line 1, and is transmitted to the stacking joint part through the sorting belt line 42 (at this time, several rollers 37 are in a stopped state) for splicing and stacking operations. After the splicing operation is completed, the stacked yarn roll is output by the yarn roll stacking conveyor line 6, and then the 6-axis robot 53 with the corresponding clamp stacks the yarn roll to the required work station.

[0076] When the joint mechanism is connected, combine Figure 3 As shown:

[0077] Reset position: all telescopic cylinders retract (15-23), all clamping cylinders open (24-27), the first rodless cylinder 28 stops at the position in the figure (15 and 16 telescopic cylinders are on the same line), the second rodless cylinder 29 stops at the position in the figure (19 and 22 telescopic cylinders are on the same line), the telescopic rod 11 and the suction cup 12 thereon retract to the style in the figure, and the blowing and vacuum solenoid valves of all air nozzles are closed.

[0078] Action flow:

[0079] 1. The telescopic rod 11 and the suction cup 12 thereon extend (corresponding cylinders can be configured to achieve this action) →→→→→the vacuum solenoid valves connected to the suction cups for generating suction are opened respectively, and wait for N seconds →→→→→the telescopic rod 11 and the suction cup 12 thereon retract.

[0080] 2. The telescopic cylinders 17 and 20 extend. During this process, the yarn sensor 32 senses whether the yarn is sensed →→→→→then the telescopic cylinders 17 and 20 retract (if the yarn is sensed, continue to the next step. If one of the yarn sensors 32 does not sense the yarn, the corresponding mechanism needs to repeat the action in sequence 1).

[0081] 3, 15, 16, 19 and 22 telescopic cylinders extend →→→→→the corresponding 24-27 clamping cylinders clamp the yarn →→→→→the vacuum solenoid valves are closed respectively.

[0082] 4, 19 and 22 telescopic cylinders retract →→→→→the first rodless cylinder and the second rodless cylinder drive the 15 telescopic cylinder and the 22 telescopic cylinder to move up and down relatively respectively →→→→→15 and 16 telescopic cylinders retract.

[0083] 5. The telescopic cylinders 18 and 21 extend to drive the upper and lower W-shaped yarn splicing structures to extend, so that the yarns are overlapped on them, presenting a cross-arrangement of two yarns →→→→→23 telescopic cylinder extends to extend the air splicer →→→→→18 and 21 telescopic cylinders retract →→→→→the air splicer is actuated (it relies on the solenoid valve arranged on the air intake pipeline to achieve its action, that is, the controller electrically connects the solenoid valve, gives an opening signal, so that the air intake pipeline is connected and the air splicer is actuated) to achieve the connection of the inner and outer joints of the adjacent first yarn rolls →→→→→23 telescopic cylinder retracts.

[0084] 6, 16 and 19 telescopic cylinders extend →→→→→ the corresponding 25 and 26 clamping cylinders on them open →→→→→ the air nozzle set on the clamping cylinders here blows air for 2 seconds (which can be controlled by solenoid valve) →→→→→ 16 and 19 telescopic cylinders retract.

[0085] 7. The 15 telescopic cylinder extends →→→→→the corresponding 24 clamping cylinder opens →→→→→the air nozzle arranged at the clamping cylinder blows air for 2 seconds (controlled by solenoid valve) →→→→→the 15 telescopic cylinder retracts →→→→→the first rodless cylinder resets.

[0086] 8. The second rodless cylinder resets →→→→→22 telescopic cylinder extends →→→→→the corresponding 27 clamping cylinder opens →→→→→the air nozzle set at the clamping cylinder blows air for 2 seconds (controlled by solenoid valve) →→→→→22 telescopic cylinder retracts.

[0087] Wherein, the air splicer 33 used specifically to connect the intersection of two crossed yarns is prior art, which will not be described in detail here. The air splicer 33 used is a purchasable product, and its specific structure will not be described in detail here.

