A kind of yarn tube automatic dyeing production line

Abstract

The present invention relates to an automated yarn drum dyeing production line in the field of printing and dyeing automation technology, comprising a feeding device, a conveying device, a dyeing device, a dehydrating device and a discharging device; three groups of the conveying devices are arranged adjacent to each other, the dyeing device and the dehydrating device are respectively located between two groups of the conveying devices, the dyeing device is located upstream of the dehydrating device, and the feeding device and the discharging device are respectively located at both ends of the three groups of the conveying devices. The present invention forms a yarn drum string with a feeding device, and then realizes the feeding of dyeing sarongs and the material transfer between dyeing sarongs and dehydrating sarongs in a string conveying manner through multiple conveying devices, and at the same time, forms a yarn drum pile with a reverse procedure through a discharging device configured in the same manner as the feeding device, the mechanism in the dyeing and dehydrating production line has a high reuse rate, and the mechanism design is simple and efficient, which greatly improves production efficiency while greatly reducing production costs.

Description

Technical Field

[0001] The invention relates to the technical field of printing and dyeing automation, and in particular to an automatic yarn bobbin dyeing production line. Background Art

[0002] The textile industry is an important part of traditional industry, and cheese dyeing is a key textile project that has been developing for many years. In the dyeing process, from the transportation, turning and pressing of cheese yarn to the dropping and loading of yarn into the cylinder, all of them require manual labor. At present, the textile printing and dyeing industry has problems such as low production efficiency and low automation level. The development trend of the printing and dyeing industry is to develop in the direction of environmental protection, energy saving, time saving and high efficiency, short process and automation.

[0003] In the printing and dyeing industry, some companies use system control methods to form automated production lines. For example, the patent publication number is CN102321960A, which discloses a highly efficient and automated dyeing method for cheese yarn based on the dyeing and finishing industry. It uses an automatic logistics system to transport the cheese yarn raw material yarn to be dyed via a logistics transfer vehicle, a logistics robot, and a logistics automatic vehicle to each process equipment in the dyeing process, completes each stage required for dyeing, automatically adjusts humidity, automatically centrifuges and dehydrates, and automatically measures, dissolves, and transports dye auxiliaries, automatically dyes, and automatically microwaves to achieve cheese yarn dyeing automation. This system only realizes automation in theory, but has not been truly implemented, and no valuable corresponding equipment and facilities for realizing automation have been disclosed.

[0004] Some enterprises have made further improvements, transporting and moving yarn tubes in a string manner. For example, the Chinese invention patent with publication number CN113307044A discloses an automatic yarn loading and unloading device for a yarn dyeing factory, including: a feeding device: for placing yarn tubes; a transfer device: for receiving the yarn tubes in the feeding device and stacking and transporting them; a transplanting device: for receiving the yarn tubes stacked on the loading and unloading device, and moving the yarn rack full of yarn tubes to the yarn dyeing preparation area; a transfer device: for transferring the yarn tubes on the feeding device to the transfer device to stack them to form a yarn tube pile; a loading and unloading device: for loading and unloading the yarn tube pile on the transfer device to the transplanting device; pushing the yarn tube in the feeding trough to a position to be clamped, and then clamping the yarn tube to the yarn threading rod on the turntable by the transfer device for stacking, and then the drive frame drives the clamping group to move the yarn tube pile from the yarn threading rod on the turntable to the yarn threading rod of the creel, and the transfer device transports it to the designated position for dyeing. This patented technology realizes the transport and transfer of yarn bobbins in bunches, further improving production efficiency. However, since it uses the robot's arm-span structure to transport yarn bobbins in bunches, on the one hand, it is difficult to use larger sarongs and higher yarn bobbin rods due to the limitation of the arm span. On the other hand, since dozens or even hundreds of yarn bobbin rods are installed in the disc-shaped sarong, and the spacing between the yarn bobbin rods is small, the cutting device for the yarn bobbins in bunches in the arm-span structure often touches the yarn bobbins on the yarn bobbin rods in the adjacent area, causing damage to the yarn, etc., making the operation of the device not smooth, and not cooperating well with the automated production flow, making it difficult to truly meet the requirements of efficient printing and dyeing processes. Summary of the invention

[0005] In view of the defects in the prior art, the object of the present invention is to provide an automatic yarn bobbin dyeing production line.

[0006] According to the present invention, a bobbin automatic dyeing production line includes a feeding device, a conveying device, a dyeing device, a dehydrating device and a discharging device;

[0007] The three groups of transport devices are arranged adjacent to each other, the dyeing device and the dehydration device are respectively located between two groups of transport devices, the dyeing device is located upstream of the dehydration device, the loading device and the unloading device are respectively located at both ends of the three groups of transport devices, and the three groups of transport devices are respectively recorded as the first transport device, the second transport device and the third transport device;

[0008] The loading device forms a plurality of yarn bobbin strings from the yarn bobbin stack, the first transport device moves the yarn bobbin strings into the dyeing sarong in strings, the dyeing device is used to dye the yarn bobbin strings in the dyeing sarong, the second transport device moves the yarn bobbin strings in the dyeing sarong that have completed the dyeing process into the dewatering sarong in strings; the dewatering device is used to dewater the yarn bobbin strings in the dewatering sarong, the third transport device moves the dewatered yarn bobbin strings in the dewatering sarong to the unloading device, and the unloading device forms the yarn bobbin strings into stacked yarn bobbins.

[0009] In some embodiments, the feeding device includes a grabbing manipulator and a drum rotating mechanism.

[0010] The bobbin string rotating mechanism is provided with two groups of first bobbin rods, and the two groups of first bobbin rods are connected to the two ends of the same rotating plate. The grabbing manipulator is provided with an external support claw, and the external support claw is driven into the central tube of the bobbin to grab the bobbin in an external support manner. The grabbed bobbin is connected in series to the first bobbin rod located at one end of the rotating plate to form a bobbin string, and the rotating plate is driven to rotate so that the first bobbin rod located at the other end enters the bobbin stringing station;

[0011] The grabbing robot is also provided with a first camera, and the first camera is used to obtain the position information of the yarn tube on the yarn tube pile. The grabbing robot drives the outer support clamp to grab the yarn tube according to the position information of the yarn tube.

[0012] In some embodiments, the feeding device also includes a yarn bobbin lifting mechanism, which is provided with a support plate, and a U-shaped groove is provided at the front end of the support plate. The yarn bobbin lifting mechanism drives the support plate to horizontally move until the rod body of the first barrel rod enters the U-shaped groove of the support plate, and the support plate is used to support the yarn bobbin connected in series to the first barrel rod and drive the yarn bobbin to fall.

