Automatic doffing machine suitable for continuous spinning process

Abstract

The invention discloses an automatic doffing machine suitable for a continuous spinning process, and belongs to the technical field of automatic spinning. The automatic paper tube falling machine comprises a walking machine frame, a silk drawing device, a paper tube taking device, a paper tube feeding device and a labeling device, the silk drawing device, the paper tube taking device, the paper tube feeding device and the labeling device are arranged on the walking machine frame, the walking machine frame is arranged on a conveying sliding rail in a sleeving mode, and the conveying sliding rail is located on one side of a silk winding position of the continuous spinning machine. Furthermore, on the basis of reasonable arrangement of all the devices, the preset requirement of the spinning process is met, and the consistency of the bobbin quality is guaranteed; moreover, full automation is realized, and large-scale, batch and continuous production of the spinning process is ensured.

Description

Technical Field

[0001] The invention relates to a doffing machine for a spinning process, in particular to an automatic doffing machine suitable for a continuous spinning process, and belongs to the technical field of automated spinning. Background Art

[0002] At present, the market acceptance of viscose filament products produced by continuous spinning machines is increasing, and the demand is increasing. Therefore, it is necessary to increase the production of viscose filaments to meet market demand. Viscose filaments are generally formed by the spinning solution entering the coagulation bath from the spinneret, and then post-processed by stretching, washing, drying, etc., and then wound on a paper tube to form a bobbin.

[0003] In traditional spinning production, the workers on the production line need to perform manual bobbin doffing according to the bobbin doffing cycle, including pulling the wire, breaking the wire, sucking the wire, lifting the winding handle, doffing the bobbin, putting on the paper tube, pressing the winding handle, putting on the wire, etc. This not only has a large workload and low efficiency (on average, each machine needs at least 3 people to work for 1.5-2 hours to doff the wire); it is also easily affected by individual consciousness and experience; due to differences in human efficiency and behavioral norms, there are obvious differences in the total length of the bobbins after manual doffing, and collision and friction affect the quality of the wire. In addition, in the links of taking the bobbin, placing the bobbin, and replacing the paper tube, it is completely dependent on manual operation, with high labor costs, and it is impossible to achieve full automation, continuity, and consistency of the production process. This not only leads to a low degree of automation in continuous bobbin placement, but also fails to monitor, collect data, and trace labeling of the bobbins in winding, and it is difficult to ensure the consistency of the quality of the winding bobbins.

[0004] In order to improve production efficiency and reduce the tediousness of manual operation, automatic doffing machines (automatic doffing robots) are usually used to realize automatic doffing of bobbins, that is, to automate the doffing of continuous spinning, improve the labor efficiency of employees, and save labor costs. Although the prior art CN210456980U discloses "a hook-breaking wire device for an automatic doffing machine", CN210456979U discloses "a clamping and feeding device for an automatic doffing machine", CN112079186A discloses "an automatic doffing system and its use method", CN118087104A discloses "a fully automatic doffing machine", and CN113184635A discloses "an automatic doffing robot with a transfer rack and its automatic loading and unloading method for paper tubes", etc., it is impossible to ensure the continuity, smoothness, stability and continuous progress of the processes of wire drawing, wire breaking, wire suction, tube removal, paper tube replacement, wire application, labeling, etc.

[0005] Therefore, how to achieve the continuity, smoothness, stability and continuity of the processes of wire drawing, wire breaking, wire suction, bobbin taking, paper tube replacement and labeling in the automatic bobbin dropping process, and make it suitable for use in multiple continuous spinning machines, is a technical problem that urgently needs to be solved. Summary of the invention

[0006] In order to improve the automation of processes such as yarn breaking, bobbin taking, paper tube replacement and automatic labeling after the yarn is wound into bobbins, an automatic bobbin-dropping machine suitable for continuous spinning process is proposed. It not only meets the predetermined requirements of the spinning process and ensures the consistency of bobbin quality, but also realizes full automation to ensure the large-scale, batch and continuous production of the spinning process.

