Automatic doffing and collecting system of two-for-one twister

Abstract

According to the automatic doffing and collecting system of the two-for-one twister, a bearing disc is correspondingly provided with a plurality of bobbin bins in a communicating mode, yarn bobbins move into the bobbin bins through the bearing disc, and the yarn bobbins fall into a bobbin collecting automatic guiding trolley and a bobbin collecting device below from the bobbin bins; the bobbin collecting automatic guide vehicle fully loaded with the bobbins drives the bobbin falling automatic guide vehicle to a bobbin collecting position through the connection platform, the bobbin collecting automatic guide vehicle without load drives the bobbin falling automatic guide vehicle through the connection platform to collect the bobbins, automatic bobbin falling and collecting are achieved in this way, the working efficiency is improved, and the labor intensity of workers is reduced. Connection platforms can be arranged at multiple positions in the workshop, the automatic doffing guide vehicle and the automatic collecting guide vehicle take the connection platforms as the center, automatic doffing and collecting of bobbins are completed within the radiation range of the connection platforms, the bobbins are efficiently collected, the automation degree is high, the working efficiency is high, the receiving disc achieves single-section single-side single-layer overall one-time doffing, and the production efficiency is high. Yarn bobbins automatically fall into the bobbin bins through gravity, and bobbin falling is efficient and high in speed.

Description

Technical Field

[0001] The invention relates to the technical field of textile automation equipment, and in particular to an automatic bobbin doffing and collecting system for a two-for-one twisting machine. Background Art

[0002] The two-for-one twister is a twisting device, that is, a doubling device (multiple strands are combined into one strand), which can achieve two twists in one turn, and the twisting efficiency is doubled compared to traditional twisting equipment. The two-for-one twister is divided into two layers, with the original yarn barrel placed on the bottom layer. The two-for-one twister draws the original yarn through the drawing device, and twists the drawn yarn into one strand through the twisting device and wraps it around the twisting yarn barrel to complete the twisting.

[0003] The two-for-one twisting machine is divided into short fiber two-for-one twisting machine (cotton yarn) and chemical fiber two-for-one twisting machine (polymer chemical long line). The short fiber two-for-one twisting machine structure is a single-layer bilaterally symmetrical layout, while the chemical fiber two-for-one twisting machine is a double-layer double-sided symmetrical layout.

[0004] In textile enterprises, manual doffing is still used, that is, taking the full yarn bobbin off the bobbin frame of the twisting machine; the labor intensity of doffing workers is high, the efficiency is low, and too much manpower is wasted; doffing workers need to work in high-intensity labor all year round, which is easy to cause physical damage. Therefore, the development of automatic doffing machines is of great significance to textile factories to improve production efficiency, reduce workers' labor intensity, and improve production automation and continuity. With the increase in labor costs, automatic doffing machines can greatly improve labor efficiency and will definitely become a future development trend.

[0005] At present, the automatic doffing equipment of the two-for-one twisting machine is not a single-section, single-side, single-layer overall one-time complete full yarn bobbin doffing work, and the bobbin cannot be automatically collected after doffing, which is inefficient. In order to further improve the efficiency of automatic doffing, the present application proposes an efficient automatic doffing and collection system for a two-for-one twisting machine that can complete the doffing and automatic collection of bobbins in a single layer at one time. Summary of the invention

[0006] In response to the problems in the related art, the present application discloses an automatic bobbin dropping and collecting system for a two-for-one twisting machine, which solves the problems that the existing bobbin dropping equipment cannot complete the bobbin dropping work as a whole at one time, cannot automatically collect the bobbins after dropping, and has low efficiency.

[0007] To achieve the above objectives, this application provides the following technical solutions:

[0008] An automatic bobbin doffing and collecting system for a two-for-one twisting machine, comprising an automatic control device, the automatic control device is connected to a bobbin doffing automatic guide vehicle through signal control, a bobbin doffing frame structure is provided on the upper part of the bobbin doffing automatic guide vehicle, the bobbin doffing frame structure is movably connected to a lifting frame, the lifting frame can be lifted up and down through a lifting device, a bobbin doffing device is movably connected to the upper part of the lifting frame, and the bobbin doffing device can be telescopically moved forward and backward through a front and rear telescopic device;

[0009] The automatic control device is connected to the bobbin collecting automatic guide vehicle through signal control, the bobbin collecting automatic guide vehicle is located on the upper part of the bobbin dropping automatic guide vehicle platform, a bobbin collecting device is provided on the upper part of the bobbin collecting automatic guide vehicle, and the bobbin collecting device is located on the lower part of the bobbin dropping device to receive the yarn bobbin;