[0088] The equipment processes a batch of first yarn rolls 2 or a batch of second yarn rolls 3. For example, if the yarn rolls in this batch are all first yarn rolls 2 that need to be jointed, the first yarn rolls 2 are transported in sequence through the main belt line 1 and then enter the stacking joint part to complete the corresponding action; if the yarn rolls in this batch are all second yarn rolls 3 that do not require joints, the transportation is completed through the main belt line 1, the roller 37 and the main belt extension conveyor line 41.

Claims

1. An automatic joint and automatic stacking composite machine, characterized in that: It includes a main belt line for conveying a number of single rolls of yarn arranged at intervals, and the single rolls of yarn are formed into batches of yarn rolls that need to be jointed with each other or do not need to be jointed with each other. The batches of yarn rolls that need joints are a number of first yarn rolls, and the batches of yarn rolls that do not need joints are a number of second yarn rolls. The joints are the inner joints and outer joints of two adjacent upper and lower first yarn rolls after the first yarn rolls are stacked. Branch conveyor lines are arranged downstream of the main belt line, which are the first branch conveyor line and the second branch conveyor line. The first branch conveyor line is used to convey a number of first yarn rolls, and the second branch conveyor line is used to convey a number of second yarn rolls. It also includes a stacking joint part, which is arranged downstream of the first branch line and is used to stack and joint the number of first yarn rolls. It also includes a controller, which is electrically connected to a main motor driving the main belt line, a first motor driving the first branch conveyor line, a second motor driving the second branch conveyor line, and the stacking joint part.

2. The automatic jointing and automatic stacking compound machine according to claim 1, characterized in that: The palletizing joint portion comprises: A transmission belt line and a third motor driving the transmission belt line, wherein the starting end of the transmission belt line is connected to the end of the first branch transmission line for receiving the plurality of first yarn rolls, the inner joint and the outer joint of each of the plurality of first yarn rolls are arranged relatively and are respectively exposed on both sides of the outer side wall of the first yarn roll, and in two first yarn rolls adjacent to each other: the inner joint of the upstream first yarn roll and the outer joint of the downstream first yarn roll are exposed on the outer side wall of the respective first yarn rolls in the same position, and the outer joint of the upstream first yarn roll and the inner joint of the downstream first yarn roll are exposed on the outer side wall of the respective first yarn rolls in the same position; A yarn roll stacking conveying belt line and a fourth motor driving the belt line, the yarn roll stacking conveying belt line is used to convey a yarn roll stack after a plurality of first yarn rolls are stacked, the yarn roll stacking conveying belt line has a first side and a second side opposite to each other, the direction of the first side toward the second side is perpendicular to the conveying direction of the yarn roll stacking conveying belt line, in the direction toward the first side: the inner and outer joints of the upper and lower adjacent first yarn rolls are arranged alternately in sequence, in the direction toward the second side: the inner and outer joints of the upper and lower adjacent first yarn rolls are distributed alternately in sequence; A stacking mechanism, which is used to move the first yarn roll located on the transmission belt line to the yarn roll stacking conveying belt line for stacking; A plurality of joint mechanisms, the number of which is less than the number of first yarn rolls in the yarn roll stack, and the difference between the two numbers is 1, the plurality of joint mechanisms are arranged in sequence along the conveying direction of the yarn roll stack conveying belt line, and the arrangement is arranged in sequence along the first side and the second side of the yarn roll stack conveying belt line, and the alternating arrangement is staggered in height; A plurality of yarn roll stack pressing mechanisms, the number of which is the same as the number of the plurality of joint mechanisms, the plurality of yarn roll stack pressing mechanisms are arranged in sequence along the direction of the yarn roll stack conveying belt line and are all located above the conveyed yarn roll stack, each yarn roll stack pressing mechanism can synchronously reciprocate in the horizontal direction and synchronously reciprocate in the vertical direction, so that the yarn roll stack conveying belt line can press the top of the corresponding yarn roll stack when conveying the yarn roll stack; The controller is electrically connected to the third motor, the fourth motor, the stacking mechanism, a plurality of joint mechanisms and a plurality of yarn roll stacking and pressing mechanisms.