[0007] In order to achieve the above technical objectives, the following technical solutions are proposed: The purpose of the technical solution is to provide: an automatic doffing machine suitable for continuous spinning process, comprising a traveling frame and a wire drawing device, a doffing device, a paper tube loading device and a labeling device arranged on the traveling frame; 1. Wire drawing device: including a wire drawing telescopic mechanism, a wire breaker, a wire sucker, a wire drawing device and a waste wire collection box; the wire drawing telescopic mechanism is installed on the wire drawing lifting guide rail by sliding, and the wire drawing lifting guide rail is installed on the wire drawing bracket; more specifically, the wire drawing bracket and the wire drawing lifting guide rail are both arranged above the waste wire collection box, and the wire drawing bracket is located on one side of the wire drawing lifting guide rail, that is, the stability of the installation of the wire drawing lifting guide rail is ensured by the setting of the wire drawing bracket, and at the same time, the operation stability of the wire drawing telescopic mechanism on the wire drawing lifting guide rail is improved, and the working stability of the wire breaker, the wire sucker and the wire drawing device is indirectly improved; and the waste wire collection box is used to store the waste wire discharged from the wire sucker, thereby ensuring the cleanliness of the working environment; A mounting plate is provided at the end of the wire drawing telescopic mechanism, and the mounting plate is connected to a rotating plate I through a pitching and rotatable connection mode, and the rotating plate I is vertically connected to a bottom plate, and a wire-breaking rodless cylinder and a side plate are arranged on the bottom plate, and the wire-breaking rodless cylinder is connected to the wire breaker through a clamping claw cylinder; the wire sucker is mounted on the side plate, and the wire puller is connected to the side plate through a swing cylinder; more specifically, a swing cylinder mounting frame is provided on the side plate, and the wire puller is connected to the swing cylinder mounting frame through a swing cylinder; and more specifically, the swing cylinder mounting frame is sleeved on the outside of the wire sucker, and the wire breaker is located below the wire sucker, and this arrangement facilitates the smooth and stable operation of the wire breaker, the wire sucker and the wire puller; in addition, the wire sucker is connected to the waste wire collection box through a transparent tube, and a broken wire detector is provided between the wire outlet of the transparent tube and the waste wire collection box, and the broken wire detector is used to detect the wire strips at the outlet end of the wire sucker; Among them, the wire breaker, the wire sucker and the wire puller are all arranged close to the off-bobbin wire strip, the wire sucker is located at the rear side of the working position of the wire breaker, and the wire puller is located at the rear side of the working position of the wire sucker, and a continuous passage for breaking, sucking and feeding the off-bobbin wire strip is formed between the wire breaker, the wire sucker and the wire puller; The wire breaker is configured to break the wire strip, so that when the wire strip is dropped into the bobbin, one end of the broken wire strip is sucked into the wire suction device; the wire breaker is installed at the front end of the clamping claw cylinder, and the wire breaker is a wire clamp, and the wire clamp is relatively slidably provided with a left wire clamping plate and a right wire clamping plate, and the wire clamp clamps the wire strip through the left wire clamping plate and the right wire clamping plate; The silk aspirator is connected with an air pipe, and the silk aspirator is connected with an external air source through the air pipe; the silk aspirator comprises a silk aspirator head, a silk aspirator seat, a silk aspirator cap and a silk aspirator outlet pipe connected to each other, a silk aspirator air nozzle is arranged in the silk aspirator cap, a silk aspirator air nozzle sleeve is provided with a silk aspirator gasket, the silk aspirator seat is connected with the air pipe, the silk aspirator cap is connected with the silk aspirator outlet pipe, the silk aspirator outlet pipe is connected with a transparent pipe, and the silk aspirator is connected with a waste silk collection box through the transparent pipe; The wire pulling device is a limit rod, which is connected to the output shaft of the swing cylinder; more specifically, the front end of the limit rod is bent to form a wire hooking portion; The waste wire collection box is installed at the bottom of the traveling frame; 2. The bobbin taking device is sleeved on the bobbin taking moving assembly, which is arranged on the walking frame; the bobbin taking device includes a roller assembly for supporting the bobbin, a push rod assembly 1 for unlocking and locking the bobbin on the continuous spinning machine, and a push rod assembly 2 for unlocking and locking the bobbin on the continuous spinning machine, and the push rod assembly 1 cooperates with the push rod assembly 2; more specifically, the push rod assembly 1 is located on one side of the roller assembly, and the push rod assembly 2 is located on the other side of the roller assembly; the walking frame drives the roller assembly, the push rod assembly 1 and the push rod assembly 2 to move along the arrangement direction of the continuous spinning machine; The roller assembly includes two supporting side plates arranged opposite to each other, and a supporting position for supporting the bobbin wound into a bobbin is provided between the two supporting side plates, and the bobbin is placed on the supporting position; two roller shafts are arranged between the two supporting side plates, and the two roller shafts are arranged in parallel, and the distance between the two roller shafts is smaller than the maximum diameter of the bobbin to be taken, and form a support for the outer wall of the bobbin to be taken; More specifically, the barrel taking moving assembly includes a first linear barrel taking guide rail, a second linear barrel taking guide rail, a third linear barrel taking guide rail and a fourth linear barrel taking guide rail, the first linear barrel taking guide rail is longitudinally arranged, the upper end of which extends to the top of the walking frame, and the lower end of which extends to the ground; a first barrel taking slider is sleeved on the first linear barrel taking guide rail, the first barrel taking slider is connected to the second linear barrel taking guide rail, and the second linear barrel taking guide rail is installed on the first linear barrel taking guide rail and moves linearly along the Y direction; The second linear barrel taking guide is arranged in a transverse direction, the second linear barrel taking guide is perpendicular to the first linear barrel taking guide, a second barrel taking slider is sleeved on the second linear barrel taking guide, the second barrel taking slider is connected to the third linear barrel taking guide, and the third linear barrel taking guide is installed on the second linear barrel taking guide and moves linearly along the Z direction; The third linear barrel taking guide is arranged in a transverse manner, the third linear barrel taking guide is perpendicular to the second linear barrel taking guide, and the third linear barrel taking guide is arranged above the second linear barrel taking guide; a third barrel taking slider is sleeved on the third linear barrel taking guide, the third linear barrel taking guide is connected to the roller assembly through the third barrel taking slider, the roller assembly is installed on the third linear barrel taking guide through the third barrel taking slider and moves linearly along the X direction; or, the roller assembly is fixedly arranged on the third linear barrel taking guide, at this time, the third linear barrel taking guide acts as a support arm, and is mainly used to install the roller assembly; The fourth linear barrel taking guide rail is arranged longitudinally, a fourth barrel taking slider is arranged on the fourth linear barrel taking guide rail, and the fourth linear barrel taking guide rail is connected to the push rod assembly 2 through the fourth barrel taking slider; The push rod assembly 1 includes an automatic telescopic rod Ⅰ, which is arranged along the Z direction; a tension and compression sensor is provided at the front end of the automatic telescopic rod Ⅰ, and the tension and compression sensor is connected to a servo electric cylinder for lifting and pushing back the large handle; the servo electric cylinder includes a base, a tension and compression slide and a cylindrical rubber-coated shaft Ⅰ matched with the large handle, and the tension and compression slide is connected to the tension and compression sensor through the base; the tension and compression slide is slidably connected to the base, and the tension and compression slide can slide along the X direction; the cylindrical rubber-coated shaft Ⅰ is arranged on one side of the tension and compression slide; The push rod assembly II includes an automatic telescopic rod II and a push plate arranged at the end of the automatic telescopic rod II. The automatic telescopic rod II and the push plate are arranged along the Z direction. A cylindrical rubber-coated shaft II matching with the small handle is provided on one side of the push plate. The cylindrical rubber-coated shaft I and the cylindrical rubber-coated shaft II are matched with each other; More specifically, a first barrel taking sensor sheet is provided on one side of the first barrel taking slider, at least two first barrel taking sensors are provided on the first linear barrel taking guide rail, the first barrel taking sensors are distributed in the Y direction, and the first barrel taking sensor sheet and the first barrel taking sensor are matched with each other; A second barrel taking sensor sheet is provided on one side of the second barrel taking slider, at least two second barrel taking sensors are provided on the second linear barrel taking guide rail, the second barrel taking sensors are distributed in the Z direction, and the second barrel taking sensor sheet and the second barrel taking sensor are matched with each other; A third barrel taking sensor sheet is provided on one side of the third barrel taking slider, at least two third barrel taking sensors are provided on the third linear barrel taking guide rail, the third barrel taking sensors are distributed in the X direction, and the third barrel taking sensor sheet and the third barrel taking sensor are matched with each other; A fourth barrel taking sensor sheet is provided on one side of the fourth barrel taking slider, at least two fourth barrel taking sensors are provided on the fourth linear barrel taking guide rail, the fourth barrel taking sensors are distributed in the Y direction, and the fourth barrel taking sensor sheet and the fourth barrel taking sensor are matched with each other; More specifically, the bobbin-taking device also includes a detection component for detecting the position, thickness, diameter or weight of the bobbin wound into a bobbin on the continuous spinning machine, and the detection component includes one or a combination of any two or more of a positioning sensor, a visual sensor, a photoelectric sensor and a weighing sensor. Among them, the positioning sensor is used to determine the position of the continuous spinning machine, the visual sensor identifies the diameter, position and other parameters of the bobbin by taking pictures, etc., the photoelectric sensor is used to detect the diameter or thickness of the bobbin, and the weighing sensor detects the weight of the bobbin. Preferably, the positioning sensor, the visual sensor, the photoelectric sensor and the weighing sensor are all connected to the automatic bobbin-dropping machine control system. In addition, the positioning sensor, the visual sensor, the photoelectric sensor and the weighing sensor are set to their specific positions according to actual needs, such as: the positioning sensor (specifically, it can be an infrared positioning sensor) is arranged on the roller assembly, and a reflection signal is formed between it and the bobbin on the continuous spinning machine, thereby determining the positional relationship between the roller assembly and the bobbin; for example: the weighing sensor is arranged at the winding station of the continuous spinning machine, and the weight of the bobbin is detected to determine whether the wound bobbin meets the bobbin drop requirements, etc.; 3. Paper tube loading device: including a paper tube supply mechanism for supplying paper tubes and a paper tube loading mechanism for clamping and loading paper tubes; The paper supply tube mechanism includes a paper output tube box for stacking paper tubes and a pushing cavity provided at the bottom of the paper output tube box. A pusher for pushing the paper tube to the paper supply tube position is provided in the pushing cavity. The pusher includes a pushing tube. The pushing tube is connected to a moving driver for making the pushing tube perform linear reciprocating motion along the pushing cavity. When the pushing tube pushes the paper tube to the paper supply tube position, the pushing tube is located at the paper output tube position below the paper output tube box and receives the next paper tube. A paper supply tube port and a first detection hole are provided on the push cavity at the paper supply tube position, a first paper supply tube sensor is provided corresponding to the first detection hole, and the first paper supply tube sensor is used to detect the paper tube at the paper supply tube position; a second detection hole is provided on the side of the paper output tube box close to the paper output tube position, a second paper supply tube sensor is provided corresponding to the second detection hole, and the second paper supply tube sensor is used to detect the paper tube at the paper output tube position; more specifically, a guide plate extending toward the paper output tube position (i.e., the guide plate is arranged downwardly at an angle) is provided in the paper output tube box, and the guide plate is used to drop the paper tube in the paper output tube box from the paper output tube position into the push cavity along the guide plate; in addition, a dither is provided on the side of the paper output tube box away from the paper output tube position (i.e., the rear side of the paper output tube box), and the telescopic end of the dither pushes the paper tube in the paper output tube box to release the paper tube smoothly; The upper paper tube mechanism includes an upper paper tube moving component and a grabbing mechanism arranged on the upper paper tube moving component. More specifically, the upper paper tube moving component includes a first linear upper paper tube guide rail, a second linear upper paper tube guide rail and a third linear upper paper tube guide rail. The first linear upper paper tube guide rail is arranged horizontally. A first upper paper tube slider is sleeved on the first linear upper paper tube guide rail. The first upper paper tube slider is connected to the second linear upper paper tube guide rail. The second linear upper paper tube guide rail is installed on the first linear upper paper tube guide rail and moves linearly along the Z direction. The second linear upper paper tube guide is arranged longitudinally, and the second linear upper paper tube guide is perpendicular to the first linear upper paper tube guide; a second upper paper tube slider is sleeved on the second linear upper paper tube guide, and the second upper paper tube slider is connected to the third linear upper paper tube guide, and the third linear upper paper tube guide is installed on the second linear upper paper tube guide and moves linearly along the Y direction; The third linear upper paper tube guide is arranged in a transverse direction, and the third linear upper paper tube guide is perpendicular to the second linear upper paper tube guide; the third linear upper paper tube guide is sleeved with a third upper paper tube slider, and the third upper paper tube slider is provided with a grabbing mechanism for the paper tube, which is installed on the third linear upper paper tube guide and moves linearly along the X direction; More specifically, a first upper paper tube sensing sheet is provided on one side of the first linear upper paper tube slider, at least two first upper paper tube sensors are provided on the first linear upper paper tube guide rail, the first upper paper tube sensors are distributed in the Z direction, and the first upper paper tube sensing sheet and the first upper paper tube sensor are matched with each other; A second upper paper tube sensing sheet is provided on one side of the second upper paper tube slider, at least two second upper paper tube sensors are provided on the second linear upper paper tube guide rail, the second upper paper tube sensors are distributed in the Y direction, and the second upper paper tube sensing sheet and the second upper paper tube sensor are matched; A third upper paper tube sensing sheet is provided on one side of the third upper paper tube slider, at least two third upper paper tube sensors are provided on the third linear upper paper tube guide rail, the third upper paper tube sensors are distributed in the X direction, and the third upper paper tube sensing sheet and the third upper paper tube sensor are matched; More specifically, the gripping mechanism includes a base mounted on the third upper paper tube slider, and two grippers that can slide relatively along the Y direction are provided at the front end of the base, and the relative movement of the two grippers is used to clamp the paper tube on the paper supply tube position; the base is provided with a fourth upper paper tube sensor toward the direction of the paper tube to be clamped, and the fourth upper paper tube sensor is used to detect the clamped paper tube; 4. Labeling device: including label printing mechanism and labeling mechanism; The label printing mechanism is located on one side of the labeling mechanism, and the label printing mechanism is an existing conventional printing mechanism, preferably a miniature one; The labeling mechanism includes a labeling moving component and a labeling long arm arranged on the labeling moving component, and the labeling long arm can reciprocate along the axial direction of the paper tube; More specifically, the labeling moving assembly includes a linear labeling guide rail (which can be specifically a rodless cylinder) and a labeling lifting guide rail (which can be specifically a slide cylinder). The linear labeling guide rail is arranged horizontally, and a labeling slider is sleeved on the linear labeling guide rail. The linear labeling guide rail is connected to the labeling long arm through the labeling slider (more specifically, the labeling slider is connected to the rear end of the labeling long arm); the bottom of the linear labeling guide rail is installed on the labeling lifting guide rail, the labeling lifting guide rail is arranged longitudinally, and a lifting block is sleeved on the labeling lifting guide rail. The labeling lifting guide rail is connected to the linear labeling guide rail through the top of the lifting block, and the labeling lifting guide rail is vertically installed on the labeling bracket through the labeling support; The front end of the labeling long arm is provided with a label palm assembly and a rotary driver (specifically, a labeling swing cylinder). The rotary driver is fixedly installed at the front end of the labeling long arm through a vertical plate, and the rear end of the labeling long arm is slidably connected to the linear labeling guide rail; more specifically, the label palm assembly includes a suction cup, which is connected to the output shaft of the rotary driver through a rotating plate II, and the lower end of the suction cup has an arc-shaped adsorption surface, and a plurality of suction holes connected to the vacuum chamber are opened on the adsorption surface, and the vacuum chamber of the suction cup is connected to an external air source through an air pipe joint; and a spring is provided between the top of the suction cup and the rotating plate II, and the suction cup is elastically installed on the rotating plate II through the spring, and the bottom of the suction cup is covered with a protective member; When the rear end of the labeling long arm approaches the rear end of the labeling linear guide rail, the suction cup is located at the label output position of the label printing mechanism, and rotates to absorb the label at the label output position driven by the rotary drive; When the rear end of the labeling long arm approaches the front end of the labeling linear guide rail, the suction cup extends into the labeling position of the circular hole in the paper tube to label; In addition, the front and rear ends of the labeling linear guide rail are provided with a front buffer and a rear buffer facing the labeling slider (i.e., the inner sides of the front and rear ends of the labeling linear guide rail). When the rear side of the labeling slider abuts against the rear buffer, the suction cup faces the label output position of the label printing mechanism; when the front side of the labeling slider abuts against the front buffer, the suction cup is located at the labeling position; Furthermore, the walking frame is sleeved on a conveying slide rail, and the conveying slide rail is located on one side of the filament winding position of the continuous spinning machine. Since there are multiple regularly arranged filament winding positions on a continuous spinning production line, the filament winding positions can be simultaneously dropped according to the movement of the walking frame, thereby improving the efficiency of the spinning process; More specifically, the walking frame includes two parallel columns, a walking beam, and a mounting bracket for mounting a wire drawing device, a tube taking device, a paper tube loading device, and a labeling device. The mounting bracket is connected to the walking beam through a sliding connection assembly, and the sliding connection assembly is connected to a driving assembly; one end of the walking beam is fixedly arranged on the top of one column, and the other end of the walking beam is fixedly arranged on the top of another column; Among them, a suspension beam is provided on one side of the walking beam, and the suspension beam is arranged parallel to the walking beam; a plurality of suspension rods for placing the bobbins are evenly distributed on the suspension beam; In addition, a position sensor, a visual sensor and a controller are provided on the walking crossbeam, and the position sensor, the visual sensor and the driving component are electrically connected to the controller respectively.