[0010] It also includes a docking platform. After the bobbin collecting device receives and is loaded with bobbins, the bobbin dropping automatic guided vehicle carries the bobbin collecting automatic guided vehicle and moves to the docking platform. The docking platform is stably docked with the bottom platform of the bobbin dropping automatic guided vehicle. The bobbin collecting automatic guided vehicle loaded with bobbins drives off the bobbin dropping automatic guided vehicle through the docking platform to the bobbin collection location, and the empty bobbin collecting automatic guided vehicle drives into the bobbin dropping automatic guided vehicle through the docking platform to collect the bobbins.

[0011] As a further solution of the present application: the bobbin dropping device includes a receiving tray, and a plurality of toggle handles that can be moved left and right are provided on the upper part of the receiving tray. The outer ends of the toggle handles can contact the yarn bobbin limiting structure. The toggle handles toggle the yarn bobbin limiting structure to enable the yarn bobbin to fall into the receiving tray. The receiving tray is connected to and correspondingly provided with a plurality of bobbin bins. The yarn bobbin moves to the inside of the bobbin bin through the receiving tray. A limit switch mechanism is provided at the bottom of the bobbin bin. The opening and closing of the limit switch mechanism can realize the storage and falling out of the yarn bobbin.

[0012] As a further solution of the present application: the lifting device includes a motor ball screw structure, the drum frame structure includes multiple lifting rods, the lifting frame is provided with multiple lifting roller groups, the lifting roller groups are slidably connected to the lifting rods, and the motor ball screw structure drives the lifting frame to move up and down through the lifting rods and the lifting roller groups.

[0013] As a further solution of the present application: the front and rear telescopic device includes a motor ball screw structure, a telescopic rail is provided on the upper part of the lifting frame, and the tube-dropping device is correspondingly provided with a telescopic slider, and the telescopic slider can move smoothly along the telescopic rail. The motor ball screw structure drives the tube-dropping device to telescope forward and backward through the telescopic rail and the telescopic slider.

[0014] As a further solution of the present application: the receiving tray is an inwardly inclined plate-like structure, and a plurality of the cylinder silos are connected and provided at a low position inside the receiving tray.

[0015] As a further solution of the present application: a plurality of middle partitions are evenly arranged on the upper surface of the receiving tray, the middle partitions divide the receiving tray into a plurality of partitions, each of the partitions corresponds to a bobbin bin, a guide rod which increases in size from small to large is arranged in the middle of each partition, inwardly inclined guide ramps are arranged on the top ends of both sides of the bobbin bin, a guide straight plate is arranged in the center of the bobbin bin, the guide straight plate divides the bobbin bin evenly into two bin positions, and the yarn bobbins are stored upright by limiting the position of the guide ramps during the rolling process.

[0016] As a further solution of the present application: the toggle handle is connected to a swing frame, the swing frame is arranged on the upper part of the tube-dropping device, the swing frame can move left and right relative to the tube-dropping device, the swing frame is connected to a motor ball screw structure, and the motor ball screw structure drives the toggle handle to move left and right through the swing frame.

[0017] As a further solution of the present application: the limit switch mechanism includes two limit plates arranged in parallel, and a plurality of swing arm plates are rotatably connected between the two limit plates. The swing arm plates are dynamically connected with a rotating drive shaft and a switch motor. The switch motor realizes power transmission and conversion through the rotating drive shaft, and the rotating drive shaft realizes the opening and closing movement of the limit plates by driving the swing arm plates.

[0018] As a further solution of the present application: the bobbin collecting device includes a bobbin holding frame for holding yarn bobbins, a plurality of guide columns are provided in the center of the bobbin holding frame, the guide columns are columnar structures, and the guide columns divide the interior of the bobbin holding frame into a plurality of spaces that can uprightly accommodate yarn bobbins.

[0019] As a further solution of the present application: the docking platform includes a horizontally arranged docking platform, the docking platform and the bottom platform height and width of the docking platform match the bottom platform of the tube-dropping automatic guided vehicle, and inclined ramps are provided at both ends of the docking platform. The tube-collecting automatic guided vehicle can automatically enter and exit the tube-dropping automatic guided vehicle along the ramp and the docking platform.