[0013] In some embodiments, the unloading device has the same configuration as the loading device, and the unloading device includes the grabbing manipulator, the string drum rotating mechanism, and the string drum lifting mechanism;

[0014] The yarn bobbin rotating mechanism is used to receive the yarn bobbin string moved from the dewatering yarn cage, the yarn bobbin lifting mechanism is used to lift the yarn bobbin string located on the first bobbin rod upwards, and the grabbing robot is used to form the yarn bobbin string into a single yarn bobbin.

[0015] In some embodiments, the handling device includes a bobbin string handling robot and a transfer machine;

[0016] The bobbin string handling robot comprises a driving mechanism and a handling mechanism, wherein the driving mechanism is a gantry structure, and the handling mechanism is rotatably connected to the driving mechanism;

[0017] The transfer machine includes a transfer drive and a slide rail, the slide rail is located between the gantries of the drive mechanism, the transfer machine drives the dyeing gauze cage or the dehydration gauze cage carried on the slide rail to move, the drive mechanism drives the transport mechanism to move to a predetermined position, and the transport mechanism moves the yarn tube string in a string manner.

[0018] In some embodiments, the driving mechanism includes a driving frame and a rotating unit, the driving frame is a gantry structure, the rotating unit is a ring structure, the rotating unit is drivingly connected to the driving frame, and the driving frame drives the rotating unit to move horizontally along the X direction and the Y direction;

[0019] The transport mechanism comprises a frame, a barrel clamping unit and a barrel stringing unit, the frame is a barrel structure, the barrel clamping unit and the barrel stringing unit are connected to the frame, the barrel stringing unit is provided with a barrel rod for serially connecting the yarn barrels, and the barrel clamping unit is provided with a clamping assembly for clamping and driving the stringed yarn barrels to move up and down;

[0020] The frame is connected to the rotating unit to form a Chinese-character structure. The driving frame drives the rotating unit to move the frame to a predetermined position. After the rotating unit drives the frame to rotate a predetermined angle, there are no strings of yarn tubes on the back side of the clamping assembly, and the clamping assembly moves the yarn tube strings in a string manner.

[0021] In some embodiments, the clamping assembly includes a first lifting drive assembly and a clamping assembly, wherein the first lifting drive assembly is connected to the frame, and the lifting drive assembly drives the clamping assembly to move vertically up and down along the frame;

[0022] The clamping assembly includes a clamping power cylinder, an outer shaft, an inner shaft and a clamping plate. The inner shaft is sleeved in the outer shaft. The upper ends of the outer shaft and the inner shaft are respectively connected to a clamping power cylinder. Two clamping plates are respectively connected to the lower ends of the outer shaft and the inner shaft. The two clamping power cylinders drive the outer shaft and the inner shaft to rotate, and the two clamping plates clamp or release the yarn tube.

[0023] In some embodiments, the bobbin stringing unit also includes a second lifting drive assembly and a docking detection assembly, the bobbin rod is connected to the second lifting drive assembly, the docking detection assembly includes a docking rod, a stop ring and a detector, the stop ring is sleeved on the upper end of the docking rod, the outer diameter of the stop ring is larger than the outer diameter of the bobbin rod, the main body of the docking rod is sleeved in the bobbin rod, when the bobbin rod is docked with the yarn bobbin rod, the end of the yarn bobbin rod enters into the bobbin rod and pushes the docking rod to move upward, and when the detector detects the stop ring, the second lifting drive assembly stops moving.

[0024] In some embodiments, the transport mechanism further includes a centering unit, which includes a centering drive cylinder, a support base and a centering clamp, two of the centering clamps are hinged to the support base, the centering drive cylinder drives the two centering clamps to open and close, and the centering clamps are used for positioning and docking the barrel rod with the second barrel rod on the dyeing sarong or the dehydration sarong.

[0025] In some embodiments, the transport device also includes a second camera, which is installed at the bottom of the frame. The second camera is used to obtain position information of the yarn bobbin string to be clamped or placed. The driving mechanism drives the frame to move and rotate a predetermined angle according to the information obtained by the second camera. There are no yarn bobbins in a string on the back side of the clamping assembly, and the clamping assembly moves the yarn bobbin string in a string manner.

[0026] Compared with the prior art, the present invention has the following beneficial effects:

[0027] 1. The automatic yarn bobbin dyeing production line of the present invention forms yarn bobbin strings by means of a feeding device, and then realizes the loading of dyeing sarongs and the material transfer between dyeing sarongs and dewatering sarongs in a string-by-string transportation manner through a plurality of transportation devices. At the same time, the yarn bobbins are formed into yarn bobbin piles by means of a discharging device configured in the same manner as the feeding device in a reverse procedure. The mechanism reuse rate in the dyeing and dewatering production line is high, and the mechanism design is simple and efficient, which greatly improves the production efficiency while greatly reducing the production cost.

[0028] 2. In the automated yarn bobbin dyeing production line of the present invention, a yarn bobbin bunch handling robot embeds a rotating unit in a truss-type driving mechanism, thereby changing the robot arm-type handling mechanism into a truss rotating handling mechanism. This solves the problem in the prior art that the clamping parts are difficult to adjust to a suitable position when clamping the yarn bobbins in a bunch, thus damaging the yarn bobbin lines in adjacent areas. This effectively solves the technical problem that the robot arm-type handling mechanism is difficult to adapt to larger yarn cages and higher yarn bobbin rods due to the arm span problem, thereby achieving precise docking of the bobbin rods and the yarn bobbin rods in the handling mechanism and efficient transfer of yarn bobbins in a bunch.