[0008] In the present technical scheme, positional relationships such as "upper", "front end", "inside", "one end", "relative", "between", "one side", "inclined", "close to", "far away", and "rear end" are defined according to the situations under actual usage conditions. They are conventional terms in this technical field and are also conventional terms used by technical personnel in this field in actual use.

[0009] In the description of the present technical solution, it should also be noted that, unless otherwise clearly specified and limited, the terms "disposed", "provided with", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present technical solution can be understood according to specific circumstances.

[0010] The beneficial technical effects brought about by adopting this technical solution are: The present invention not only meets the predetermined requirements of the spinning process, that is, ensures the consistency of the package quality, but also realizes full automation, ensuring the large-scale, batch and continuous production of the spinning process, through the arrangement of the walking frame, the wire drawing device, the bobbin taking device, the paper tube loading device and the labeling device. At the same time, it can realize the doffing of multiple continuous spinning machines and ensure that the automatic doffing process is carried out smoothly, stably and orderly, thereby improving the spinning production efficiency, ensuring product quality, and reducing energy consumption and maintenance costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] Figure 1 It is a front view of the present invention; Figure 2 A perspective view of the present invention; Figure 3 It is a layout diagram of the wire drawing device, the tube taking device, the paper tube loading device and the labeling device in the present invention; Figure 4 It is a three-dimensional diagram of the wire drawing device in the present invention; Figure 5 It is a side view of the wire drawing device in the present invention; Figure 6 The arrangement diagram of the wire drawing device, the wire cutting device and the wire sucking device in the wire drawing device of the present invention (I); Figure 7 The second diagram is a layout diagram of the wire drawing device, the wire cutting device and the wire sucking device in the wire drawing device of the present invention; Figure 8It is a schematic diagram of the arrangement of the wire aspirator in the wire drawing device of the present invention; Fig. 9 It is a structural schematic diagram of the wire aspirator in the wire drawing device of the present invention; Fig.10 It is a schematic diagram of the installation of the tube taking device in the present invention; Fig.11 It is the layout diagram of the tube taking device in the present invention on the production line; Fig.12 It is a side view of the tube taking device in the present invention; Fig.13 A three-dimensional diagram of the tube taking device of the present invention (I); Fig.14 A perspective view of the tube taking device in the present invention (II); Fig.15 It is a layout diagram of the roller assembly and the third barrel taking sliding block in the barrel taking device of the present invention; Fig.16 A three-dimensional diagram of a push rod assembly 1 in a cartridge removal device according to the present invention; Fig.17 It is a side view of a push rod assembly 1 in the cartridge removal device of the present invention; Fig.18 It is a structural schematic diagram of the push rod assembly 2 in the tube taking device of the present invention; Fig.19 It is a front view of the push rod assembly 2 in the tube taking device of the present invention; Fig. 20 FIG. 1 is a working state diagram of the upper paper tube mechanism of the present invention; Fig.21 FIG. 2 is a working state diagram of the upper paper tube mechanism of the present invention; Fig. 22 It is a front view of the upper paper tube mechanism of the present invention; Fig.23 It is a side view of the upper paper tube mechanism of the present invention; Fig.24 It is a top view of the upper paper tube mechanism of the present invention; Fig.25 It is a rear view of the upper paper tube mechanism of the present invention; Fig.26 A three-dimensional diagram of the paper feeding tube mechanism of the present invention; Fig. 27 It is a side view of the paper feeding tube mechanism of the present invention; Fig.28 It is a rear view of the paper feeding tube mechanism of the present invention; Fig.29 A top view of the paper feeding tube mechanism of the present invention; Fig.30 is a three-dimensional diagram of the labeling device of the present invention; Fig.31It is a front view of the labeling device in the present invention; Fig.32 It is a layout diagram of the labeling long arm and the labeling palm assembly in the labeling device of the present invention; Fig.33 It is a schematic diagram of the structure of the suction cup in the labeling device of the present invention; Fig.34 It is a layout diagram of the walking beam, sliding connection assembly and mounting bracket in the present invention; In the figure, 1, a walking frame, 100, a column, 101, a walking beam, 102, a hanging beam, 103, a hanging rod; 2. Wire drawing device, 200, wire drawing bracket, 201, wire drawing lifting guide rail, 202, wire drawing telescopic mechanism, 203, mounting plate, 204, rotating plate I, 205, bottom plate, 206, wire breaking rodless cylinder, 207, clamping claw cylinder, 208, side plate, 209, swing cylinder, 210, waste wire collection box, 211, air pipe, 212, swing cylinder mounting frame; 3. Tube-taking device, 300, first linear tube-taking guide rail, 301, second linear tube-taking guide rail, 302, third linear tube-taking guide rail, 303, fourth linear tube-taking guide rail, 304, first tube-taking slider, 305, second tube-taking slider, 306, roller assembly, 3060, supporting side plate, 3061, roller shaft, 307, third tube-taking slider, 308, fourth tube-taking slider, 309, push rod assembly 1, 3090, automatic telescopic rod Ⅰ, 3091, tension and compression sensor, 310, push rod assembly 2, 3100, cylindrical rubber-coated shaft Ⅱ, 311, push plate, 312, servo electric cylinder, 3120, base, 3121, tension and compression slide, 3122, cylindrical rubber-coated shaft Ⅰ; 4. Paper tube device, 400, first linear paper tube guide rail, 401, second linear paper tube guide rail, 402, third linear paper tube guide rail, 403, first paper tube slider, 404, second paper tube slider, 405, third paper tube slider, 406, grabbing mechanism, 407, pushing cavity, 408, paper tube box, 409, pusher, 410, base, 411, paper tube port, 412, first detection hole, 413, first paper tube sensor, 414, second detection hole, 415, second paper tube sensor, 416, guide plate, 417, dither, 418, mobile driver, 419, paper tube position; 5. Labeling device, 500, label printing mechanism, 501, linear labeling guide rail, 502, labeling lifting guide rail, 503, labeling slider, 504, labeling long arm, 505, labeling support, 506, labeling bracket, 507, label palm assembly, 508, rotary drive, 509, rotating plate II, 510, suction cup, 511, vertical plate, 512, lifting block; 6. Continuous spinning machine; 7. Bobbin; 8. Wire pulling device; 9. Wire cutter; 10. Wire suction device, 1000. Wire suction nozzle head, 1001. Wire suction nozzle seat, 1002. Wire suction nozzle cap, 1003. Wire suction nozzle outlet tube, 1004. Wire suction nozzle air nozzle, 1005. Wire suction nozzle gasket; 11. Install the bracket; 12. Sliding connection assembly; 13. Paper tube. DETAILED DESCRIPTION

[0012] The following is a clear and complete description of the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0013] Example 1 This embodiment provides: an automatic doffing machine suitable for a continuous spinning process, such as Figure 1-3 As shown, it includes a traveling frame 1 and a wire drawing device 2, a bobbin taking device 3, a paper tube loading device 4 and a labeling device 5 arranged on the traveling frame 1. The traveling frame 1 is sleeved on a conveying slide rail, and the conveying slide rail is located on one side of the wire winding position of the continuous spinning machine 6; Wire drawing device 2: Figure 5 It includes a wire drawing telescopic mechanism 202 and a wire breaker 9, a wire sucker 10 and a wire drawing device 8 which are all arranged at the ends of the wire drawing telescopic mechanism 202. The wire breaker 9, the wire sucker 10 and the wire drawing device 8 are all arranged close to the doffed wire strip. The wire sucker 10 is located at the rear side of the workstation of the wire breaker 9, and the wire drawing device 8 is located at the rear side of the workstation of the wire sucker 10. A continuous passage for breaking, sucking and feeding the doffed wire strip is formed between the wire breaker 9, the wire sucker 10 and the wire drawing device 8. Tube taking device 3: Fig.10 As shown, it is sleeved on the bobbin taking moving assembly, and the bobbin taking moving assembly is arranged on the walking frame 1; the bobbin taking device 3 includes a roller assembly 306 for supporting the bobbin 7, a push rod assembly 1 309 for unlocking and locking the bobbin 7 on the continuous spinning machine 6, and a push rod assembly 2 310 for unlocking and locking the bobbin 7 on the continuous spinning machine 6, and the push rod assembly 1 309 cooperates with the push rod assembly 2 310; the push rod assembly 1 309 is located on one side of the roller assembly 306, and the push rod assembly 2 310 is located on the other side of the roller assembly 306; the walking frame 1 drives the roller assembly 306, the push rod assembly 1 309 and the push rod assembly 2 310 to move along the arrangement direction of the continuous spinning machine 6 (such as Fig.11 shown); The paper tube loading device 4 includes a paper tube supply mechanism for supplying the paper tube 13 and a paper tube loading mechanism for clamping and loading the paper tube 13; The labeling device 5 includes a label printing mechanism 500 and a labeling mechanism. The label printing mechanism 500 is located on one side of the labeling mechanism. More specifically, the label printing mechanism 500 is an existing conventional printing mechanism, preferably a miniature printing mechanism. The labeling mechanism includes a labeling moving component and a labeling long arm 504 arranged on the labeling moving component. The labeling long arm 504 can reciprocate along the axial direction of the paper tube 13. A label palm component 507 is provided at the front end of the labeling long arm 504.

[0014] Among them, the arrangement of the walking frame 1 and the conveying slide rail can drive the wire drawing device 2, the bobbin taking device 3, the paper tube loading device 4 and the labeling device 5 to move as a whole, so as to realize the automatic bobbin dropping of multiple continuous spinning machines 6; and, through the arrangement of the wire drawing device 2, the bobbin taking device 3, the paper tube loading device 4 and the labeling device 5, the wire breaking, wire suction, bobbin taking, paper tube loading 13 and wire loading of the bobbin to be dropped can be ensured to be carried out continuously and sustainably. This not only meets the predetermined requirements of the spinning process and ensures the consistency of the quality of the bobbin 7, but also realizes full automation and ensures the large-scale, batch and continuous production of the spinning process.