[0020] As a further solution of the present application: the automatic control device controls the bobbin automatic guide vehicle to move to a specified position, the automatic control device controls the lifting device and the front and rear telescopic device to drive the bobbin device to rise and telescope forward, the bobbin device drops the yarn bobbin into the bobbin bin, the automatic control device controls the lifting device and the front and rear telescopic device to drive the bobbin device to telescope backward and descend, after the bobbin device descends to the upper end of the bobbin collection device, the front and rear telescopic device adjusts the bobbin bin yarn dropping position, the limit switch mechanism opens the bottom of the bobbin bin, and the yarn bobbin falls into the bobbin collection device.

[0021] In summary, the beneficial effects of this application are:

[0022] 1. Automatic bobbin doffing and collection system of the two-for-one twisting machine. The doffing device includes a receiving plate. The receiving plate is in the shape of a plate. A plurality of toggle handles that can be moved left and right are arranged on the upper part of the receiving plate. The outer end of the toggle handle can contact the bobbin limiting structure. The toggle handle toggles the bobbin limiting structure to realize the one-time completion of the bobbin dropping into the receiving plate with a single section, a single side and a single layer. The receiving plate is connected to and corresponding to a plurality of bobbin bins. The bobbin moves to the inside of the bobbin bin through the receiving plate. A limit switch mechanism is arranged at the bottom of the bobbin bin. The opening and closing of the limit switch mechanism can realize the storage and dropping of the bobbin. The bobbin falls from the bobbin bin into the bobbin collecting automatic guide vehicle and the bobbin collecting device below. The bobbin collecting automatic guide vehicle loaded with bobbins is loaded with bobbins. The bobbin car drives down the bobbin automatic guide car to the bobbin collection point through the docking platform, and the empty bobbin collection automatic guide car drives into the bobbin automatic guide car through the docking platform to collect the bobbins. This reciprocating process realizes the automatic bobbin dropping and collection of the bobbins, thereby improving work efficiency. The docking platform can be set up in many places in the workshop. The bobbin dropping automatic guide car and the bobbin collection automatic guide car are centered on the docking platform, and complete the automatic bobbin dropping and collection of the bobbins within the radiation range of the docking platform. The bobbin collection is efficient, highly automated, and highly efficient. The receiving plate realizes the one-time completion of bobbin dropping in a single section, single side, and single layer. The bobbins automatically fall into the bobbin bin by gravity, and the bobbin dropping is efficient and fast.

[0023] 2. The receiving tray is an inwardly inclined plate-shaped structure. A number of bobbin bins are connected at the lower position inside the receiving tray. The bobbins roll into the bobbin bins by gravity, and the collection is efficient and fast.

[0024] 3. Inwardly inclined guide plates are provided at the top of both sides of the bobbin bin, and a guide straight plate is provided in the center of the bobbin bin. The guide straight plate divides the bobbin bin into two positions evenly. Each position can accommodate one yarn bobbin. The yarn bobbin is limited by the guide inclined plate during the rolling process to achieve upright storage of the yarn bobbin. The yarn bobbin remains upright when it falls into the bobbin collection device. The yarn bobbin can be stored efficiently, which improves the yarn bobbin collection efficiency.

[0025] 4. The bobbin collecting device includes a bobbin holding frame for holding the yarn bobbins. A plurality of guide columns are arranged in the center of the bobbin holding frame. The guide columns are columnar structures. The guide columns divide the interior of the bobbin holding frame into a plurality of spaces for accommodating yarn bobbins upright. The guide columns improve the neatness of the bobbin storage in the bobbin holding frame, reduce manual operation, and realize the automation of yarn bobbin collection.

[0026] 5. The automatic control device controls the bobbin automatic guide vehicle to move to the specified position. The automatic control device controls the lifting device and the front and rear telescopic device to drive the bobbin device to rise and telescope forward. The bobbin device drops the yarn bobbin into the bobbin bin. The automatic control device controls the lifting device and the front and rear telescopic device to drive the bobbin device to telescope backward and descend. After the bobbin device descends to the upper end of the bobbin collection device, the front and rear telescopic devices adjust the bobbin bin doffing position, the limit switch mechanism opens the bottom of the bobbin bin, and the bobbin falls into the bobbin collection device. This bobbin doffing and collection method is simple and efficient, and the smooth transfer and reception of the bobbin is completed by lifting and retracting. It is efficient and simple, and can effectively protect the bobbin. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] The accompanying drawings are used to provide further understanding of the present application and constitute a part of the specification. They are used to explain the present application together with the embodiments of the present application and do not constitute a limitation of the present application.