[0029] 3. In the yarn bobbin automatic dyeing production line of the present invention, the yarn bobbin string handling robot is provided with a centering unit in the handling mechanism, which solves the problem of misalignment and inability to dock due to shaking or deformation of the longer yarn bobbin rods by grasping and positioning, realizes rapid and accurate docking of the bobbin rods, and further improves the handling efficiency of the yarn bobbins in a string. Specifically:

[0030] 4. The automatic yarn tube dyeing production line of the present invention is equipped with a synchronous displacement camera in the grabbing robot and the handling device, which can monitor and locate the yarn tube rods to be docked and their adjacent areas in real time during the transfer of the yarn tubes in a string. It can better adapt to the scene of the change of the position of the yarn tube rod and improve the transfer efficiency and accuracy of the yarn tubes in a string. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Other features, objects and advantages of the present invention will become more apparent from the detailed description of non-limiting embodiments made with reference to the following drawings:

[0032] Figure 1 It is a schematic diagram of the overall mechanism layout of the yarn tube automatic dyeing production line of the present invention;

[0033] Figure 2 It is a schematic diagram of the arrangement of the feeding device and the handling device of the present invention;

[0034] Figure 3 It is a schematic diagram of the overall structure of the grabbing manipulator of the present invention;

[0035] Figure 4 It is a schematic diagram showing the structure of the external support clamping claw in the feeding device of the present invention;

[0036] Figure 5 It is a schematic diagram of the string tube lifting mechanism of the present invention;

[0037] Figure 6 It is a schematic structural diagram of the yarn cage supported by the drum rotating mechanism of the present invention;

[0038] Figure 7 It is a schematic diagram of the overall structure of the yarn bobbin string handling robot of the present invention;

[0039] Figure 8 It is a structural schematic diagram of the driving mechanism of the present invention;

[0040] Fig. 9 for Figure 8 A schematic diagram of the enlarged structure of part A;

[0041] Fig.10 It is a structural schematic diagram of the rotating machine unit of the present invention;

[0042] Fig.11 It is a schematic diagram of the overall structure of the transport mechanism of the present invention;

[0043] Fig.12 Another schematic diagram of the overall structure of the transport mechanism of the present invention when viewed from below;

[0044] Fig.13 It is a structural schematic diagram of the clamping unit of the present invention;

[0045] Fig.14 It is a schematic diagram of the mechanism of the drum stringing unit of the present invention;

[0046] Fig.15 It is a structural schematic diagram of the centering unit of the present invention;

[0047] Fig.16 It is a structural schematic diagram of the centering clamping jaws of the present invention;

[0048] Fig.17 It is a schematic diagram of the arrangement of the unloading device and the handling device of the present invention. DETAILED DESCRIPTION

[0049] The present invention is described in detail below in conjunction with specific embodiments. The following embodiments will help those skilled in the art to further understand the present invention, but are not intended to limit the present invention in any form. It should be noted that, for those of ordinary skill in the art, several changes and improvements can also be made without departing from the concept of the present invention. These all belong to the protection scope of the present invention.

[0050] Example 1

[0051] This embodiment provides a yarn tube automatic dyeing production line, such as Figure 1-17 As shown, it mainly includes a loading device 10, a conveying device 20, a dyeing device 30, a dehydration device 40 and a unloading device 50.

[0052] The feeding device 10 mainly includes a grabbing manipulator 110 and a drum rotating mechanism 120. Figure 2-6As shown. The grabbing robot 110 mainly includes an external support clamp 111 and a truss-type robot arm 112 for driving the external support clamp 111 to move. The external support clamp 111 mainly includes three sets of inverted L-shaped clamping feet 1110 and clamping foot driving cylinders 1111 that are arranged in linkage. When the clamping foot driving cylinder 1111 drives the three sets of inverted L-shaped clamping feet 1110 to move inward synchronously to back-to-back, the three vertical rods of the clamping feet are brought together to enter the central tube of the yarn tube 60 to be grasped, and when the inverted L-shaped clamping feet 1110 are driven to move outward synchronously for a predetermined distance, the yarn tube 60 is grasped by the external support force generated between the three vertical rods of the clamping feet and the inner wall of the central tube. The bobbin rotating mechanism 120 is mainly composed of a first bobbin rod 121, a rotating plate 122 and a rotating motor 123. The middle part of the rotating plate 122 is connected to the turntable of the rotating motor 123. The two ends of the rotating plate 122 are respectively connected to a group of first bobbin rods 121. The upper end of the first bobbin rod 121 is conical in design to facilitate the serial connection of the yarn bobbins 60. In this embodiment, there are two first barrel rods 121 in each group located at both ends of the rotating plate 122, and the two first barrel rods 121 are arranged side by side. Correspondingly, there are four groups of external support jaws 111 arranged side by side. The four groups of external support jaws 111 grab four yarn barrels 60 at the same time. When the truss-type robot arm 112 drives the four groups of external support jaws 111 to move to an adjacent group of first barrel rods 121, the yarn barrel 60 is first loosened by two groups of inverted L-shaped clamping feet 1110 arranged side by side and connected in series to the first barrel rod 121. Then, the truss-type robot arm 112 drives the four groups of external support jaws 111 to move forward or rotate 180°. The two yarn barrels 60 grabbed by the other two groups of inverted L-shaped clamping feet 1110 are located above the group of first barrel rods 121. Then, the two groups of inverted L-shaped clamping feet 1110 loosen the yarn barrel 60 and are connected in series to the first barrel rod 121. When a predetermined number of yarn tubes 60 are connected in series on the two first tube rods 121 of the group to form a yarn tube string 600, the rotary motor 123 drives the rotating plate 122 to rotate 180°, and then a group of first tube rods 121 at the other end rotate to the yarn tube stringing position to connect the yarn tubes 60 in series to form a yarn tube string 600, and the first tube rods 121 that have formed the yarn tube string 600 rotate to the transport station, and the stringed yarn tube string 600 is moved by the transport device 20. In this embodiment, the grabbing robot 110 is also provided with a first camera 113, and the first camera 113 is used to obtain the position information of the yarn tube on the yarn tube pile, and the truss-type robot arm 112 and the clamping foot drive cylinder 1111 drive the outer support claw 111 to grab the yarn tube 60 according to the position information of the yarn tube. In this embodiment, the feeding device 10 also includes a tube string lifting mechanism 130, and the tube string lifting mechanism 130 mainly includes a support plate 131, a horizontal drive motor 132, a tube string lifting drive motor 133 and a column 134. An open U-shaped groove is provided at the front end of the support plate 131 , and a rear end of the support plate 131 is drivingly connected to a horizontal driving motor 132 , and the horizontal driving motor 132 drives the support plate 131 to extend and retract in the horizontal direction.The horizontal driving motor 132 is connected to the support plate 131 through the carrier plate and is slidably connected to the column 134. The drum lifting driving motor 133 drives the horizontal driving motor 132 and the support plate 131 to slide up and down synchronously by driving the carrier plate. When the bobbin 60 is connected to the first drum rod 121 in series, the support plate 131 is driven by the horizontal driving motor 132 to move toward the first drum rod 121 and the rod body enters the U-shaped groove. The drum lifting driving motor 133 drives the support plate 131 to a predetermined height, and the bobbin 60 connected to the first drum rod 121 can be directly supported on the support plate 131. Then, as the number of the bobbin 60 connected to the first drum rod 121 increases, the support plate 131 moves down until it reaches the bottom. The drum lifting mechanism can effectively avoid the collision damage caused by the high height of the bobbin 60 connected to the first drum rod 121, thereby improving the quality of the connection.