[0015] The continuous spinning machine 6 is represented by the KR / HD340 model, on which the processes of filament coagulation, washing, oiling, and winding into a tube are completed.

[0016] Example 2 On the basis of Example 1, this example further limits the arrangement of the wire pulling and retracting mechanism 202 to further illustrate the technical solution.

[0017] The wire drawing telescopic mechanism 202 is installed on the wire drawing lifting guide rail 201 by sliding (specifically, it can be connected through a slide), and the wire drawing lifting guide rail 201 is installed on the wire drawing bracket 200.

[0018] And, if Figure 4 As shown, the wire drawing device 2 also includes a waste wire collection box 210 installed at the bottom of the walking frame 1, the waste wire collection box 210 is connected to the wire aspirator 10, the wire aspirator 10 is connected to an air pipe 211, and the wire aspirator 10 is connected to an external air source through the air pipe 211; the wire drawing bracket 200 and the wire drawing lifting guide rail 201 are both arranged above the waste wire collection box 210, and the wire drawing bracket 200 is located on one side of the wire drawing lifting guide rail 201. That is, by setting the wire drawing bracket 200, the stability of the installation of the wire drawing lifting guide rail 201 is ensured, and at the same time, the operation stability of the wire drawing telescopic mechanism 202 on the wire drawing lifting guide rail 201 is improved, and the working stability of the wire breaker 9, the wire aspirator 10, and the wire drawing device 8 is indirectly improved; and the waste wire collection box 210 is used to store the waste wire discharged from the wire aspirator 10, thereby ensuring the cleanliness of the working environment.

[0019] In a specific implementation, the wire pulling and retracting mechanism 202 can be specifically a servo electric cylinder 312 or a lead screw retractor (driven by a servo motor).

[0020] Example 3 On the basis of Example 1-2, Figure 6-7 As shown, this embodiment further defines the specific structure and installation of the wire breaker 9, the wire suction device 10 and the wire pulling device 8 to further illustrate the technical solution.

[0021] A mounting plate 203 is provided at the end of the wire pulling and retracting mechanism 202, and the mounting plate 203 is connected to a rotating plate Ⅰ204 through a pitching and rotatable connection, and the rotating plate Ⅰ204 is vertically connected to a base plate 205, and a wire breaking rodless cylinder 206 and a side plate 208 are arranged on the base plate 205, and the wire breaking rodless cylinder 206 is connected to the wire breaker 9 through a clamping cylinder 207; the wire suction device 10 is installed on the side plate 208, and the wire pulling device 8 is connected to the side plate 208 through a swing cylinder 209.

[0022] In a specific implementation, the wire breaker 9 is installed at the front end of the clamping claw cylinder 207. The wire breaker 9 is a wire clamp, and the wire clamp is relatively slidably provided with a left wire clamp plate and a right wire clamp plate. The wire clamp clamps the wire strip through the left wire clamp plate and the right wire clamp plate, and is configured to break the wire strip, so that when the wire strip is dropped, one end of the broken wire strip is sucked into the wire aspirator 10.

[0023] In specific implementation, Figure 8-9 As shown, the silk aspirator 10 is connected to an air pipe 211, and the silk aspirator 10 is connected to an external air source through the air pipe 211; the silk aspirator 10 includes a silk aspirator head 1000, a silk aspirator seat 1001, a silk aspirator cap 1002 and a silk aspirator outlet pipe 1003, the silk aspirator cap 1002 is provided with a silk aspirator air nozzle 1004, the silk aspirator air nozzle 1004 is sleeved with a silk aspirator gasket 1005, the silk aspirator seat 1001 is connected to the air pipe 211, the silk aspirator cap 1002 is connected to the silk aspirator outlet pipe 1003, the silk aspirator outlet pipe 1003 is connected to a transparent tube, and the silk aspirator 10 is connected to a waste silk collection box 210 through the transparent tube; In a specific implementation, the wire pulling device 8 is a limit rod, and the limit rod is connected to the output shaft of the swing cylinder 209. More specifically, the front end of the limit rod is bent to form a wire hooking portion.

[0024] In addition, a swing cylinder mounting frame 212 is provided on the side plate 208, and the wire drawing device 8 is connected to the swing cylinder mounting frame 212 through the swing cylinder 209; the swing cylinder mounting frame 212 is sleeved on the outside of the wire suction device 10. This arrangement facilitates the smooth and stable operation of the wire breaker 9, the wire suction device 10 and the wire drawing device 8.

[0025] Furthermore, the wire aspirator 10 is connected to the waste wire collection box 210 through a transparent tube, and a wire break detector is provided between the wire outlet of the transparent tube and the waste wire collection box 210, wherein the wire break detector timely detects the wire condition of the wire outlet tube 1003 of the wire aspirator, timely finds the wire breakage or abnormality, and timely takes measures to collect the wire during the replacement of the paper tube 13 through the transparent tube. During implementation, the wire breaker 9 can also be set as a wire breaking method that can cut the wire, such as scissors.

[0026] The specific work process involved is as follows: 1. When the bobbin needs to be dropped, under the action of the wire drawing lifting guide rail 201 and the driving mechanism, the wire drawing telescopic mechanism 202 with the wire breaker 9, the wire sucker 10 and the wire drawing device 8 are all close to the drop wire; Second, the wire strips are cut by the wire cutter 9, and then the wire aspirator 10 sucks the wire strip heads after the wire is cut, and under the action of the air pipe 211, the wire strips are adsorbed and transported, ensuring that the temporary wire strips can be stored and collected in an orderly manner; the wire strips enter the waste wire box, and the wire strips are temporarily stored while the paper tube 13 is replaced; 3. At the winding station of the continuous spinning machine 6, after the bobbin 7 is taken off by the bobbin taking device 3 and the paper tube 13 is put into the paper tube 13 by the paper tube placing device 4 (the paper tube 13 is locked), the wire pulling device 8 pulls the silk strip to the normal swinging station, and the silk strip is wound on the paper tube under the rotation of the paper tube. After the silk strip is wound on the paper tube, it automatically breaks under the action of the pulling force.

[0027] The coordinated arrangement of the wire breaker 9, the wire suction device 10 and the wire pulling device 8 greatly improves the automation level and production efficiency of the textile production line, while ensuring the stability and quality of the wire supply process.

[0028] Example 4 On the basis of Examples 1-3, this example further defines the roller assembly 306 to further illustrate the technical solution.

[0029] like Fig.15 As shown, the roller assembly 306 includes two supporting side plates 3060 arranged opposite to each other, and a supporting position for supporting the bobbin 7 wound into a bobbin is provided between the two supporting side plates 3060, and the bobbin 7 is placed on the supporting position; two roller shafts 3061 are arranged between the two supporting side plates 3060, and the two roller shafts 3061 are arranged in parallel, and the distance between the two roller shafts 3061 is less than the maximum diameter of the bobbin 7 to be taken, and form a support for the outer wall of the bobbin 7 to be taken. Among them, the two roller shafts 3061 are rotatable, and when the two roller shafts 3061 form a support for the outer wall of the bobbin 7, the bobbin 7 itself rotates, which can reduce friction and avoid affecting the quality of the bobbin 7, and the distance between the two roller shafts 3061 is less than the maximum diameter of the bobbin 7 to be taken, and the spacing is adjustable according to the size of the bobbin 7; a photoelectric sensor is provided on one side of the roller assembly 306.

[0030] As another alternative, two support plates support the paper tube 13 , and the upper sides of the two support plates have arc-shaped grooves to adapt to the paper tube 13 of the bobbin 7 .

[0031] Among them, when the bobbin 7 in the continuous spinning machine 6 meets the bobbin removal requirements, while the bobbin 7 is removed, it is also necessary to ensure that it is easy to replace the new paper tube 13 to be wound into a bobbin at the winding station. That is, when taking the bobbin 7, the push rod assembly 1 309 is used to lift the large handle on one side of the bobbin 7 forward, and the push rod assembly 2 310 is used to press the small handle on the other side of the bobbin 7 forward to make the bobbin 7 leave the winding station; after taking the bobbin 7, that is, when putting on a new paper tube 13, the push rod assembly 1 309 is used to push back the large handle on one side of the upper paper tube 13, and the push rod assembly 2 310 is used to push back the small handle on the other side of the upper paper tube 13, so that the paper tube 13 sticks to the active roller in the continuous spinning machine 6 and rotates passively; The removed bobbin 7 enters the supporting position in the roller assembly 306 and then moves to a designated position, such as the hanging rod 103 on the walking frame 1.

[0032] Example 5 On the basis of embodiments 1-4, this embodiment further defines the barrel removal moving assembly to further illustrate the technical solution.

[0033] like Figure 11-14 As shown, the barrel taking moving assembly includes a first linear barrel taking guide rail 300, a second linear barrel taking guide rail 301, a third linear barrel taking guide rail 302 and a fourth linear barrel taking guide rail 303. The first linear barrel taking guide rail 300 is longitudinally arranged, with the upper end extending toward the top of the walking frame 1 and the lower end extending toward the ground. A first barrel taking slider 304 is sleeved on the first linear barrel taking guide rail 300, and the first barrel taking slider 304 is connected to the second linear barrel taking guide rail 301. The second linear barrel taking guide rail 301 is installed on the first linear barrel taking guide rail 300 and moves linearly along the Y direction. The second linear barrel taking guide rail 301 is arranged in a horizontal direction, and is perpendicular to the first linear barrel taking guide rail 300. A second barrel taking slider 305 is sleeved on the second linear barrel taking guide rail 301, and the second barrel taking slider 305 is connected to the third linear barrel taking guide rail 302. The third linear barrel taking guide rail 302 is installed on the second linear barrel taking guide rail 301 and moves linearly along the Z direction. The third linear barrel taking guide rail 302 is arranged in a transverse manner, and the third linear barrel taking guide rail 302 is perpendicular to the second linear barrel taking guide rail 301, and the third linear barrel taking guide rail 302 is arranged above the second linear barrel taking guide rail 301; a third barrel taking slider 307 is sleeved on the third linear barrel taking guide rail 302, and the third linear barrel taking guide rail 302 is connected to the roller assembly 306 through the third barrel taking slider 307, and the roller assembly 306 is installed on the third linear barrel taking guide rail 302 through the third barrel taking slider 307 and moves linearly along the X direction; or, the roller assembly 306 is fixedly arranged on the third linear barrel taking guide rail 302, at this time, the third linear barrel taking guide rail 302 acts as a support arm, and is mainly used to install the roller assembly 306; The fourth linear cylinder guide rail 303 is arranged longitudinally, and a fourth cylinder slide block 308 is provided on the fourth linear cylinder guide rail 303. The fourth linear cylinder guide rail 303 is connected to the push rod assembly 2 310 through the fourth cylinder slide block 308 (such as Fig.18 as shown).