[0028] In the attached picture:

[0029] Figure 1 This is a schematic diagram of the structure of this application.

[0030] Figure 2 This is a schematic diagram of the structure of the automatic guided vehicle for dropping tubes and the upper device of this application.

[0031] Figure 3 This is a schematic diagram of the structure of the doffing device of the present application.

[0032] Figure 4 This is a rear structural schematic diagram of the doffing device of this application.

[0033] Figure 5 This is a schematic diagram of the structure of the limit switch mechanism of this application.

[0034] Reference numerals:

[0035] 1. Automatic guided vehicle for dropping tubes; 2. Structure of tube dropping frame; 3. Lifting frame; 4. Lifting device; 41. Lifting rod; 42. Lifting roller group; 5. Front and rear telescopic device; 51. Telescopic track; 52. Telescopic slide block; 6. Tube dropping device; 61. Toggle handle; 611. Swinging frame; 62. Receiving plate; 621. Middle partition; 622. Guide rod; 63. Tube bin; 631. Guide straight plate; 632. Guide inclined plate; 64. Limit switch mechanism; 641. Limit plate; 642. Swing arm plate; 643. Rotating drive shaft; 644. Switch motor; 7. Automatic guided vehicle for collecting tubes; 8. Tube collecting device; 81. Tube holding frame; 82. Guide column; 9. Docking platform; 91. Docking platform; 92. Ramp platform; DETAILED DESCRIPTION

[0036] Exemplary embodiments will be described in detail herein, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, the same numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the following exemplary embodiments do not represent all implementations consistent with the present application. Instead, they are merely examples of devices and methods consistent with some aspects disclosed in the present embodiments as detailed in the appended claims.

[0037] It should be noted that all directional indications in the embodiments (such as up, down, left, right, front, back, etc.) are only used to explain the relative position relationship, movement status, etc. between the components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0038] In addition, the descriptions of "first", "second", etc. in the embodiments are only for descriptive purposes, and do not specifically refer to the order or sequence, nor are they used to limit the present application. They are only used to distinguish components or operations described with the same technical terms, and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, the technical solutions between the various embodiments can be combined with each other, but they must be based on the ability of ordinary technicians in the field to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection required by the present application.

[0039] In order to further understand the content, features and effects of the present application, the following embodiments are given as examples and described in detail with reference to the accompanying drawings:

[0040] like Figure 1-5 As shown:

[0041] The automatic bobbin doffing and collecting system of the two-for-one twister includes an automatic control device, which is composed of the following core modules:

[0042] Servo drive unit: includes the servo motor body and servo drive, realizes the precise conversion of electrical signal to mechanical motion, and integrates overload protection and dynamic braking functions.

[0043] Central controller: executes motion trajectory planning, closed-loop control algorithms and multi-axis collaborative operations.

[0044] HMI interactive terminal: provides parameter setting interface and real-time operation status visualization display.

[0045] High-precision sensor: detects the actuator position information and feeds back to the control system.

[0046] Control logic flow, system operation includes the following key interaction mechanisms:

[0047] ①The operator inputs the target parameters through the HMI interactive terminal, and the central controller generates the optimized motion trajectory.

[0048] ②The controller sends control instructions to the servo drive unit through the industrial bus.

[0049] ③The sensor collects position data in real time and transmits it back to the controller to form a closed-loop control.

[0050] ④The controller dynamically adjusts the output instructions to achieve automatic compensation of position errors.

[0051] The automatic control device is connected to the tube-dropping automatic guided vehicle 1 by signal control, and comprises an automatic guided vehicle (AGV for short).

[0052] A bobbin-dropping frame structure 2 is provided on the upper part of the bobbin-dropping automatic guided vehicle 1, and the bobbin-dropping frame structure 2 is a frame structure.

[0053] The tube-dropping frame structure 2 is movably connected with a lifting frame 3, which can be lifted up and down through a lifting device 4. A tube-dropping device 6 is movably connected to the upper part of the lifting frame 3, and the tube-dropping device 6 can be telescopically moved forward and backward through a front and rear telescopic device 5.