[0053] The handling device 20 mainly includes a bobbin string handling robot 210 and a transfer machine 220. Figure 7-16 The yarn bobbin string transport robot 210 mainly includes a driving mechanism 2100 and a transport mechanism 2200. The driving mechanism 2100 drives the transport mechanism 2200 to move, and the transport mechanism 2200 carries out transporting of the yarn bobbin string.

[0054] The driving mechanism 2100 mainly includes a driving frame 2110 and a rotating unit 2120. Figure 8-10As shown. The driving frame 2110 is a gantry type as a whole, including a gantry 2111, a bracket 2112, a first driving unit 2113 and a second driving unit 2114. The gantry 2111 is a three-dimensional rectangular frame structure, and the bracket 2112 is a planar rectangular frame structure. The two ends of the bracket 2112 are slidably connected to the longitudinal beams 21110 on the front and rear sides of the gantry 2111 through the first sliding pair formed by the slideway and the slider. The first driving unit 2113 mainly includes a first driving motor 21130, a first driving shaft 21131, a first gear 21132 and a tooth track 21133. Among them, two tooth tracks 21133 are respectively fixedly connected to the inner sides of the two longitudinal beams 21110, and the two first gears 21132 are respectively connected to the two ends of the first driving shaft 21131. The first driving shaft 21131 is meshed and connected to the tooth tracks 21133 on both sides through the first gears 21132 at both ends. The first drive shaft 21131 is connected to the outer side of the cross beam on one side of the bracket 2112 through multiple groups of connecting blocks, and the first drive shaft 21131 and the connecting block are connected in rotation through built-in bearings. The first drive motor 21130 is connected to the cross beam on one side of the bracket 2112, and drives the first drive shaft 21131 at the same time. The first drive motor 21130 drives the first drive shaft 21131 to rotate, and the rotating first drive shaft 21131 drives the bracket 2112 to move horizontally along the X direction through the rotation of the gear 21132 meshingly connected to the tooth path 21133. The second drive unit 2114 mainly includes a second drive motor 21140, a second drive shaft 21141, a second gear 21142 and a toothed belt 21143. The two second drive shafts 21141 are respectively connected to the cross beams at both ends of the bracket 2112 through connecting blocks, and the second drive shaft 21141 and the connecting block are connected in rotation through bearings. The two ends of each second driving shaft 21141 are respectively connected with a second gear 21142, and the two second gears 21142 in front and behind the two second driving shafts 21141 form a set of driving gears, and each set of driving gears is rotatably connected with a toothed belt 21143. The second driving motor 21140 is drivingly connected to a second driving shaft 21141 located at one end of the bracket 2112, and the second driving motor 21140 drives a second driving shaft 21141 to rotate to achieve synchronous rotation of the two toothed belts 21143.

[0055] The rotating unit 2220 mainly includes a base 2121, a third driving motor 2122 and a ring gear 2123. Fig.10As shown. The base 2121 is a square structural plate with a circular hole in the middle. A slider is installed on the lower surface of the base 2121. Two parallel beams of the bracket 2112 are provided with slideways. The base 2121 is slidably connected to the bracket 2112 through a sliding pair formed by the slider and the slideway. The base 2121 is connected to the two toothed belts 21143 located below through a connecting block, and the toothed belts 21143 drive the base 2121 to slide along the Y-direction horizontal straight line on the bracket 2112. The rotation of the gear ring 2123 is connected to the base 2121, and the gear ring 2123 is coaxially arranged with the central circular hole of the base 2121. The third drive motor 2122 is fixedly connected to the lower surface of the base 2121, and the driving end of the third drive motor 2122 is located above the base 2121, and the driving gear of the third drive motor 2122 is meshed and connected with the gear ring 2123.

[0056] The transport mechanism 2200 mainly includes a frame 2210, a barrel clamping unit 2220 and a barrel stringing unit 2230. Figure 11-14 As shown. The frame 2210 is mainly composed of a top plate 2211, a column 2212 and a bottom plate 2213. Four columns 2212 are connected between the top plate 2211 and the bottom plate 2213 to form a cylindrical structure with open ends. After the bottom end of the frame 2210 passes through the gear ring 2123 and the base 2121 in sequence for a predetermined distance, the four columns 2212 are supported and connected to the gear ring 2123. At this time, the frame 2210 and the rotating mechanism 2120 are in a Chinese-shaped structure as a whole. The gear ring 2123 is driven to rotate by the third driving motor 2122, which drives the frame 2210 to rotate. In this embodiment, the rotating mechanism 2120 is also provided with a limiting component 2124. The limiting component 2124 is mainly used to limit the circumferential direction during the rotation of the frame 2210, to ensure the accuracy of the rotation of the frame 2210, and to prevent displacement during the rotation process. The limiting assembly 2124 mainly includes a limiting ring 21241 and a limiting ring 21242. The limiting ring 21241 is supported and connected to the base 2121 by a support column and a tray with a circular hole in the middle, and the limiting ring 21242 is sleeved on the body of the frame 2210. When the frame 2210 is connected to the gear ring 2123, the limiting ring 21242 is located in the limiting ring 21241, and the gap between the outer circumference of the limiting ring 21242 and the inner circumference of the limiting ring 21241 is maintained between 1-3 mm.

[0057] The clamping assembly 2220 mainly includes a first lifting drive assembly 2221 and a clamping assembly 2222. Figure 11-13As shown. The first lifting drive assembly 2221 mainly consists of a first lifting drive motor 22211, a sprocket 22212, a drive chain 22213, a slide plate 22214 and a first slideway 22215. The two sprockets 22212 are rotatably connected to the upper and lower ends of a column 2212 respectively, and the drive chain 22213 is rotatably connected to the two sprockets 22212. The first lifting drive motor 22211 is fixedly connected to the upper end of the frame 2210 through a bracket, and the first lifting drive motor 22211 drives the sprocket 22212. The two first slideways 22215 are connected to the inner side surfaces of the two columns 2212 on the same side, and the slide plate 22214 is slidably connected to the two first slideways 22215. At the same time, the slide plate 22214 is connected to the drive chain 2213, and the drive chain 2213 drives the slide plate 2214 to slide up and down. The clamping assembly 2222 is mainly composed of a clamping drive cylinder 22220, an outer shaft 22221, an inner shaft 22222 and a clamping plate 22223. The rod body of the inner shaft 22222 is sleeved in the rod body of the outer shaft 22221, and the two ends of the inner shaft 22222 extend beyond the two ends of the outer shaft 22221. The two clamping drive cylinders 22220 drive the upper ends of the outer shaft 22221 and the inner shaft 22222 respectively, and the two clamping plates 22223 are respectively connected to the lower ends of the outer shaft 22221 and the inner shaft 22222. The two clamping drive cylinders 22220 drive the outer shaft 22221 and the inner shaft 22222 to rotate respectively, thereby driving the two clamping plates 22223 to embrace and clamp the yarn tube or release the yarn tube. In this embodiment, the clamping plate 22223 is an L-shaped arc plate as a whole, which can support the bottom of the yarn tube when clamping and holding, thereby ensuring the stability and transfer efficiency of the string of yarn tubes during the transfer process.