[0034] Among them, through the coordinated arrangement of the first linear tube taking guide 300, the second linear tube taking guide 301 and the third linear tube taking guide 302, the roller assembly 306 can accurately receive and transfer the tube 7, and the fourth linear tube taking guide 303 drives the push rod assembly 2 310 to unlock the small handle used to lock the tube 7, thereby ensuring the orderliness, controllability and continuity of the tube taking work.

[0035] Example 6 On the basis of embodiments 1-5, this embodiment further defines the push rod assembly 309 to further illustrate the technical solution.

[0036] like Figure 16-17 As shown, the push rod assembly 1 309 includes an automatic telescopic rod Ⅰ 3090, which is arranged along the Z direction; a tension and compression sensor 3091 is provided at the front end of the automatic telescopic rod Ⅰ 3090, and the tension and compression sensor 3091 is connected to a servo electric cylinder 312 for lifting and pushing back the large handle.

[0037] Among them, the servo electric cylinder 312 includes a base 3120, a tension and compression slide 3121 and a cylindrical rubber-coated shaft I 3122 that cooperates with the large handle. The tension and compression slide 3121 is connected to the tension and compression sensor 3091 through the base 3120; the tension and compression slide 3121 is slidably connected to the base 3120, and the tension and compression slide 3121 can slide along the X direction; the cylindrical rubber-coated shaft I 3122 is arranged on one side of the tension and compression slide 3121.

[0038] The setting of the push rod assembly 1 309 can better unlock the large handle used to lock the cylinder 7, thereby ensuring the orderliness, controllability and continuity of the cylinder removal work; at the same time, it is better matched with the push rod assembly 2 310.

[0039] Example 7 On the basis of embodiments 1-6, this embodiment further defines the push rod assembly 2 310 to further illustrate the technical solution.

[0040] like Figure 18-19 As shown, the push rod assembly 2 310 includes an automatic telescopic rod II and a push plate 311 arranged at the end of the automatic telescopic rod II, and the automatic telescopic rod II and the push plate 311 are arranged along the Z direction; a cylindrical rubber-coated shaft II 3100 that cooperates with the small handle is provided on one side of the push plate 311; the cylindrical rubber-coated shaft I 3122 is matched with the cylindrical rubber-coated shaft II 3100.

[0041] The setting of the push rod assembly 2 310 can better unlock the small handle used to lock the cylinder 7, thereby ensuring the orderliness, controllability and continuity of the cylinder removal work; at the same time, it is better matched with the push rod assembly 1 309.

[0042] When taking the bobbin 7 and the upper paper tube 13, the push rod assembly 1 309 and the push rod assembly 2 310 respectively control the movement of the bobbin 7 being separated from the continuous spinning machine 6 and the upper paper tube 13 being fitted into place by lifting the large handle and pressing the small handle, making the operation more precise and efficient, and cooperating with the roller assembly 306 to realize automatic removal of the bobbin 7, thereby improving the automation degree and operating efficiency of the production line, and further improving the stability of the production line and product quality.

[0043] Example 8 On the basis of embodiments 1-7, in order to improve the controllability, stability and sustainability of the movement of the barrel removal moving assembly, this embodiment further defines: A first barrel taking sensor sheet is disposed on one side of the first barrel taking slider 304, and at least two first barrel taking sensors are disposed on the first linear barrel taking guide rail 300. The first barrel taking sensors are distributed in the Y direction, and the first barrel taking sensor sheet and the first barrel taking sensors are matched with each other. A second barrel taking sensor sheet is disposed on one side of the second barrel taking slider 305, and at least two second barrel taking sensors are disposed on the second linear barrel taking guide rail 301. The second barrel taking sensors are distributed in the Z direction, and the second barrel taking sensor sheet and the second barrel taking sensor are matched with each other. A third barrel taking sensor sheet is disposed on one side of the third barrel taking slider 307, at least two third barrel taking sensors are disposed on the third linear barrel taking guide rail 302, the third barrel taking sensors are distributed in the X direction, and the third barrel taking sensor sheet and the third barrel taking sensor are matched with each other; A fourth barrel taking sensor sheet is disposed on one side of the fourth barrel taking slider 308, at least two fourth barrel taking sensors are disposed on the fourth linear barrel taking guide rail 303, the fourth barrel taking sensors are distributed in the Y direction, and the fourth barrel taking sensor sheet and the fourth barrel taking sensor are matched with each other.

[0044] Example 9 On the basis of Examples 1-8, in order to improve the quality of the bobbin 7 and achieve the consistency of the batches of bobbins 7, this Example further defines: The bobbin taking device 3 also includes a detection component for detecting the position, thickness, diameter or weight of the bobbin 7 wound into a bobbin on the continuous spinning machine 6, and the detection component includes one or a combination of any two or more of a positioning sensor, a visual sensor, a photoelectric sensor and a weighing sensor. Among them, the positioning sensor is used to determine the position of the continuous spinning machine 6, the visual sensor identifies the diameter, position and other parameters of the bobbin 7 by taking pictures, etc., the photoelectric sensor is used to detect the diameter or thickness of the bobbin 7, and the weighing sensor detects the weight of the bobbin 7. Preferably, the positioning sensor, the visual sensor, the photoelectric sensor and the weighing sensor are all connected to the automatic bobbin dropping machine control system. In addition, the specific positions of the positioning sensors, visual sensors, photoelectric sensors and weighing sensors are set according to actual needs. For example, the positioning sensor (specifically, an infrared positioning sensor) is arranged on the roller assembly 306, and a reflection signal is formed between it and the bobbin 7 on the continuous spinning machine 6, thereby determining the positional relationship between the roller assembly 306 and the bobbin 7; another example is that the weighing sensor is arranged at the winding station of the continuous spinning machine 6, and the weight of the bobbin 7 is detected to determine whether the wound bobbin 7 meets the bobbin drop requirements, and so on.

[0045] Example 10 On the basis of Examples 1-9, this example further defines the paper supply tube mechanism to further illustrate the technical solution.

[0046] like Figure 26-27 As shown, the paper supply tube mechanism includes a paper discharge tube box 408 for stacking paper tubes 13 and a pushing cavity 407 provided at the bottom of the paper discharge tube box 408. A pusher 409 for pushing the paper tube 13 to the paper supply tube position is provided in the pushing cavity 407. The pusher 409 is connected to a moving driver 418 for making the pusher 409 perform linear reciprocating motion along the pushing cavity 407. More specifically, the pusher 409 includes a pushing tube. When the pushing tube pushes the paper tube 13 to the paper supply tube position, the pushing tube is located at the paper discharge tube position 419 below the paper discharge tube box 408 and receives the next paper tube 13.

[0047] In a specific implementation, the supply tube mechanism is used to neatly store multiple paper tubes 13. The paper tubes 13 are arranged in order in the paper output tube box 408. When the paper tubes 13 need to be replaced, the paper tubes 13 are sent into the pushing cavity 407 one by one. The paper tubes 13 move to the paper supply tube position in the pushing cavity 407. The upper paper tube mechanism at the paper supply tube position clamps the paper tube 13 and places it on the winding station of the continuous spinning machine 6 accordingly.

[0048] After the bobbin 7 is removed, the individual paper tubes 13 are sequentially transferred to the paper supply tube position through the push cavity 407, and then the paper tube upper mechanism installs the paper tube 13 of the paper supply tube position on the winding station of the continuous spinning machine 6 to complete the automatic replacement of the paper tube 13. The above arrangement can continuously replace the paper tube 13 and can manage the replaced paper tube 13 in an orderly manner. The bottom of the upper paper tube 13 box is provided with a push cavity 407, and a pusher 409 is provided in the push cavity 407, which can push the paper tube 13 to the paper supply tube position. This arrangement can ensure that the paper tube 13 is accurately delivered to the position of the continuous spinning machine 6, and improves the efficiency and accuracy of the automatic paper tube 13.

[0049] Embodiment 11 On the basis of embodiments 1-10, in order to improve the detection and monitoring of the position of the paper tube 13, this embodiment further defines: like Figure 28-29 As shown, a paper supply tube port 411 and a first detection hole 412 are provided on the pushing cavity 407 at the paper supply tube position, and a first paper supply tube sensor 413 for detecting the paper tube 13 at the paper supply tube position is provided at the first detection hole 412. Also, a second detection hole 414 is provided on one side of the paper output tube box 408 near the paper output tube position 419, and a second paper supply tube sensor 415 for detecting the paper tube 13 at the paper output tube position 419 is provided at the second detection hole 414.

[0050] Among them, the first detection hole 412 is combined with the first paper supply tube sensor 413, and the second detection hole 414 is combined with the second paper supply tube sensor 415, which can accurately push the paper tube 13 to the paper supply tube position. After the paper tube 13 is pushed into place, the upper paper tube mechanism receives a signal and moves the paper tube 13 from the paper supply tube position to the continuous spinning machine 6.

[0051] Example 12 On the basis of embodiments 1-11, in order to facilitate the smooth discharge of the paper tube 13 and prevent the paper tube 13 from being jammed, etc., this embodiment further defines: like Fig. 27 As shown, a guide plate 416 extending toward the paper outlet tube position 419 is provided in the paper outlet tube box 408 (i.e., the guide plate 416 is arranged to be inclined downward), and the guide plate 416 is used to drop the paper tube 13 in the paper outlet tube box 408 along the guide plate 416 from the paper outlet tube position 419 into the pushing cavity 407.

[0052] And, if Fig.28 As shown, a shaker 417 is provided on one side of the paper outlet tube box 408 away from the paper outlet tube position 419 (i.e., the rear side of the paper outlet tube box 408). The telescopic end of the shaker 417 pushes the paper tube 13 in the paper outlet tube box 408 to release the paper tube 13 smoothly.

[0053] Example 13 On the basis of Examples 1-12, this example further defines the upper paper tube mechanism to further illustrate the technical solution.

[0054] like Figure 20-26 As shown, the upper paper tube mechanism includes an upper paper tube moving assembly and a grabbing mechanism 406 disposed on the upper paper tube moving assembly.