[0054] Among them, the bobbin dropping device 6 includes a receiving tray 62, and a plurality of toggle handles 61 which can be moved left and right are provided on the upper part of the receiving tray 62. The outer end of the toggle handle 61 can contact the yarn bobbin limiting structure. The toggle handle 61 toggles the yarn bobbin limiting structure to enable the yarn bobbin to fall into the receiving tray 62. The receiving tray 62 is an inwardly inclined plate-like structure. A plurality of bobbin bins 63 are connected at a low position on the inner side of the receiving tray 62. The yarn bobbin moves to the inside of the bobbin bin 63 through the receiving tray 62. A limit switch mechanism 64 is provided at the bottom of the bobbin bin 63. The opening and closing of the limit switch mechanism 64 can realize the storage and falling out of the yarn bobbin.

[0055] The automatic control device is connected to the drum collecting automatic guided vehicle 7 by signal control, including an automatic guided vehicle (AGV for short).

[0056] The bobbin collecting automatic guide vehicle 7 is located on the upper part of the bobbin dropping automatic guide vehicle 1 platform, and a bobbin collecting device 8 is provided on the upper part of the bobbin collecting automatic guide vehicle 7. The bobbin collecting device 8 is located under the bobbin dropping device 6 to receive the yarn bobbins.

[0057] It also includes a docking platform 9. After the bobbin collecting device 8 receives and is fully loaded with yarn bobbins, the bobbin-dropping automatic guided vehicle 1 carries the bobbin-dropping automatic guided vehicle 7 and moves to the docking platform 9. The docking platform 9 is stably docked with the bottom platform of the bobbin-dropping automatic guided vehicle 1. The bobbin-dropping automatic guided vehicle 7 fully loaded with yarn bobbins drives down the bobbin-dropping automatic guided vehicle 1 to the bobbin collection location through the docking platform 9, and the empty bobbin-dropping automatic guided vehicle 7 drives into the bobbin-dropping automatic guided vehicle 1 through the docking platform 9 to collect the yarn bobbins.

[0058] Among them, the lifting device 4 includes a motor ball screw structure, the drum frame structure 2 includes four lifting rods 41, and the lifting frame 3 is provided with multiple lifting roller groups 42. The lifting roller groups 42 are slidably connected with the lifting rods 41. The motor ball screw structure drives the lifting frame 3 to move up and down through the lifting rods 41 and the lifting roller groups 42.

[0059] The front and rear telescopic device 5 includes a motor ball screw structure, a telescopic rail 51 is provided on the upper part of the lifting frame 3, and the tube-dropping device 6 is correspondingly provided with a telescopic slider 52. The telescopic slider 52 can move smoothly along the telescopic rail 51. The motor ball screw structure drives the tube-dropping device 6 to telescope forward and backward through the telescopic rail 51 and the telescopic slider 52.

[0060] In addition, a plurality of middle partitions 621 are evenly arranged on the upper surface of the receiving plate 62, and the middle partitions 621 divide the receiving plate 62 into a plurality of partitions, each partition corresponds to a bobbin bin 63, and a guide rod 622 which increases from small to large is arranged in the middle of each partition, and the guide rod 622 guides the yarn bobbin to roll into the bobbin bin 63.

[0061] Inwardly inclined guide inclined plates 632 are provided at the top of both sides of the bobbin 63, and a vertical guide straight plate 631 is provided in the center of the bobbin 63. The guide straight plate 631 divides the bobbin 63 into two positions evenly, each position can store a yarn bobbin, and the yarn bobbin is limited by the guide inclined plate 632 during the rolling process to achieve upright storage of the yarn bobbin.

[0062] The toggle handle 61 is connected to a swing frame 611, which is arranged on the upper part of the tube-dropping device 6. The swing frame 611 can move left and right relative to the tube-dropping device 6. The swing frame 611 is connected to a motor ball screw structure, which drives the toggle handle 61 to move left and right through the swing frame 611.

[0063] The limit switch mechanism 64 includes two limit plates 641 arranged in parallel, and a plurality of swing arm plates 642 are rotatably connected between the two limit plates 641. The swing arm plates 642 are power-connected with a rotating drive shaft 643 and a switch motor 644. The switch motor 644 realizes power transmission and conversion through the rotating drive shaft 643, and the rotating drive shaft 643 realizes the opening and closing movement of the limit plates 641 by driving the swing arm plates 642.

[0064] The bobbin collecting device 8 includes a bobbin containing frame 81 for containing bobbins. A plurality of guide columns 82 are provided at the center of the bobbin containing frame 81. The guide columns 82 are columnar structures. The guide columns 82 divide the interior of the bobbin containing frame 81 into a plurality of spaces for accommodating bobbins upright.