[0058] The barrel assembly 2230 mainly includes a barrel rod 2231, a second lifting drive assembly 2232 and a docking detection assembly 2233. Figure 11-14As shown. The second lifting drive assembly 2232 is mainly composed of a second lifting drive motor 22321, a fixed frame 22322 and a sliding frame 22323. The fixed frame 22322 is connected to the two columns 2212 of the frame 2210, and the sliding frame 22323 is slidably connected to the fixed frame 22322. The second lifting drive motor 22321 drives the sliding frame 22323 so that the sliding frame 22323 slides vertically on the fixed frame 22322. In this embodiment, the sliding frame 22323 and the slide plate 22214 are arranged relative to each other, and the cylinder rod 2231 and the outer shaft rod 22221 are also arranged relative to each other. The cylinder rod 2231 is a cylinder with openings at both ends, and the upper end of the cylinder rod 2231 is connected to the sliding frame 22323 and moves up and down with the sliding frame 22323. The docking detection assembly 2233 mainly includes a docking rod 22330, a stop ring 22331 and a detector 22332. The stop ring 22331 is sleeved on the upper end of the docking rod 22330, and the outer diameter of the stop ring 22331 is larger than the outer diameter of the cylinder rod 2231. The main body of the docking rod 22330 is sleeved in the cylinder rod 2231, and the docking rod 22330 is placed on the cylinder rod 2231 through the stop ring 22331 at the upper end, and the docking rod 22330 can move up and down on the cylinder rod 2231. The detector 22332 is connected to the sliding frame 22323 through a bracket. When the barrel rod 2231 is docked with the first barrel rod 121 or the second barrel rod, taking the docking with the first barrel rod 121 as an example, the end of the first barrel rod 121 enters the barrel rod 2231 and pushes the docking rod 22330 to move upward. When the detector 22332 detects the stop ring 22331, it indicates that the barrel rod 2231 and the first barrel rod 121 have completed docking, and the second lifting drive motor 22321 stops moving.

[0059] The transfer machine 220 mainly includes a transfer drive machine 221 and a slide rail 222. Figure 1-2As shown. The slide rail 222 is used to carry the sarong. The structure of the sarong is cylindrical as a whole, and the base is a disc structure. A plurality of second barrel rods are evenly distributed on the disc, and the structure of the second barrel rod is basically the same as that of the first barrel rod. The sarong used to carry the yarn drum for dyeing is recorded as the dyeing sarong 201, and the sarong used to carry the yarn drum after dyeing for dehydration is recorded as the dehydration sarong 202. The structures of the dyeing sarong 201 and the dehydration sarong 202 are the same, mainly for the convenience of description. The sarong located on the slide rail 222 is driven by the transfer drive 221 to move linearly. The slide rail 222 is arranged between the columns of the door frame 2111, and one end of the slide rail 222 is located outside the door frame 2111, which is convenient for the handling or lifting of the sarong. The sarong located on the slide rail 222 is located below the crossbeam of the door frame 2111. Specifically, the top of the second barrel rod in the sarong is located below the bottom plate 2213 of the frame 2210. In this embodiment, there are three groups of transport devices 20, which are located at the dyeing cage loading station, the dehydration cage loading station and the dehydration cage unloading station. In the transport devices 20 located at the dyeing cage loading station and the dehydration cage unloading station, the transfer machine 220 is a single group, while in the transport device 20 located at the dehydration cage loading station, the transfer machine 220 is two groups, and the two groups of transfer machines 220 are used to carry the dyeing yarn cage 201 and the dehydration yarn cage 202 respectively, and move the dyed yarn tube string located in the dyeing yarn cage 201 to the dehydration yarn cage 202.

[0060] The unloading device 50 has the same mechanism arrangement as the loading device 10. Fig.17 As shown, it includes a grabbing manipulator 110, a bobbin rotating mechanism 120 and a bobbin lifting mechanism 130. The main difference is that the operation procedure is opposite to that of the feeding device 10. After the bobbin rotating mechanism 120 obtains the bobbin string 600 from the dewatering yarn cage 202, the bobbin string 600 is grabbed and separated into individual bobbins 60 by the grabbing manipulator 110 and placed to form a bobbin pile. In this process, the bobbin lifting mechanism 130 lifts the bobbin string 600 through the supporting plate 131 and lifts it to a predetermined height, so that the grabbing manipulator 110 can grab it easily.

[0061] The working procedure of the yarn bobbin string handling robot provided in this embodiment is briefly described as follows:

[0062] S1, the yarn tube pile is formed into a yarn tube string. The so-called yarn tube pile is formed by stacking multiple layers of yarn tubes up and down, and each layer of yarn tubes is separated by a partition. The yarn tube pile is transported to the loading device 10 of the loading station, and the first camera 113 obtains the position information of the yarn tube on the yarn tube pile. The truss-type mechanical arm 112 and the clamping foot drive cylinder 1111 drive the outer support claw 111 to grab the yarn tube 60 according to the position information of the yarn tube. After the grabbed yarn tube 60 is connected in series to the first tube rod 121 on the adjacent side to form a yarn tube string 600, the rotary motor 123 drives the rotating plate 122 to rotate 180°, and then a group of first tube rods 121 located at the other end rotate to the yarn tube string connection position and are connected in series to form a yarn tube string 600, and the first tube rod 121 on the other side that has formed the yarn tube string 600 is transferred to the adjacent transfer machine 220 of the dyeing cage loading station.

