Chemical fiber roll splitting and loading method and device based on multi-station rotating robot
Through the multi-station rotary robot system, using a wire box instead of the temporary storage table and the multi-station rotary loading robot, the problem of split loading space in the narrow winding workshop is solved, and efficient roll separation and loading is achieved, saving land and cost.
Patent Information
- Application Number
- CN202510750867.7
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-06-06
- Publication Date
- 2025-07-25
AI Technical Summary
In the prior art, the ends of each package production line need to reserve enough space to install temporary storage tables, turntables and loading robots, which covers a large area and is difficult to plan and design the package split loading plan, which increases corporate costs.
The multi-station rotary robot system is adopted, and by using a wire box instead of the temporary storage station as a cache mechanism, combining the multi-station rotary loading robot and the transfer robot, the "one-to-many" split loading mode is achieved, reducing the footprint, and deploying the multi-station rotary loading robot opposite the temporary storage station through the multi-station rotary loading robot, overlapping the cargo and loading areas, saving footprint.
It realizes efficient splitting and loading in a narrow space, reduces land occupation demand, reduces corporate costs, and improves system transportation efficiency.
Smart Images
Figure CN120364529A_ABST
Abstract
Description
Technical Field
[0001] The present invention relates to the technical field of chemical fiber package splitting and loading, and specifically relates to a method and device for splitting and loading chemical fiber packages based on a multi-station rotating robot. Background Art
[0002] At present, China has become the world's largest chemical fiber producer, accounting for more than 70% of the world's chemical fiber production. The chemical fiber industry is one of the industries with the most international competitive advantages in China and is also an important pillar industry of the national economy. As a traditional labor-intensive industry, the automation and intelligent upgrade of chemical fiber production logistics is a necessary way to promote industrial transformation and upgrading and enhance the core competitiveness of enterprises.
[0003] With the continuous development of technology, in recent years, the winding workshops of newly built chemical fiber production plants have basically realized the transformation from manual bobbin laying to automatic bobbin laying and from manual splitting and loading to automatic splitting and loading. However, due to the narrow space in the old workshops of most chemical fiber enterprises, the upgrade and transformation of automated logistics equipment have not been realized yet. There is a broad market prospect for the research and development of automated logistics equipment and systems in narrow spaces.
[0004] At present, the splitting and loading system of packages usually consists of a temporary storage table, a single / multi-station transfer robot, a turntable and a silk cart. The system is deployed at the end of the package production line in the winding workshop. After the automatic bobbin laying robot lays bobbins at the winding head, it transfers the packages to the temporary storage table. After the number of packages of a certain variety in the temporary storage table meets the quantity that can be loaded on a single silk cart, the transfer robot picks up the packages from the temporary storage table, splits and loads the packages onto the turntable silk cart. After the silk cart finishes loading the packages, the fully loaded silk cart is transferred to the automated storage and retrieval system or temporarily stored on the ground by means of logistics equipment or manual cart pulling. However, for this solution, sufficient space needs to be reserved at the end of each package production line to install the temporary storage table, turntable and loading robot, and there should be enough space to complete the operation of the silk cart getting on and off the turntable. It is difficult to plan and design the splitting and loading scheme of packages using this technology in a crowded and narrow winding workshop. At the same time, one package production line corresponds to one splitting and loading system, which not only occupies a large amount of space but also increases the enterprise cost. Summary of the Invention
[0005] In view of this, the purpose of the present invention is to provide a method and device for splitting and loading chemical fiber packages based on a multi-station rotating robot, so as to solve the problems in the prior art that sufficient space needs to be reserved at the end of each package production line to install the temporary storage table, turntable and loading robot, and there should be enough space to complete the operation of the silk cart getting on and off the turntable, and it is difficult to plan and design the splitting and loading scheme of packages using this technology in a crowded and narrow winding workshop; at the same time, solve the problem that one package production line corresponds to one splitting and loading system, which not only occupies a large amount of space but also increases the enterprise cost.