[0065] The docking platform 9 includes a horizontally arranged docking platform 91, the docking platform 91 and the bottom platform height and width of the tube-dropping automatic guided vehicle 1 are consistent, and inclined ramps 92 are provided at both ends of the docking platform 91. The tube-collecting automatic guided vehicle 7 can automatically enter and exit the tube-dropping automatic guided vehicle 1 along the ramps 92 and the docking platform 91.

[0066] The automatic control device controls the bobbin dropping automatic guide vehicle 1 to move to the specified position, the automatic control device controls the lifting device 4 and the front and rear telescopic device 5 to drive the bobbin dropping device 6 to rise and telescopically move forward, the bobbin dropping device 6 drops the yarn bobbin into the bobbin bin 63, the automatic control device controls the lifting device 4 and the front and rear telescopic device 5 to drive the bobbin dropping device 6 to telescopically move backward and descend, after the bobbin dropping device 6 descends to the upper end of the bobbin collecting device 8, the front and rear telescopic device 5 adjusts the bobbin bin 63 doffing position, the limit switch mechanism 64 opens the bottom of the bobbin bin 63, and the yarn bobbin falls into the bobbin collecting device 8.

[0067] In practical application:

[0068] The bobbin dropping device 6 includes a receiving tray 62, which is in the shape of a plate. A plurality of toggle handles 61 that can be moved left and right are arranged on the upper part of the receiving tray 62. The outer end of the toggle handle 61 can contact the bobbin limiting structure. The toggle handle 61 toggles the bobbin limiting structure to realize the one-time completion of the bobbin dropping into the receiving tray 62 with a single section, a single side and a single layer as a whole. The receiving tray 62 is connected and correspondingly provided with a plurality of bobbin bins 63. The bobbin moves to the inside of the bobbin bin 63 through the receiving tray 62. A limit switch mechanism 64 is arranged at the bottom of the bobbin bin 63. The opening and closing of the limit switch mechanism 64 can realize the storage and dropping of the bobbin. The bobbin falls from the bobbin bin 63 into the automatic bobbin collecting guide vehicle 7 and the bobbin collecting device 8 below. The bobbin collecting automatic guide vehicle 7 loaded with bobbins is automatically opened. The moving guide vehicle 7 drives down the bobbin dropping automatic guide vehicle 1 to the bobbin collection point through the docking platform 9, and the empty bobbin collecting automatic guide vehicle 7 drives into the bobbin dropping automatic guide vehicle 1 through the docking platform 9 to collect the bobbins. This reciprocating process realizes the automatic bobbin dropping and collection of the bobbins, thereby improving the work efficiency. The docking platform 9 can be provided in multiple locations in the workshop. The bobbin dropping automatic guide vehicle 1 and the bobbin collecting automatic guide vehicle 7 are centered on the docking platform 9, and complete the automatic bobbin dropping and collection of the bobbins within the radiation range of the docking platform 9. The bobbin collection is efficient, the degree of automation is high, and the work efficiency is high. The receiving plate 62 realizes the one-time completion of bobbin dropping in a single section, single side, and single layer. The bobbins automatically fall into the bobbin bin 63 by gravity, and the bobbins are efficiently dropped and the speed is fast.

[0069] The receiving tray 62 is a plate-like structure inclined inwardly, and a plurality of bobbin bins 63 are connected and provided at a low position inside the receiving tray 62. The yarn bobbins roll into the bobbin bins 63 by gravity, and the collection is efficient and fast.

[0070] Inwardly inclined guide plates 632 are provided at the top of both sides of the bobbin bin 63, and a guide straight plate 631 is provided in the center of the bobbin bin 63. The guide straight plate 631 divides the bobbin bin 63 into two positions evenly, each position can accommodate a yarn bobbin, and the yarn bobbin is limited by the guide inclined plates 632 during the rolling process to achieve upright storage of the yarn bobbin. The yarn bobbin remains upright when it falls into the bobbin collecting device 8, so the yarn bobbin can be stored efficiently, thereby improving the yarn bobbin collection efficiency.

[0071] The bobbin collecting device 8 includes a bobbin holding frame 81 for holding yarn bobbins, and a plurality of guide columns 82 are arranged in the center of the bobbin holding frame 81. The guide columns 82 are columnar structures, and the guide columns 82 divide the interior of the bobbin holding frame 81 into a plurality of spaces for uprightly accommodating yarn bobbins. The guide columns 82 improve the neatness of the bobbin storage in the bobbin holding frame 81, reduce manual operation, and highly realize the automation of yarn bobbin collection.