3. The automatic joint and automatic stacking composite machine according to claim 1, characterized in that: The joint mechanism comprises: The mounting base has an internal space, and the inner joints and outer joints of two first yarn rolls adjacent to each other in the upper and lower directions facing the yarn roll stack of the mounting base corresponding to the internal space are openly arranged, and a side wall of the mounting base corresponding to the internal space away from the yarn roll stack is a first side wall, and a side wall adjacent to the internal space and perpendicular to the first side wall is a second side wall, and two through holes arranged in an upper and lower direction are provided on the first side wall; Each of the through holes is provided with a telescopic rod that reciprocates in the horizontal direction, a suction cup that can suck the inner joint or the outer joint is fixed at the end of the telescopic rod, and also includes a first cylinder that synchronously drives the two telescopic rods to reciprocate and a vacuum solenoid valve that controls the suction force generated by the suction cup; A rectangular through hole is provided on the second side wall at a position close to the first side wall, the long side of the rectangular through hole extends in the vertical reverse direction, and the short side extends in the horizontal direction, the two long sides are respectively the first long side and the second long side, the first long side is close to the first side wall, a telescopic cylinder is provided on the inner side wall of the first long side, a clamping cylinder is provided at the end of the telescopic cylinder, and also includes a first rodless cylinder for driving the telescopic cylinder to reciprocate up and down along the first long side, a telescopic cylinder is provided on the inner side wall of the second long side, a clamping cylinder is provided at the end of the telescopic cylinder, and also includes a second rodless cylinder for driving the telescopic cylinder to reciprocate up and down along the second long side, and the second side wall is provided with two vertically distributed The through holes are an upper through hole and a lower through hole, and the positions of the upper and lower through holes correspond one to one to the two through holes on the first side wall in the horizontal direction. A telescopic cylinder is arranged at the position of the upper through hole, and a clamping cylinder is arranged at the end of the telescopic cylinder. A telescopic cylinder is arranged at the position of the lower through hole, and a clamping cylinder is arranged at the end of the telescopic cylinder. In the initial state: the telescopic cylinder on the first side wall and the telescopic cylinder at the upper through hole are located at the same height, and the clamping cylinders at the ends of the two are located at the same height and can face the yarn sucked by the suction cup of the upper telescopic rod, and the telescopic cylinder on the second side wall and the telescopic cylinder at the lower through hole are located at the same height, and the clamping cylinders at the ends of the two are located at the same height and can face the yarn sucked by the suction cup of the lower telescopic rod; A telescopic cylinder is provided on the second side wall at a position close to the upper through hole and flush with the upper through hole, and a yarn sensor is provided at the end of the telescopic cylinder. A telescopic cylinder is provided on the second side wall at a position close to the lower through hole and flush with the lower through hole, and a yarn sensor is provided at the end of the telescopic cylinder. The two yarn roll sensors are arranged in the up-down direction; A telescopic cylinder is arranged at the middle position between the two yarn sensors, an air splicer controlled by a solenoid valve is fixed at the end of the telescopic cylinder, a telescopic cylinder is arranged between the air splicer and the upper yarn sensor, a W-shaped yarn overlapping structure is fixed at the end of the telescopic cylinder, a telescopic cylinder is arranged between the air splicer and the lower yarn sensor, a W-shaped yarn overlapping structure is fixed at the end of the telescopic cylinder, and the two W-shaped gaps of the two W-shaped yarn overlapping structures are used for overlapping yarn rolls; The mounting base further comprises a waste yarn collecting funnel located below the internal space thereof and connected to the internal space, wherein the waste yarn collecting funnel is located below the extended air splicer; The controller is electrically connected to the first cylinder, the vacuum solenoid valve, all telescopic cylinders and the clamping cylinder, the yarn sensor and the solenoid valve.