[0006] According to the first aspect of the embodiments of the present invention, a method for splitting and loading chemical fiber packages based on a multi-station rotating robot is provided, including: After the packages are dropped from the winding head by an automatic bobbin dropping robot, the whole rod of packages of the same variety are stored in a station of the silk box. After the silk box is full, an empty silk box is used to replace the full silk box, and the full silk box is transported to the unpacking station through the winding workshop; The host computer sends control instructions to the transfer robot and the unpacking station respectively, so that the transfer robot stores the packages of the same variety in the full silk box into the corresponding temporary storage screw rod group on the temporary storage table; when all stations of any temporary storage screw rod group are full, the full temporary storage screw rod group sends a full-load signal to the host computer; The host computer sends an entry instruction to the silk car to be loaded according to the full-load signal. The silk car to be loaded moves to the turntable according to the entry instruction. After the turntable detects the entry of the silk car to be loaded, it rotates to drive the silk car to be loaded, so that the first side of the silk car to be loaded faces the station of the full temporary storage screw rod group; After the turntable rotates in place, it sends an in-place instruction to the host computer. The host computer sends a transfer instruction to the multi-station rotating loading robot according to the in-place instruction; the multi-station rotating loading robot aligns its own station with the station of the full temporary storage screw rod group according to the transfer instruction; After the multi-station rotating loading robot moves and aligns, the host computer sends a pushing instruction to the full temporary storage screw rod group, pushes the packages on the full temporary storage screw rod group to the station of the multi-station rotating loading robot, and sends a pushing completion instruction to the host computer; The host computer sends a control instruction to the multi-station rotating loading robot according to the pushing completion instruction, so that the multi-station rotating loading robot completes the loading of the first side of the silk car to be loaded; The host computer sends control instructions to the turntable and the multi-station rotating loading robot respectively, so that the multi-station rotating loading robot completes the loading of the back side of the silk car to be loaded; After the loading of the back side of the silk car to be loaded is completed, the host computer sends a control instruction to the turntable. The turntable drives the silk car full of packages to align with the offline port according to the control instruction, and waits for a human or a logistics device to pick up the silk car full of packages.
[0007] Preferably, The host computer sends control instructions to the transfer robot and the unpacking station respectively, so that the transfer robot stores the packages of the same variety in the full silk box into the corresponding temporary storage screw rod group on the temporary storage table, including: The host computer sends a receiving instruction to the transfer robot. The transfer robot generates a receiving operation according to the receiving instruction, aligns its own station with the station of the full silk box, and sends an arrival instruction to the host computer; The host computer sends a delivery instruction to the unpacking station according to the arrival instruction of the transfer robot. The unpacking station pushes out a push plate aligned with the transfer robot according to the delivery instruction, and pushes the roll from the station of the wire box to the station of the transfer robot. After the transfer robot retracts the push plate, it sends a completion instruction to the host computer; The host computer sends a stock storage instruction to the transfer robot according to the completion instruction. The transfer robot stores the roll varieties in its respective stations into the corresponding temporary storage screw rod groups on the temporary storage table according to the stock storage instruction.
[0008] Preferably, The temporary storage table includes multiple temporary storage screw rod groups. The number of stations in each temporary storage screw rod group is equal to the number of stations of the multi-station rotary loading robot. The stations of each temporary storage screw rod group are vertically and continuously distributed, and each temporary storage screw rod group stores rolls of the same variety.
[0009] Preferably, The multi-station rotary loading robot aligns its own station with the station of the fully loaded temporary storage screw rod group according to the transfer instruction, including: The multi-station rotary loading robot drives its own rotating shaft to operate according to the transfer instruction, so that its own station faces the station of the fully loaded temporary storage screw rod group; The multi-station rotary loading robot drives its own horizontal walking shaft to operate, so that its own station is horizontally aligned with the station of the fully loaded temporary storage screw rod group; The multi-station rotary loading robot drives its own vertical shaft to operate, driving its own station to move downward from a high position along the vertical track, so that its own station is vertically aligned with the station of the fully loaded temporary storage screw rod group.
[0010] Preferably, After the multi-station rotary loading robot moves and aligns, the host computer sends a control instruction to the fully loaded temporary storage screw rod group to push the roll on the fully loaded temporary storage screw rod group to the station of the multi-station rotary loading robot, including: After the multi-station rotary loading robot moves and aligns, it sends an alignment completion instruction to the host computer. The host computer sends a push-out instruction to the fully loaded temporary storage screw rod group according to the alignment completion instruction; The fully loaded temporary storage screw rod group drives its own push plate to push out according to the push-out instruction, pushes the roll on its own station to the station of the multi-station rotary loading robot, and sends a push-out completion instruction to the host computer.