[0063] S2, the yarn tube string is moved to the dyeing sand cage of the dyeing station. The handling device 20 located at the dyeing cage station moves the yarn tube string 600 located on the first barrel rod 121 to the second barrel rod on the dyeing yarn cage 201. The specific process is: the first driving unit 2113 drives the bracket 2112 to move along the X direction toward the yarn cage, while the second driving unit 2114 drives the rotating unit 2120 to move along the Y direction, and after the rotating unit 2120 drives the frame 2210 to rotate a predetermined angle, the barrel rod 2231 is located above the first barrel rod 121, and there is no first barrel rod 121 on the back side of the clamping plate 22223. Then the second lifting drive motor 22321 drives the sliding frame 22323 to drive the barrel rod 2231 to move downward, and when the detector 22332 detects the stop ring 22331, the second lifting drive motor 22321 stops. Then the first lifting drive assembly 2221 drives the clamping assembly 2222 to descend to a predetermined height, and the two clamping drive cylinders 22220 drive the outer shaft 22221 and the inner shaft 22222 to rotate respectively, so that the two clamping plates 22223 embrace and clamp the yarn tube 60 at the bottom of the first tube rod 121, and the first lifting drive assembly 2221 is driven to descend, and the string of yarn tubes on the first tube rod 121 is lifted and moved to the tube rod 2231. Then, through the drive of the first driving unit 2113, the second driving unit 2114 and the rotating unit 2120, the transport mechanism 2200 is shifted to the top of the dyeing yarn cage 201 where the string of yarn tubes is to be placed. At this time, the yarn tube string 600 is held on the tube rod 2231 of the stringing unit 2230 by the clamping unit 2220, and the back side of the clamping plate 22223 is without the second tube rod or there is no yarn tube string on the back side of the second tube rod. Then, the second driving motor 22321 drives the sliding frame 22323 to move down to a predetermined position, and the barrel rod 2231 is docked with the first barrel rod 121 below. After the first lifting driving assembly 2221 drives the clamping assembly 2222 to descend to a predetermined height, the yarn barrel string 600 on the barrel rod 2231 is connected in series to the second barrel rod, and the clamping driving cylinder 22220 drives the outer shaft rod 22221 and the inner shaft rod 22222 to rotate, and the two clamping plates 22223 open and separate from the yarn barrels. At this point, the yarn barrel string on the first barrel rod 121 is transported and transferred to the dyeing sand cage 201.

[0064] S3, the dyeing sand cage 201 is hoisted by a hoisting device (not shown) to the dyeing device 30 for dyeing. In this embodiment, the dyeing device 30 is a dyeing vat.

[0065] S4, the yarn tube string 600 in the dyeing sand cage 201 after dyeing is moved to the dewatering sand cage 202. Two groups of transfer machines 220 located at the dewatering cage loading station are arranged opposite to each other, and they are respectively driven to connect the dyeing sand cage 201 and the dewatering sand cage 202. The yarn tube string handling manipulator 210 moves the yarn tube string 600 located on the dyeing sand cage 201 to the second tube rod of the dewatering sand cage 202, and the process is basically the same as the process of moving from the first tube rod 121 to the second tube rod located on the dyeing sand cage 201.

[0066] S5, the dewatering yarn cage 202 is hoisted to the dewatering device 30 by a hoisting device (not shown) for dewatering. In this embodiment, the dewatering device 40 is a dewatering drum or a dewatering machine in the prior art.

[0067] S6, the dewatered yarn cage 201 after dehydration is hoisted to the transfer machine 220 of the dewatering cage unloading station, and the yarn tube string is re-formed into a yarn tube pile through the handling mechanism 2200 and the unloading device 50. Specifically, the yarn tube string handling manipulator 210 moves the yarn tube string 600 on the second tube rod in the dewatered yarn cage 202 to the first tube rod 121, and the specific movement operation of the yarn tube string 600 is basically the same as step S1. After the first tube rod 121 located on one side of the rotating plate 122 completes the serial connection of the yarn tube string 600, the rotating plate 122 rotates 180°, and the yarn tube string 600 continues to be serially connected to the vacant first tube rod 121 on the other side. In this step, the role of the string tube lifting mechanism 130 is changed. It is no longer to receive the yarn tube 60, but to lift the yarn tube 600 upward through the supporting plate 131 until the yarn tube 600 located on the top layer is higher than the first tube rod 121 by a predetermined distance. The first camera 113 obtains the position information of the yarn bobbins 60 on the yarn bobbin string 600, and the truss-type mechanical arm 112 and the clamping foot driving cylinder 1111 drive the outer support clamping claw 111 to grab the yarn bobbins 60 according to the position information of the yarn bobbins, and the yarn bobbins 60 on the first bobbin rod 121 are removed layer by layer. The grabbed yarn bobbins 60 are placed on the yarn rack in turn and enter the next process.

[0068] The yarn tube automatic dyeing production line provided by the present embodiment forms a yarn tube string by a feeding device, and then realizes the feeding of dyeing yarn cage and the material transfer between dyeing yarn cage and dewatering yarn cage by a plurality of handling devices in a string handling manner, and at the same time forms a yarn tube pile by a reverse procedure through a discharging device configured with the same feeding device, the mechanism reuse rate in the dyeing and dewatering production line is high, and the mechanism design is simple and efficient, which greatly improves the production efficiency and greatly reduces the production cost. In addition, the yarn tube string handling manipulator provided by the present embodiment, by embedding a rotating unit in the truss drive mechanism, changes the mechanical arm handling mechanism into a truss rotary handling mechanism, solves the problem in the prior art that the clamping part is difficult to adjust to the appropriate position when clamping the yarn tube string, causing the yarn tube line in the adjacent area to be damaged, and effectively solves the technical problem that the mechanical arm handling mechanism is difficult to adapt to larger yarn cages and higher yarn tube rods due to the arm span problem, and realizes the precise docking of the tube rods and the yarn tube rods in the handling mechanism and the efficient transfer of the yarn tube string.