4. The automatic joint and automatic stacking composite machine according to claim 3, characterized in that: The second branch conveyor line includes a roller conveyor line and a main belt extension conveyor line, the roller conveyor line includes a support platform and a plurality of rollers, the support platform is located at a downstream position of the main belt line, the plurality of rollers are arranged in parallel and spaced apart and are at the same height as the main belt line, the axial direction of each roller is perpendicular to the conveying direction of the main belt line, support plates are set up on the upper surface of the support platform at positions corresponding to the two ends of the axial direction of each roller, the two ends of each roller in the axial direction are rotatably connected to the corresponding support plates, the ends of the plurality of rollers in the axial direction on the same side are formed with a transmission section, the The roller close to the main belt line among the plurality of rollers is the first roller, an input sprocket and an output sprocket are installed on the transmission section of the first roller, and the fifth motor is also included. A sprocket is fixed to the output end of the fifth motor, and the sprocket and the input sprocket are driven by a chain, and the output sprocket and the input sprocket on the transmission section of the second roller adjacent to the first roller are driven by a chain, and the transmission section between each two adjacent rollers is driven by a sprocket chain transmission method, and the main belt extension conveyor line is arranged downstream of the roller far from the main belt line among the plurality of rollers, and the roller and the main belt extension conveyor line are at the same height; The first branch conveyor line includes a plurality of sorting belt lines for sorting the first yarn rolls, one of the sorting belt lines is arranged between two rollers arranged at intervals, and also includes a lifting cylinder and a lifting platform located at the end thereof, the lifting platform is located above the supporting platform and below the plurality of rollers, a plurality of the sorting belt lines are arranged on the lifting platform, a main transmission rod is arranged at a position corresponding to the same end of the plurality of sorting belt lines on the lifting platform, and also includes a sixth motor, the sixth motor is connected to one end of the main transmission rod through a belt drive, one end of each of the sorting belt lines is sleeved on the main transmission rod, and the other end of each of the sorting belt lines is sleeved on a separate rotating rod, and the separate rotating rod is arranged on the lifting platform; The controller is electrically connected to the fifth motor, the sixth motor, the lifting cylinder and the seventh motor for controlling the start and stop of the main belt extension conveyor line; When the second branch conveyor line conveys a plurality of second yarn rolls, the lifting cylinder is in a retracted state so that a plurality of sorting belt lines are lower than the drum; when the first branch conveyor line conveys a plurality of first yarn rolls, the drum conveyor line and the main belt extension line stop moving and the lifting cylinder is in an extended state so that a plurality of sorting belt lines are at the same height as the main belt line and the transmission belt line.

5. The automatic jointing and automatic stacking compound machine according to claim 4, characterized in that: The number of first yarn rolls in each of the yarn roll stacks is four.

6. The automatic jointing and automatic stacking compound machine according to claim 5, characterized in that: The stacking joint part also includes a joint support platform, the transmission belt line and the yarn roll stacking transmission belt line are both arranged on the joint support platform, and the conveying directions of the two are arranged vertically, the starting end of the yarn roll stacking transmission line is close to the end of the transmission belt line, and a first slide rail is arranged above the end of the transmission belt line, and the extension direction of the first slide rail is perpendicular to the conveying direction of the transmission belt line. A slider is slidably installed on the first slide rail, and a mechanical arm that can rotate 90° is installed at the end of the slider. The first slide rail is supported by a second slide rail arranged in a vertical direction and fixed on the joint support platform, the first slide rail is slidably connected to the second slide rail, and also includes a first cylinder that drives the first slide rail to slide up and down along the second slide rail, and also includes a second cylinder that drives the slide to reciprocate along the first slide rail, and the controller is electrically connected to the mechanical arm, the first cylinder and the second cylinder.

7. The automatic jointing and automatic stacking compound machine according to claim 6, characterized in that: Each of the yarn roll stacking pressing mechanisms includes a third cylinder and a circular pressure plate at the end of the third cylinder, the size of the circular pressure plate matches the size of the yarn roll, the extension direction of the third cylinder is up and down, and also includes a third slide rail, the extension direction of the third slide rail is the same as the conveying direction of the yarn roll stacking conveyor belt line, the third slide rail is supported by a support rod on the joint support platform, the three third cylinders are all fixed on a moving rod that can move back and forth along the third slide rail, and also include a fourth cylinder that drives the moving rod to move back and forth, and the controller is electrically connected to the third cylinder and the fourth cylinder.

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