[0072] The automatic control device controls the bobbin automatic guide vehicle 1 to move to the specified position, the automatic control device controls the lifting device 4 and the front and rear telescopic device 5 to drive the bobbin device 6 to rise and telescopically move forward, the bobbin device 6 drops the yarn bobbin into the bobbin bin 63, the automatic control device controls the lifting device 4 and the front and rear telescopic device 5 to drive the bobbin device 6 to telescopically move backward and descend, after the bobbin device 6 descends to the upper end of the bobbin collection device 8, the front and rear telescopic device 5 adjusts the bobbin bin 63 doffing position, the limit switch mechanism 64 opens the bottom of the bobbin bin 63, and the yarn bobbin falls into the bobbin collection device 8. This bobbin dropping and collection method is simple and efficient, and the smooth transfer and reception of the yarn bobbin are completed by lifting and retracting. It is efficient and simple, and the yarn bobbin can be effectively protected.

[0073] Finally, it should be noted that the above disclosure is only a preferred embodiment of the present application and is not intended to limit the present application. Although the present application is described in detail with reference to the aforementioned embodiments, it is still possible for a person skilled in the art to modify the technical solutions described in the aforementioned embodiments or to replace some of the technical features therein by equivalents. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present application shall be included in the scope of protection of the present application. The scope of the present application is limited only by the attached claims.

Claims

1. An automatic doffing and collecting system for a two-for-one twisting machine, characterized in that: The invention comprises an automatic control device, wherein the automatic control device is connected to a bobbin-dropping automatic guide vehicle (1) through signal control, a bobbin-dropping frame structure (2) is provided on the upper part of the bobbin-dropping frame structure (1), a lifting frame (3) is movably connected to the bobbin-dropping frame structure (2), the lifting frame (3) can be lifted and lowered by a lifting device (4), a bobbin-dropping device (6) is movably connected to the upper part of the lifting frame (3), and the bobbin-dropping device (6) can be extended and retracted forward and backward by a front and rear extension device (5); The automatic control device is connected to a bobbin collecting automatic guide vehicle (7) by signal control. The bobbin collecting automatic guide vehicle (7) is located on the upper part of the platform of the bobbin dropping automatic guide vehicle (1). A bobbin collecting device (8) is provided on the upper part of the bobbin collecting automatic guide vehicle (7). The bobbin collecting device (8) is located on the lower part of the bobbin dropping device (6) to receive the yarn bobbins. It also comprises a docking platform (9). After the bobbin collecting device (8) receives and is loaded with bobbins, the bobbin dropping automatic guided vehicle (1) carries the bobbin collecting automatic guided vehicle (7) and moves to the docking platform (9). The docking platform (9) is stably docked with the bottom platform of the bobbin dropping automatic guided vehicle (1). The bobbin collecting automatic guided vehicle (7) loaded with bobbins passes through the docking platform (9) and drives down the bobbin dropping automatic guided vehicle (1) to the bobbin collection position. The empty bobbin collecting automatic guided vehicle (7) passes through the docking platform (9) and drives into the bobbin dropping automatic guided vehicle (1) to collect the bobbins.

2. The automatic bobbin doffing and collecting system for a two-for-one twisting machine according to claim 1, characterized in that: The bobbin dropping device (6) comprises a receiving tray (62), a plurality of toggle handles (61) movable left and right are arranged on the upper part of the receiving tray (62), the outer ends of the toggle handles (61) can contact with the bobbin limiting structure, and the bobbin can be dropped into the receiving tray (62) by toggle the bobbin limiting structure by the toggle handles (61), and the receiving tray (62) is connected to and correspondingly provided with a plurality of bobbin bins (63), and the bobbin moves into the bobbin bin (63) through the receiving tray (62), and a limit switch mechanism (64) is arranged at the bottom of the bobbin bin (63), and the opening and closing of the limit switch mechanism (64) can realize the storage and dropping of the bobbin.

3. The automatic bobbin doffing and collecting system for a two-for-one twisting machine according to claim 1, characterized in that: The lifting device (4) comprises a motor ball screw structure, the drum frame structure (2) comprises a plurality of lifting rods (41), the lifting frame (3) is provided with a plurality of lifting roller groups (42), the lifting roller groups (42) are connected to the lifting rods (41) in a sliding manner, and the motor ball screw structure drives the lifting frame (3) to move up and down through the lifting rods (41) and the lifting roller groups (42).