[0069] Example 2

[0070] This embodiment is formed on the basis of the embodiment 1, and a centering unit is set in the handling mechanism, and the problem of misalignment and inability to dock due to shaking or deformation of the long bobbin rods is solved by the grasping and positioning method, so as to achieve rapid and accurate docking of the bobbin rods and further improve the handling efficiency of the bunched bobbins. Specifically:

[0071] The transport mechanism 2200 is also provided with a centering unit 2240 for accurately docking the cylinder rod 2231 with the second cylinder rod. Figure 15-16As shown. The centering unit 2240 mainly includes a centering drive cylinder 2241, a support seat 2242 and a centering clamp 2243. The support seat 2242 is fixed to the bottom of the frame 2210, and a pin shaft 22420 for hingedly connecting two centering clamps 2243 is provided on the support seat 2242. The two centering clamps 2243 are hinged on the same pin shaft 22420 to form a wing-like structure. The driving shaft of the centering drive cylinder 2241 hinges the two centering clamps 2243 at the same time through a connecting rod, and the two centering clamps 2243 after hinged are located below the bottom plate 2213. The centering drive cylinder 2241 drives the two centering clamps 2243 to open and merge like wings through the connecting rod. The two centering clamps 2243 are combined to clamp the upper end of the second barrel rod. When opened, the barrel rod 2231 and the second barrel rod are docked. The centering clamping jaw 2243 is a Z-shaped structure formed by stretching to both sides in the horizontal direction, including a hinge 22431, an inclined portion 22432 and a clamping portion 22433. The hinge 22431 is located at the upper end, and is used to be hinged with the support seat 2242. The inclined portion 22432 is located in the middle section, and the two ends are respectively connected to the hinge 22431 and the clamping portion 22433, and the inclined portion 22432 after connection has an angle with the horizontal plane. The clamping portion 22433 is used to clamp the upper end of the second barrel rod. In the present embodiment, the structure of the clamping portion 22433 includes two upper and lower plates, and the upper and lower plates are respectively provided with a first clamping hole 224330 and a second clamping hole 224331, and the first clamping hole 224330 and the second clamping hole 224331 are both semicircular holes, and the first clamping hole 224330 and the second clamping hole 224331 are coaxially arranged up and down. The radius of the first clamping hole 224330 is greater than the radius of the second clamping hole 224331. The first clamping hole 224330 is used to accommodate and limit the tube rod 2231, and the second clamping hole 224331 is used to clamp the rod body of the second tube rod close to the top.

[0072] After the transport mechanism 2200 is provided with the centering unit 2240, when the frame 2210 moves to the predetermined position, the docking process of the cylinder rod 2231 and the second cylinder rod below is as follows: the centering drive cylinder 2241 drives the two centering clamps 2243 to merge, and the second clamping hole 224331 located at the lower layer is docked to complete the clamping of the second cylinder rod, and at this time, the slender top of the second cylinder rod is located at the upper part of the second clamping hole 224331. Then the second lifting drive motor 22321 drives the sliding frame 22323 to drive the cylinder rod 2231 to move downward, and the lower end of the cylinder rod 2231 enters the first clamping hole 224330. When the detector 22332 detects the stop ring 22331, the second lifting drive motor 22321 stops moving, and the cylinder rod 2231 and the second cylinder rod are docked. Since the first clamping hole 224330 and the second clamping hole 224331 are coaxially arranged up and down, and the positions of the centering jaws 2243 and the tube rod 2231 are relatively fixed, after the two centering jaws 2243 clamp the second tube rod, the tube rod 231 can quickly and efficiently complete the precise docking with the second tube rod.

[0073] Example 3

[0074] This embodiment 3 is formed on the basis of embodiment 1 or embodiment 2, and a synchronous displacement camera is set in the handling device, which can monitor and locate the yarn tube rods to be docked and their adjacent areas in real time during the transfer of the yarn tubes in a string, and can better adapt to the scene of the change of the position of the yarn tube rods, thereby improving the transfer efficiency and accuracy of the yarn tubes in a string.

[0075] like Figure 1-17 As shown, the second camera 230 is installed at the bottom of the frame 2210. During the synchronous movement of the random frame 2210, the second camera 230 can obtain the position information of the second bobbin rod below and the information whether there are bunched yarn bobbins on the yarn bobbin rods in the area around the second bobbin rod to be connected by taking pictures, and then can transmit the information to the terminal control system in real time. The terminal control system issues a command based on the feedback information. After the driving mechanism 2100 drives the frame 2210 to move to a predetermined position and rotate a predetermined angle, there is no bunched yarn bobbin on the back side of the clamping assembly 2221 when clamping the bunched yarn bobbins. Then, the frame 2210, the clamping assembly 2220, the stringing assembly 2230, the centering assembly 2240, etc. cooperate to efficiently and accurately complete the handling and transfer of the bunched yarn bobbins.

[0076] In the description of the present application, it should be understood that the terms "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0077] The above describes the specific embodiments of the present invention. It should be understood that the present invention is not limited to the above specific embodiments, and those skilled in the art can make various changes or modifications within the scope of the claims, which does not affect the essence of the present invention. In the absence of conflict, the embodiments of the present application and the features in the embodiments can be combined with each other arbitrarily.

Claims

1. A yarn tube automatic dyeing production line, characterized in that: It comprises a loading device (10), a transporting device (20), a dyeing device (30), a dehydrating device (40) and a unloading device (50); The three groups of the transport devices (20) are arranged adjacent to each other, the dyeing device (30) and the dehydration device (40) are respectively located between two groups of the transport devices (20), the dyeing device (30) is located upstream of the dehydration device (40), the loading device (10) and the unloading device (50) are respectively located at two ends of the three groups of the transport devices (20), and the three groups of the transport devices (20) are respectively recorded as a first transport device (21), a second transport device (22) and a third transport device (23); The loading device (10) forms a plurality of yarn bobbin strings from a yarn bobbin pile; the first transport device (21) transports the yarn bobbin strings into a dyeing gauze cage (201) in a string-like manner; the dyeing device (30) is used to dye the yarn bobbin strings in the dyeing gauze cage (201); the second transport device (22) transports the yarn bobbin strings in the dyeing gauze cage (201) that have completed the dyeing process into a dewatering gauze cage (202) in a string-like manner; the dewatering device (40) is used to dewater the yarn bobbin strings in the dewatering gauze cage (202); the third transport device (230) transports the yarn bobbin strings in the dewatering gauze cage (202) that have undergone the dewatering process to the unloading device (50); the unloading device (50) forms the yarn bobbin strings into stacked yarn bobbins.

2. The automatic yarn tube dyeing production line according to claim 1 is characterized in that: The feeding device (10) comprises a grabbing manipulator (110) and a drum rotating mechanism (120). The bobbin string rotating mechanism (120) is provided with two groups of first bobbin rods (121), and the two groups of the first bobbin rods (121) are connected to the two ends of the same rotating plate (122). The grabbing robot (110) is provided with an external support clamping claw (111), and the external support clamping claw (111) is driven to enter the central tube of the yarn bobbin to grab the yarn bobbin in an external support manner. The grabbed yarn bobbin is connected in series to the first bobbin rod (121) located at one end of the rotating plate (122) to form a yarn bobbin string, and the rotating plate (122) is driven to rotate so that the first bobbin rod (121) located at the other end enters the yarn bobbin stringing station; The grabbing robot (110) is also provided with a first camera (113), and the first camera (113) is used to obtain the position information of the yarn bobbin on the yarn bobbin pile. The grabbing robot (110) drives the outer support clamp (111) to grab the yarn bobbin according to the position information of the yarn bobbin.