[0055] More specifically, the upper paper tube moving assembly includes a first linear upper paper tube guide rail 400, a second linear upper paper tube guide rail 401 and a third linear upper paper tube guide rail 402. The first linear upper paper tube guide rail 400 is arranged horizontally. A first upper paper tube slider 403 is sleeved on the first linear upper paper tube guide rail 400. The first upper paper tube slider 403 is connected to the second linear upper paper tube guide rail 401. The second linear upper paper tube guide rail 401 is installed on the first linear upper paper tube guide rail 400 and moves linearly along the Z direction. The second linear upper paper tube guide rail 401 is arranged in a longitudinal direction, and the second linear upper paper tube guide rail 401 is perpendicular to the first linear upper paper tube guide rail 400; a second upper paper tube slider 404 is sleeved on the second linear upper paper tube guide rail 401, and the second upper paper tube slider 404 is connected to the third linear upper paper tube guide rail 402, and the third linear upper paper tube guide rail 402 is installed on the second linear upper paper tube guide rail 401 and moves linearly along the Y direction; The third linear upper paper tube guide rail 402 is arranged horizontally, and the third linear upper paper tube guide rail 402 is perpendicular to the second linear upper paper tube guide rail 401; the third linear upper paper tube guide rail 402 is sleeved with a third upper paper tube slider 405, and the third upper paper tube slider 405 is provided with a grabbing mechanism 406 for the paper tube 13, and the grabbing mechanism 406 is installed on the third linear upper paper tube guide rail 402 and moves linearly along the X direction.

[0056] Among them, through the coordinated arrangement of the first linear upper paper tube guide 400, the second linear upper paper tube guide 401 and the third linear upper paper tube guide 402, the precise movement of the grabbing mechanism 406 is achieved, thereby ensuring the orderliness, controllability and continuity of the upper paper tube 13, and improving the work quality and work efficiency.

[0057] Embodiment 14 On the basis of Examples 1-13, in order to improve the controllability, stability and sustainability of the movement of the upper paper tube moving component, this Example further defines: A first upper paper tube sensing sheet is provided on one side of the first linear upper paper tube slider, at least two first upper paper tube sensors are provided on the first linear upper paper tube guide rail 400, the first upper paper tube sensors are distributed in the Z direction, and the first upper paper tube sensing sheet and the first upper paper tube sensor are matched; A second upper paper tube sensing sheet is provided on one side of the second upper paper tube slider 404, at least two second upper paper tube sensors are provided on the second linear upper paper tube guide rail 401, the second upper paper tube sensors are distributed in the Y direction, and the second upper paper tube sensing sheet and the second upper paper tube sensor are matched; A third upper paper tube sensing sheet is provided on one side of the third upper paper tube slider 405, at least two third upper paper tube sensors are provided on the third linear upper paper tube guide rail 402, the third upper paper tube sensors are distributed in the X direction, and the third upper paper tube sensing sheet and the third upper paper tube sensor are matched.

[0058] Embodiment 15 On the basis of embodiments 1-14, this embodiment further limits the grabbing mechanism 406 to further illustrate the technical solution.

[0059] like Fig. 20 As shown, the gripping mechanism 406 includes a base 410 mounted on the third upper paper tube slider 405 and two grippers, the two grippers are arranged at the front end of the base 410, and the two grippers can slide relative to each other along the Y direction. The relative movement of the two grippers is used to clamp the paper tube 13 on the paper supply tube position.

[0060] Furthermore, a fourth upper paper tube sensor is installed on the base 410 toward the paper tube 13 to be clamped, and the fourth upper paper tube sensor is used to detect the clamped paper tube 13 .

[0061] Example 16 On the basis of Examples 1-15, this example further defines the labeling moving component to further illustrate the technical solution.

[0062] like Figure 30-31As shown, the labeling moving component includes a linear labeling guide rail 501 and a labeling lifting guide rail 502 (which can be specifically a slide cylinder). The linear labeling guide rail 501 is arranged horizontally, and a labeling slider 503 is sleeved on the linear labeling guide rail 501. The linear labeling guide rail 501 is connected to the labeling long arm 504 through the labeling slider 503 (more specifically, the labeling slider 503 is connected to the rear end of the labeling long arm 504); the bottom of the linear labeling guide rail 501 is installed on the labeling lifting guide rail 502, the labeling lifting guide rail 502 is arranged longitudinally, and a lifting block 512 is sleeved on the labeling lifting guide rail 502. The labeling lifting guide rail 502 is connected to the linear labeling guide rail 501 through the top of the lifting block 512, and the labeling lifting guide rail 502 is vertically installed on the labeling bracket 506 through the labeling support 505. The above arrangement ensures that the labeling long arm 504 has the ability to move back and forth, so that the label palm assembly 507 can be controlled to extend into the paper tube 13 to attach the label during the labeling process; Preferably, the front and rear ends of the labeling linear guide rail are provided with a front buffer and a rear buffer facing the labeling slider 503 (i.e., the inner side of the front and rear ends of the labeling linear guide rail). When the rear side of the labeling slider 503 abuts against the rear buffer, the suction cup 510 is directly opposite to the label output position of the label printing mechanism 500; when the front side of the labeling slider 503 abuts against the front buffer, the suction cup 510 is located at the labeling. Among them, the linear labeling guide rail 501 can be specifically a rodless cylinder, which has a simple, stable and easy-to-control structure. Combined with the design of the front and rear buffers, it can ensure the smooth movement and accurate positioning of the labeling long arm 504 during the labeling process, so that the stroke of the rodless cylinder can be set according to the labeling position and the label output position. In this way, the accuracy and reliability of the labeling device 5 are improved, which helps to ensure the correct attachment position of the label on the inner wall of the paper tube 13.

[0063] Embodiment 17 On the basis of Examples 1-16, this example further limits the labeling long arm 504 to further illustrate the technical solution.

[0064] like Fig.32 As shown, the front end of the labeling long arm 504 is also provided with a rotary driver 508, which is fixedly mounted on the front end of the labeling long arm 504 through a vertical plate 511, and the rear end of the labeling long arm 504 is slidably connected to the linear labeling guide rail 501. Specifically, the swing cylinder 209 can be used as the rotary driver 508, which gives the labeling device 5 better controllability and flexibility. The swing cylinder 209 can control the rotation angle of the suction cup 510 during the labeling process to ensure that the label is accurately attached to the inner wall of the paper tube 13; The labeling process becomes more stable and controllable through the cooperation of the label palm assembly 507 and the rotary drive 508. The label palm assembly 507 helps to accurately absorb the label, while the rotary drive 508 ensures that the suction cup 510 can accurately rotate and attach the label, thereby ensuring the accuracy and firmness of the label attachment.

[0065] Embodiment 18 On the basis of embodiments 1-17, this embodiment further defines the handle component 507 to further illustrate the technical solution.

[0066] like Figure 32-33 As shown, the handle assembly 507 includes a suction cup 510, which is connected to the output shaft of the rotary driver 508 through a rotating plate II 509; the lower end of the suction cup 510 has an arc-shaped adsorption surface, and the adsorption surface is provided with a plurality of suction holes connected to the vacuum cavity, and the vacuum cavity of the suction cup 510 is connected to an external air source through an air pipe joint.

[0067] Furthermore, a spring is provided between the top of the suction cup 510 and the rotating plate II 509, and the suction cup 510 is elastically mounted on the rotating plate II 509 through the spring, and a protective member is attached to the bottom of the suction cup 510. More specifically, the protective member is foam, and the design of covering the bottom of the suction cup 510 with foam provides additional buffering and protection functions for the labeling device 5. The softness of the foam can reduce the friction and collision between the suction cup 510 and the inner wall of the paper tube 13, thereby improving the stability and reliability of the labeling process.

[0068] When the rear end of the labeling long arm 504 approaches the rear end of the labeling linear guide rail, the suction cup 510 is located at the label output position of the label printing mechanism 500, and rotates to absorb the label at the label output position driven by the rotary driver 508; When the rear end of the labeling long arm 504 approaches the front end of the labeling linear guide rail, the suction cup 510 extends into the labeling position of the inner circular hole of the paper tube 13 for labeling.

[0069] Embodiment 19 On the basis of embodiments 1-18, this embodiment further limits the walking frame 1 to further illustrate the technical solution.

[0070] like Figure 1-2 As shown, the walking frame 1 includes two parallel columns 100, a walking beam 101 and a mounting bracket 11 for mounting a wire drawing device 2, a tube taking device 3, a paper tube loading device 4 and a labeling device 5. One end of the walking beam 101 is fixedly arranged on the top of one column 100, and the other end of the walking beam 101 is fixedly arranged on the top of another column 100; the mounting bracket 11 is connected to the walking beam 101 through a sliding connection component 12, and the sliding connection component 12 is connected to a driving component (such as Fig.34As shown). In addition, a hanging beam 102 is provided on one side of the walking beam 101, and the hanging beam 102 is arranged in parallel with the walking beam 101; a plurality of hanging rods 103 for placing the bobbins 7 are evenly distributed on the hanging beam 102. In addition, a position sensor, a visual sensor and a controller are provided on the walking beam 101, and the position sensor, the visual sensor and the driving assembly are electrically connected to the controller respectively. The position information of the mounting bracket 11 can be obtained in real time and accurately to ensure the accuracy of the bobbin dropping operation. This is of great significance for improving product quality and reducing waste. The precise positioning and intelligent control of the mounting bracket 11 are realized. The production efficiency is improved, the manual intervention is reduced, the possibility of human error is reduced, and the continuity and stability of each process in the bobbin dropping process are ensured; As an implementation method, Figure 2 As shown, the sliding connection assembly 12 includes a guide rail I arranged on the top of the walking beam 101 and a roller I arranged on the mounting bracket 11, and the roller I and the guide rail I are slidably matched; a connecting frame is provided on the top of the mounting bracket 11, and the connecting frame includes a connecting plate and a support arm, the bottom of the connecting plate is fixedly connected to the top of the mounting bracket 11, the support arm is vertically connected to the top surface of the connecting plate, and the roller I is rotatably connected to the support arm; more preferably, there are two guide rails I, and the two guide rails I are parallel to the two sides of the top surface of the walking beam 101, and the four corners of the top of the connecting plate The support arms are arranged at the positions respectively, and four rollers I are provided, and each support arm is rotatably connected with a roller I that slides with the guide rail I; and, guide rails II are also provided on both sides of the bottom surface of the walking beam 101, and the lower part of each support arm is also rotatably connected with a roller II that slides with the guide rail II at the bottom of the beam; gear bars are also provided on the two side surfaces of the walking beam 101, and a gear is rotatably connected with the position corresponding to the gear bar of each support arm, and the gear and the gear bar are movably connected (such as meshing connection), and the gear transmission is connected with a driving motor; Among them, the sliding cooperation between the guide rail 1 set on the walking crossbeam 101 and the roller 1 on the mounting bracket 11, as well as the transmission connection between the support arm and the gear bar and the gear, ensures the stability and reliability of the walking frame 1 during the movement. At the same time, the design of the roller 1 and the guide rail 1 reduces friction, reduces energy consumption, and prolongs the service life of the equipment; by setting the walking crossbeam 101 at the top, and setting the guide rail on the walking crossbeam 101, the mounting bracket 11 is connected to the walking crossbeam 101 through the sliding connection assembly 12, so that the mounting bracket 11 is suspended on the walking crossbeam 101, saving ground space, and facilitating operations such as wire breaking, wire suction, wire removal, paper tube 13, and wire loading during the bobbin dropping process.