4. The automatic bobbin doffing and collecting system for a two-for-one twisting machine according to claim 1, characterized in that: The front-to-back telescopic device (5) comprises a motor ball screw structure, a telescopic rail (51) is provided on the upper part of the lifting frame (3), and the tube-dropping device (6) is correspondingly provided with a telescopic slider (52), and the telescopic slider (52) can move smoothly along the telescopic rail (51), and the motor ball screw structure drives the tube-dropping device (6) to move forward and backward through the cooperation of the telescopic rail (51) and the telescopic slider (52).

5. The automatic bobbin doffing and collecting system for a two-for-one twisting machine according to claim 2, characterized in that: The receiving plate (62) is an inwardly inclined plate-shaped structure, and a plurality of cylinder silos (63) are provided at a low position inside the receiving plate (62) for communication.

6. The automatic bobbin doffing and collecting system for a two-for-one twisting machine according to claim 2, characterized in that: A plurality of intermediate partitions (621) are evenly arranged on the upper surface of the receiving plate (62), and the intermediate partitions (621) divide the receiving plate (62) into a plurality of partitions, each of which corresponds to a bobbin bin (63). A guide rod (622) which increases in size from small to large is arranged in the middle of each partition. Inwardly inclined guide inclined plates (632) are arranged at the top ends of both sides of the bobbin bin (63), and a guide straight plate (631) is arranged in the center of the bobbin bin (63). The guide straight plate (631) evenly divides the bobbin bin (63) into two bins, and the bobbin is stored upright by the guide inclined plate (632) during the rolling process.

7. The automatic bobbin doffing and collecting system for a two-for-one twisting machine according to claim 2, characterized in that: The toggle handle (61) is connected to a swing frame (611), the swing frame (611) is arranged on the upper part of the tube-dropping device (6), the swing frame (611) can move left and right relative to the tube-dropping device (6), and the swing frame (611) is connected to a motor ball screw structure, and the motor ball screw structure drives the toggle handle (61) to move left and right through the swing frame (611).

8. The automatic bobbin doffing and collecting system for a two-for-one twisting machine according to claim 2, characterized in that: The limit switch mechanism (64) comprises two limit plates (641) arranged in parallel, wherein a plurality of swing arm plates (642) are rotatably connected between the two limit plates (641), and the swing arm plates (642) are dynamically connected to a rotating drive shaft (643) and a switch motor (644). The switch motor (644) realizes power transmission and conversion through the rotating drive shaft (643), and the rotating drive shaft (643) realizes the opening and closing movement of the limit plates (641) by driving the swing arm plates (642).

9. The automatic bobbin doffing and collecting system for a two-for-one twisting machine according to claim 1, characterized in that: The bobbin collecting device (8) comprises a bobbin holding frame (81) for holding bobbins, a plurality of guide columns (82) are provided at the center of the bobbin holding frame (81), the guide columns (82) are columnar structures, and the guide columns (82) divide the interior of the bobbin holding frame (81) into a plurality of spaces capable of uprightly accommodating bobbins.

10. The automatic bobbin doffing and collecting system for a two-for-one twisting machine according to claim 1, characterized in that: The docking platform (9) comprises a horizontally arranged docking platform (91), wherein the docking platform (91) has the same height and width as the bottom platform of the tube-dropping automatic guided vehicle (1), and inclined ramps (92) are arranged at both ends of the docking platform (91), and the tube-collecting automatic guided vehicle (7) can automatically enter and exit the tube-dropping automatic guided vehicle (1) along the ramps (92) and the docking platform (91).

11. The automatic bobbin doffing and collecting system for a two-for-one twisting machine according to claim 2, characterized in that: The automatic control device controls the bobbin automatic guide vehicle (1) to move to a specified position, and the automatic control device controls the lifting device (4) and the front and rear telescopic device (5) to drive the bobbin device (6) to rise and telescopically move forward, and the bobbin device (6) drops the yarn bobbin into the bobbin bin (63). The automatic control device controls the lifting device (4) and the front and rear telescopic device (5) to drive the bobbin device (6) to telescopically move backward and downward, and after the bobbin device (6) is lowered to the upper end of the bobbin collection device (8), the front and rear telescopic device (5) adjusts the bobbin bin (63) doffing position, and the limit switch mechanism (64) opens the bottom of the bobbin bin (63), and the yarn bobbin falls into the inside of the bobbin collection device (8).

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