3. The automatic yarn tube dyeing production line according to claim 2 is characterized in that: The feeding device (10) further comprises a yarn bobbin lifting mechanism (130), wherein the yarn bobbin lifting mechanism (130) is provided with a supporting plate (131), and a U-shaped groove is provided at the front end of the supporting plate (131). The yarn bobbin lifting mechanism (130) drives the supporting plate (131) to horizontally move until the rod body of the first bobbin rod (121) enters the U-shaped groove of the supporting plate (131), and the supporting plate (131) is used to support the yarn bobbin connected in series to the first bobbin rod (121) and drive the yarn bobbin to fall.

4. The automatic yarn tube dyeing production line according to claim 3 is characterized in that: The discharging device (50) has the same configuration as the loading device (10), and the discharging device (50) includes the grasping manipulator (110), the string cylinder revolving mechanism (120), and the string cylinder lifting mechanism (130); The string cylinder revolving mechanism (120) is used to receive the string of yarn cylinders (600) transferred from the dehydrated yarn cage (202), the string cylinder lifting mechanism (130) is used to lift the string of yarn cylinders (600) located on the first cylinder rod (121) upward, and the grasping manipulator (110) is used to form individual yarn cylinders (60) from the string of yarn cylinders (600).

5. The automatic yarn bobbin dyeing production line according to any one of claims 1 to 4, characterized in that: The handling device (20) includes a string of yarn cylinder handling manipulator (210) and a transfer machine (220); The string of yarn cylinder handling manipulator (210) includes a driving mechanism (2100) and a handling mechanism (2200). The driving mechanism (2100) has a gantry structure, and the handling mechanism (2200) is rotatably connected to the driving mechanism (2100); The transfer machine (220) includes a transfer drive (221) and a slide rail (222). The slide rail (222) is located between the gantries of the driving mechanism (2100). The transfer machine (220) drives the dyed yarn cage or the dehydrated yarn cage carried on the slide rail (222) to move. The driving mechanism (2100) drives the handling mechanism (2200) to move to a predetermined position, and the handling mechanism (2200) moves the string of yarn cylinders in a string manner.

6. The automatic yarn tube dyeing production line according to claim 5 is characterized in that: The driving mechanism (2100) includes a driving frame (2110) and a rotating unit (2120). The driving frame (2110) has a gantry structure, the rotating unit (2120) has an annular structure, the rotating unit (2120) is drivingly connected to the driving frame (2110), and the driving frame (2110) drives the rotating unit (2120) to move horizontally in the X and Y directions; The handling mechanism (2200) includes a frame (2210), a cylinder clamping unit (2220), and a string cylinder unit (2230). The frame (2210) has a cylindrical structure, the cylinder clamping unit (2220) and the string cylinder unit (2230) are connected to the frame (2210). The string cylinder unit (2230) is provided with a cylinder rod (2231) for stringing yarn cylinders, and the cylinder clamping unit (2220) is provided with a clamping assembly (2221) for clamping and driving the string of yarn cylinders to move up and down; The frame (2210) is connected to the rotating unit (2120) to form a Chinese character "zhong" structure. The driving frame (2110) displaces the frame (2210) to a predetermined position by driving the rotating unit (2120). After the rotating unit (2120) drives the frame (2210) to rotate a predetermined angle, there is no string of yarn cylinders on the back side of the clamping assembly (2221), and the clamping assembly (2221) moves the string of yarn cylinders in a string manner.

7. The automatic yarn tube dyeing production line according to claim 6 is characterized in that: The clamping cylinder assembly (2220) comprises a first lifting drive assembly (2221) and a clamping assembly (2222), wherein the first lifting drive assembly (2221) is connected to the frame (2210), and the lifting drive assembly (2221) drives the clamping assembly (2222) to move vertically up and down along the frame (2210); The clamping assembly (2222) comprises a clamping power cylinder (22220), an outer shaft (22221), an inner shaft (22222) and a clamping plate (22223); the inner shaft (22222) is sleeved in the outer shaft (22221); the upper ends of the outer shaft (22221) and the inner shaft (22222) are respectively connected to a clamping power cylinder (22220); two clamping plates (22223) are respectively connected to the lower ends of the outer shaft (22221) and the inner shaft (22222); the two clamping power cylinders (22220) drive the outer shaft (22221) and the inner shaft (22222) to rotate; and the two clamping plates (22223) clamp or release the yarn tube.

8. The automatic yarn tube dyeing production line according to claim 6 is characterized in that: The barrel stringing unit (2230) further comprises a second lifting drive assembly (2232) and a docking detection assembly (2233), wherein the barrel rod (2231) is connected to the second lifting drive assembly (2232), and the docking detection assembly (2233) comprises a docking rod (22330), a stop ring (22331) and a detector (22332), wherein the stop ring (22331) is sleeved on the upper end of the docking rod (22330), and the outer end of the stop ring (22331) is The diameter of the connecting rod (22330) is larger than the outer diameter of the barrel rod (2231), the main body of the connecting rod (22330) is sleeved in the barrel rod (2231), when the barrel rod (2231) is connected with the yarn barrel rod (2300), the end of the yarn barrel rod (2300) enters into the barrel rod (2231) and pushes the connecting rod (22330) to move upward, and when the detector (22332) detects the stop ring (22331), the second lifting drive assembly (2232) stops moving.

9. The automatic yarn tube dyeing production line according to claim 6, characterized in that: The transport mechanism (2200) further comprises a centering unit (2240), wherein the centering unit (2240) comprises a centering drive cylinder (2241), a support seat (2242) and a centering clamp (2243), wherein two centering clamps (2243) are hinged to the support seat (2242), and the centering drive cylinder (2241) drives the two centering clamps (2243) to open and close, and the centering clamp (2243) is used for positioning and docking the barrel rod (2231) with the second barrel rod on the dyeing gauze cage (201) or the dehydration gauze cage (202).

10. The automatic yarn bobbin dyeing production line according to claim 6, characterized in that: The transport device (20) further comprises a second camera (230), wherein the second camera (230) is mounted at the bottom of the frame (2210), and the second camera (230) is used to obtain position information of the yarn tube string (600) to be clamped or placed, and the driving mechanism (2100) drives the frame (2210) to move and rotate a predetermined angle according to the information obtained by the second camera (230). There are no yarn tube strings on the back side of the clamping assembly (2221), and the clamping assembly (2221) moves the yarn tube strings in a string manner.

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