[0071] As an implementation mode, the driving assembly includes a variable frequency motor and a reducer, the variable frequency motor is fixedly connected to the support arm, the output shaft of the variable frequency motor is transmission connected to the reducer, and the output end of the reducer is transmission connected to the roller I.

[0072] Furthermore, the design of the walking frame 1 makes the entire doffing machine device compact and small in footprint, and can fully utilize the space above the continuous spinning machine 6 for doffing operations. This not only improves the space utilization of the workshop, but also helps to optimize the production layout. The connection design between the various components is reasonable, which is convenient for daily maintenance and overhaul. When a component needs to be replaced or repaired, it can be quickly disassembled and installed, reducing maintenance costs and time costs.

[0073] The traveling frame 1 shows remarkable advantages and beneficial effects in improving production efficiency, ensuring product quality, reducing energy consumption and maintenance costs, etc.

[0074] The above description is only a specific implementation mode of the present invention, but the protection scope of the present invention is not limited thereto. Any modification, equivalent substitution and inclusion made by any technician familiar with the technical field within the technical scope disclosed by the present invention and within the spirit and principle of the present invention should be covered by the protection scope of the present invention.

Claims

1. An automatic doffing machine suitable for continuous spinning process, characterized in that: It comprises a traveling frame (1) and a wire drawing device (2), a tube taking device (3), a paper tube loading device (4) and a labeling device (5) arranged on the traveling frame (1), wherein the traveling frame (1) is sleeved on a conveying slide rail, and the conveying slide rail is located on one side of a wire strip winding position of a continuous spinning machine (6); The wire drawing device (2) comprises a wire drawing telescopic mechanism (202) and a wire breaker (9), a wire sucker (10) and a wire drawing device (8) all arranged at the ends of the wire drawing telescopic mechanism (202); the wire breaker (9), the wire sucker (10) and the wire drawing device (8) are all arranged close to the off-coil wire strip; the wire sucker (10) is located at the rear side of the working position of the wire breaker (9); the wire drawing device (8) is located at the rear side of the working position of the wire sucker (10); and a continuous passage for breaking, sucking and feeding the off-coil wire strip is formed between the wire breaker (9), the wire sucker (10) and the wire drawing device (8); The bobbin taking device (3) is sleeved on the bobbin taking moving assembly, and the bobbin taking moving assembly is arranged on the walking frame (1); the bobbin taking device (3) comprises a roller assembly (306) for supporting the bobbin (7), a push rod assembly 1 (309) for unlocking and locking the bobbin (7) on the continuous spinning machine (6), and a push rod assembly 2 (310) for unlocking and locking the bobbin (7) on the continuous spinning machine (6), and the push rod assembly 1 (309) and the push rod assembly 2 (310) cooperate with each other; the push rod assembly 1 (309) is located on one side of the roller assembly (306), and the push rod assembly 2 (310) is located on the other side of the roller assembly (306); the walking frame (1) drives the roller assembly (306), the push rod assembly 1 (309) and the push rod assembly 2 (310) to move along the arrangement direction of the continuous spinning machine (6); The paper tube loading device (4) comprises a paper tube supply mechanism for supplying paper tubes (13) and a paper tube loading mechanism for clamping and loading the paper tubes (13); The labeling device (5) comprises a label printing mechanism (500) and a labeling mechanism, wherein the label printing mechanism (500) is located on one side of the labeling mechanism; the labeling mechanism comprises a labeling moving assembly and a labeling long arm (504) arranged on the labeling moving assembly, wherein the labeling long arm (504) can reciprocate along the axial direction of the paper tube (13), and a label palm assembly (507) is arranged at the front end of the labeling long arm (504); A continuous passage is formed between the wire drawing device (2), the tube taking device (3), the paper tube loading device (4) and the labeling device (5) for dropping the tube, cutting the wire, taking the tube, loading the paper tube (13) and labeling the tube (7).

2. The automatic doffing machine suitable for continuous spinning process according to claim 1, characterized in that: The wire drawing telescopic mechanism (202) is mounted on the wire drawing lifting guide rail (201) in a sliding manner, and the wire drawing lifting guide rail (201) is mounted on the wire drawing bracket (200).

3. The automatic doffing machine suitable for continuous spinning process according to claim 2, characterized in that: The wire drawing device (2) further comprises a waste wire collection box (210) mounted at the bottom of the walking frame (1); the waste wire collection box (210) is connected to the wire aspirator (10); the wire aspirator (10) is connected to an air pipe (211); the wire aspirator (10) is connected to an external air source via the air pipe (211); the wire drawing bracket (200) and the wire drawing lifting guide rail (201) are both arranged above the waste wire collection box (210), and the wire drawing bracket (200) is located on one side of the wire drawing lifting guide rail (201).

4. The automatic doffing machine suitable for continuous spinning process according to claim 2, characterized in that: The end of the wire pulling and retracting mechanism (202) is provided with a mounting plate (203), the mounting plate (203) is connected to a rotating plate I (204) by a pitching and rotatable connection, the rotating plate I (204) is vertically connected to a bottom plate (205), a wire breaking rodless cylinder (206) and a side plate (208) are arranged on the bottom plate (205), the wire breaking rodless cylinder (206) is connected to a wire breaker (9) by a clamping claw cylinder (207); the wire suction device (10) is mounted on the side plate (208), and the wire pulling device (8) is connected to the side plate (208) by a swinging cylinder (209).

5. The automatic doffing machine suitable for continuous spinning process according to claim 4, characterized in that: A swing cylinder mounting frame (212) is provided on the side plate (208); the wire drawing device (8) is connected to the swing cylinder mounting frame (212) via a swing cylinder (209); and the swing cylinder mounting frame (212) is sleeved on the outside of the wire suction device (10).

6. The automatic doffing machine for continuous spinning process according to claim 4, characterized in that: The silk aspirator (10) is connected to the waste silk collection box (210) via a transparent tube, and a broken silk detector is provided between the silk outlet of the transparent tube and the waste silk collection box (210).

7. The automatic doffing machine for continuous spinning process according to claim 1, characterized in that: The roller assembly (306) comprises two supporting side plates (3060) arranged opposite to each other, a supporting position for supporting the bobbin (7) wound into a tube is provided between the two supporting side plates (3060), and the bobbin (7) is placed on the supporting position; two roller shafts (3061) are provided between the two supporting side plates (3060), the two roller shafts (3061) are arranged in parallel, and the distance between the two roller shafts (3061) is smaller than the maximum diameter of the bobbin (7) to be taken, and form support for the outer wall of the bobbin (7) to be taken.

8. The automatic doffing machine suitable for continuous spinning process according to claim 1, characterized in that: The barrel taking moving assembly comprises a first linear barrel taking guide rail (300), a second linear barrel taking guide rail (301), a third linear barrel taking guide rail (302) and a fourth linear barrel taking guide rail (303); the first linear barrel taking guide rail (300) is arranged longitudinally, with the upper end extending toward the top of the walking frame (1) and the lower end extending toward the ground; a first barrel taking slider (304) is sleeved on the first linear barrel taking guide rail (300), the first barrel taking slider (304) is connected to the second linear barrel taking guide rail (301), and the second linear barrel taking guide rail (301) is installed on the first linear barrel taking guide rail (300) and performs linear motion along the Y direction; The second linear barrel taking guide rail (301) is arranged in a transverse direction, the second linear barrel taking guide rail (301) is perpendicular to the first linear barrel taking guide rail (300), a second barrel taking slider (305) is sleeved on the second linear barrel taking guide rail (301), the second barrel taking slider (305) is connected to the third linear barrel taking guide rail (302), and the third linear barrel taking guide rail (302) is installed on the second linear barrel taking guide rail (301) and performs linear motion along the Z direction; The third linear barrel taking guide rail (302) is arranged in a transverse direction, the third linear barrel taking guide rail (302) is perpendicular to the second linear barrel taking guide rail (301), and the third linear barrel taking guide rail (302) is arranged above the second linear barrel taking guide rail (301); a third barrel taking slider (307) is sleeved on the third linear barrel taking guide rail (302), the third linear barrel taking guide rail (302) is connected to the roller assembly (306) through the third barrel taking slider (307), and the roller assembly (306) is installed on the third linear barrel taking guide rail (302) through the third barrel taking slider (307) and performs linear motion along the X direction; The fourth linear barrel taking guide rail (303) is arranged longitudinally, a fourth barrel taking slider (308) is provided on the fourth linear barrel taking guide rail (303), and the fourth linear barrel taking guide rail (303) is connected to the push rod assembly 2 (310) via the fourth barrel taking slider (308).

9. The automatic doffing machine suitable for continuous spinning process according to claim 1, 7 or 8, characterized in that: The push rod assembly 1 (309) comprises an automatic telescopic rod Ⅰ (3090), which is arranged along the Z direction; a tension and compression sensor (3091) is provided at the front end of the automatic telescopic rod Ⅰ (3090), and the tension and compression sensor (3091) is connected to a servo electric cylinder (312) for lifting and pushing back the large handle.

10. The automatic doffing machine suitable for continuous spinning process according to claim 9, characterized in that: The servo electric cylinder (312) comprises a base (3120), a tension and compression slide (3121) and a cylindrical rubber-coated shaft I (3122) matched with a large handle; the tension and compression slide (3121) is connected to a tension and compression sensor (3091) via the base (3120); the tension and compression slide (3121) is slidably connected to the base (3120), and the tension and compression slide (3121) can slide along the X direction; the cylindrical rubber-coated shaft I (3122) is arranged on one side of the tension and compression slide (3121).

11. The automatic doffing machine suitable for continuous spinning process according to claim 10, characterized in that: The push rod assembly 2 (310) comprises an automatic telescopic rod II and a push plate (311) arranged at the end of the automatic telescopic rod II, wherein the automatic telescopic rod II and the push plate (311) are arranged along the Z direction; a cylindrical rubber-coated shaft II (3100) matching with the small handle is provided on one side of the push plate (311); the cylindrical rubber-coated shaft I (3122) is matched with the cylindrical rubber-coated shaft II (3100).

12. The automatic doffing machine for continuous spinning process according to claim 8, characterized in that: A first barrel taking sensor sheet is provided on one side of the first barrel taking slider (304), at least two first barrel taking sensors are provided on the first linear barrel taking guide rail (300), the first barrel taking sensors are distributed in the Y direction, and the first barrel taking sensor sheet and the first barrel taking sensor are matched with each other; A second barrel taking sensor sheet is provided on one side of the second barrel taking slider (305), at least two second barrel taking sensors are provided on the second linear barrel taking guide rail (301), the second barrel taking sensors are distributed in the Z direction, and the second barrel taking sensor sheet and the second barrel taking sensor are matched with each other; A third barrel taking sensor sheet is provided on one side of the third barrel taking slider (307), at least two third barrel taking sensors are provided on the third linear barrel taking guide rail (302), the third barrel taking sensors are distributed in the X direction, and the third barrel taking sensor sheet and the third barrel taking sensor are matched with each other; A fourth barrel taking sensor sheet is provided on one side of the fourth barrel taking slider (308), at least two fourth barrel taking sensors are provided on the fourth linear barrel taking guide rail (303), the fourth barrel taking sensors are distributed in the Y direction, and the fourth barrel taking sensor sheet and the fourth barrel taking sensor are matched.

13. The automatic doffing machine for continuous spinning process according to claim 8, characterized in that: The bobbin removal device (3) further comprises a detection component for detecting the position, thickness, diameter or weight of the bobbin (7) wound into a bobbin on the continuous spinning machine (6), wherein the detection component comprises one or a combination of any two or more of a positioning sensor, a visual sensor, a photoelectric sensor and a weighing sensor.

14. The automatic doffing machine for continuous spinning process according to claim 1, characterized in that: The paper supply tube mechanism comprises a paper output tube box (408) for stacking paper tubes (13) and a pushing cavity (407) arranged at the bottom end of the paper output tube box (408); a pusher (409) for pushing the paper tube (13) to the paper supply tube position is arranged in the pushing cavity (407); the pusher (409) is connected to a moving driver (418) for causing the pusher (409) to perform linear reciprocating motion along the pushing cavity (407).

15. The automatic doffing machine suitable for continuous spinning process according to claim 14, characterized in that: The pushing cavity (407) is provided with a paper supply tube opening (411) and a first detection hole (412) at the paper supply tube position, and a first paper supply tube sensor (413) for detecting the paper tube (13) at the paper supply tube position is provided corresponding to the first detection hole (412).

16. The automatic doffing machine suitable for continuous spinning process according to claim 14 or 15, characterized in that: A second detection hole (414) is provided on one side of the paper output tube box (408) close to the paper output tube position (419), and a second paper supply tube sensor (415) for detecting the paper tube (13) at the paper output tube position (419) is provided corresponding to the second detection hole (414).

17. The automatic doffing machine for continuous spinning process according to claim 14, characterized in that: A guide plate (416) extending toward the paper outlet tube position (419) is provided in the paper outlet tube box (408), and the guide plate (416) is used to cause the paper tube (13) in the paper outlet tube box (408) to fall from the paper outlet tube position (419) into the pushing cavity (407) along the guide plate (416).

18. The automatic doffing machine for continuous spinning process according to claim 14, characterized in that: A shaker (417) for smoothly releasing the paper tube (13) is provided on a side of the paper outlet tube box (408) away from the paper outlet tube position (419).

19. The automatic doffing machine for continuous spinning process according to claim 1, characterized in that: The upper paper tube mechanism comprises an upper paper tube moving component and a grabbing mechanism (406) arranged on the upper paper tube moving component.

20. The automatic doffing machine for continuous spinning process according to claim 19, characterized in that: The upper paper tube moving assembly comprises a first linear upper paper tube guide rail (400), a second linear upper paper tube guide rail (401) and a third linear upper paper tube guide rail (402); the first linear upper paper tube guide rail (400) is arranged in a transverse direction; a first upper paper tube slider (403) is sleeved on the first linear upper paper tube guide rail (400); the first upper paper tube slider (403) is connected to the second linear upper paper tube guide rail (401); the second linear upper paper tube guide rail (401) is installed on the first linear upper paper tube guide rail (400) and performs linear motion along the Z direction; The second linear upper paper tube guide rail (401) is arranged in a longitudinal direction, and the second linear upper paper tube guide rail (401) is perpendicular to the first linear upper paper tube guide rail (400); a second upper paper tube slider (404) is sleeved on the second linear upper paper tube guide rail (401), and the second upper paper tube slider (404) is connected to the third linear upper paper tube guide rail (402); the third linear upper paper tube guide rail (402) is installed on the second linear upper paper tube guide rail (401) and performs linear motion along the Y direction; The third linear upper paper tube guide rail (402) is arranged in a transverse direction, and the third linear upper paper tube guide rail (402) is perpendicular to the second linear upper paper tube guide rail (401); a third upper paper tube slider (405) is sleeved on the third linear upper paper tube guide rail (402), and a gripping mechanism (406) for a paper tube (13) is provided on the third upper paper tube slider (405); the gripping mechanism (406) is installed on the third linear upper paper tube guide rail (402) and performs linear motion along the X direction.

21. The automatic doffing machine for continuous spinning process according to claim 20, characterized in that: A first upper paper tube sensing sheet is provided on one side of the first linear upper paper tube slider, at least two first upper paper tube sensors are provided on the first linear upper paper tube guide rail (400), the first upper paper tube sensors are distributed in the Z direction, and the first upper paper tube sensing sheet and the first upper paper tube sensor are arranged in a coordinated manner; A second upper paper tube sensing sheet is provided on one side of the second upper paper tube slider (404), at least two second upper paper tube sensors are provided on the second linear upper paper tube guide rail (401), the second upper paper tube sensors are distributed in the Y direction, and the second upper paper tube sensing sheet and the second upper paper tube sensor are arranged in a coordinated manner; A third upper paper tube sensing sheet is provided on one side of the third upper paper tube slider (405), at least two third upper paper tube sensors are provided on the third linear upper paper tube guide rail (402), the third upper paper tube sensors are distributed in the X direction, and the third upper paper tube sensing sheet and the third upper paper tube sensor are arranged in coordination.

22. The automatic doffing machine suitable for continuous spinning process according to claim 20 or 21, characterized in that: The gripping mechanism (406) comprises a base (410) mounted on the third upper paper tube slider (405) and two grippers, the two grippers being arranged at the front end of the base (410) and being able to slide relative to each other along the Y direction.

23. The automatic doffing machine for continuous spinning process according to claim 22, characterized in that: The base (410) is provided with a fourth upper paper tube sensor in the direction of the paper tube (13) to be clamped, and the fourth upper paper tube sensor is used to detect the clamped paper tube (13).

24. The automatic doffing machine for continuous spinning process according to claim 1, characterized in that: The labeling moving assembly comprises a linear labeling guide rail (501) and a labeling lifting guide rail (502); the linear labeling guide rail (501) is arranged in a horizontal direction; a labeling slider (503) is sleeved on the linear labeling guide rail (501); the linear labeling guide rail (501) is connected to a labeling long arm (504) via the labeling slider (503); the bottom of the linear labeling guide rail (501) is mounted on the labeling lifting guide rail (502); the labeling lifting guide rail (502) is arranged in a vertical direction; a lifting block (512) is sleeved on the labeling lifting guide rail (502); the labeling lifting guide rail (502) is connected to the linear labeling guide rail (501) via the top of the lifting block (512).

25. The automatic doffing machine for continuous spinning process according to claim 24, characterized in that: The front end of the long labeling arm (504) is also provided with a rotary driver (508), which is fixedly mounted on the front end of the long labeling arm (504) via a vertical plate (511), and the rear end of the long labeling arm (504) is slidably connected to the linear labeling guide rail (501).

26. The automatic doffing machine for continuous spinning process according to claim 25, characterized in that: The handle assembly (507) comprises a suction cup (510), which is connected to the output shaft of the rotary driver (508) via a rotating plate II (509); the suction cup (510) has an arc-shaped suction surface at its lower end, and a plurality of suction holes connected to the vacuum cavity are provided on the suction surface; the vacuum cavity of the suction cup (510) is connected to an external gas source via an air pipe joint.

27. The automatic doffing machine for continuous spinning process according to claim 26, characterized in that: A spring is provided between the top of the suction cup (510) and the rotating plate II (509), and the suction cup (510) is elastically mounted on the rotating plate II (509) through the spring, and a protective piece is attached to the bottom of the suction cup (510).

28. The automatic doffing machine for continuous spinning process according to claim 27, characterized in that: The front and rear ends of the labeling linear guide rail are provided with a front buffer and a rear buffer in the direction of the labeling slider (503); when the rear side of the labeling slider (503) abuts against the rear buffer, the suction cup (510) faces the label output position of the label printing mechanism (500); when the front side of the labeling slider (503) abuts against the front buffer, the suction cup (510) is located at the labeling position.

29. The automatic doffing machine for continuous spinning process according to claim 1, characterized in that: The walking frame (1) comprises two parallel columns (100), a walking beam (101) and a mounting bracket (11) for mounting a wire drawing device (2), a tube taking device (3), a paper tube loading device (4) and a labeling device (5); one end of the walking beam (101) is fixedly arranged on the top of one column (100), and the other end of the walking beam (101) is fixedly arranged on the top of another column (100); the mounting bracket (11) is connected to the walking beam (101) via a sliding connection component (12), and the sliding connection component (12) is connected to a driving component.

30. The automatic doffing machine for continuous spinning process according to claim 29, characterized in that: A suspension beam (102) is provided on one side of the traveling beam (101), and the suspension beam (102) is arranged in parallel with the traveling beam (101); a plurality of suspension rods (103) for placing the bobbins (7) are evenly distributed on the suspension beam (102).

31. The automatic doffing machine for continuous spinning process according to claim 30, characterized in that: The walking crossbeam (101) is provided with a position sensor, a visual sensor and a controller, and the position sensor, the visual sensor and the driving component are electrically connected to the controller respectively.

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