[0011] Preferably, it further includes: The host computer sends a control instruction to the multi-station rotary loading robot according to the push-out completion instruction, so that the multi-station rotary loading robot fully mounts the first side of the wire car to be mounted, including: The host computer sends a loading instruction to the multi-station rotary loading robot according to the pushing completion instruction. The multi-station rotary loading robot drives its own rotating shaft according to the loading instruction to drive its own station to rotate 180 degrees, so that its own station faces the first surface of the wire spool car to be mounted on the turntable. Then, it drives its own horizontal walking shaft and vertical shaft respectively to align its own station with the first row of hanging brackets on the first surface of the wire spool car to be mounted. The multi-station rotary loading robot drives the push plate to run, and pushes the first ingot winding on each of its own stations onto the first row of hanging brackets on the first surface of the wire spool car to be mounted. Then, the multi-station rotary loading robot drives its own horizontal walking shaft and vertical shaft to align its own station with the second row of hanging brackets on the first surface of the wire spool car to be mounted, and drives the push plate to run again, pushing the first ingot winding on each of its own stations onto the second row of hanging brackets on the first surface of the wire spool car to be mounted, and repeating this action until all the hanging brackets on each row of the first surface of the wire spool car to be mounted are completely mounted.
[0012] Preferably, it further includes: After the multi-station rotary loading robot completes the mounting of the last row of hanging brackets on the first surface of the wire spool car to be mounted, the multi-station rotary loading robot drives its own horizontal walking shaft to run, so that it moves from the mounting position to a designated waiting position away from the turntable, and sends a waiting signal to the host computer.
[0013] Preferably, The host computer sends control instructions to the turntable and the multi-station rotary loading robot respectively, so that the multi-station rotary loading robot completes the mounting of the entire back surface of the wire spool car to be mounted, including: The host computer sends a rotation instruction to the turntable according to the waiting signal. The turntable rotates 180 degrees according to the rotation instruction, so that the back surface of the wire spool car to be mounted faces the station of the temporary storage screw rod group. After the turntable rotates in place, it sends a rotation completion signal to the host computer. The host computer sends a return instruction to the multi-station rotary loading robot according to the rotation completion signal. The multi-station rotary loading robot drives its own horizontal walking shaft to run according to the return instruction and returns from the designated waiting position to the mounting position. After the multi-station rotary loading robot returns to the mounting position, it mounts the back surface of the wire spool car to be mounted until the entire back surface of the wire spool car to be mounted is completely mounted.
[0014] Preferably, It further includes: After the multi-station rotary loading robot completes the loading of the last row of hangers on the back of the silk cart to be hung, the multi-station rotary loading robot retracts the push plate, drives the vertical axis to operate, raises its own station to a high position, and drives its own horizontal walking axis to operate, so that it moves from the loading position to a designated waiting position away from the turntable, waiting for the next temporary storage screw rod group to be fully loaded; The upper computer sends a control instruction to the turntable, and the turntable drives the silk cart full of winding packages to align with the offline port according to the control instruction. Waiting for manual or logistics equipment to pick up the silk cart full of winding packages includes: After the multi-station rotary loading robot moves to the designated waiting position, it sends a loading completion signal to the upper computer. The upper computer sends a rotation instruction to the turntable according to the loading completion signal. The turntable rotates according to the rotation instruction to drive the silk cart full of winding packages to align with the offline port, waiting for manual or logistics equipment to pick up the silk cart full of winding packages.
[0015] According to the second aspect of the embodiments of the present invention, a chemical fiber winding package splitting and loading device based on a multi-station rotary robot is provided, including: Unpacking station transportation module: used to store the whole rod winding packages of the same variety in a working station of the silk box after the winding packages are dropped from the winding head by an automatic bobbin-changing robot. After the silk box is full, use an empty silk box to replace the full silk box, and transport the full silk box to the unpacking station through the winding workshop; Temporary storage transportation module: used for the upper computer to send control instructions to the transfer robot and the unpacking station respectively, so that the transfer robot stores the winding packages of the same variety in the full silk box into the corresponding temporary storage screw rod group of the temporary storage table; when all the working stations of any temporary storage screw rod group are fully loaded, the fully loaded temporary storage screw rod group sends a full load signal to the upper computer; Silk cart in-place module: used for the upper computer to send an entry instruction to the silk cart to be hung according to the full load signal. The silk cart to be hung moves to the turntable according to the entry instruction. After the turntable detects the entry of the silk cart to be hung, it rotates to drive the silk cart to be hung, so that the first side of the silk cart to be hung faces the working station of the fully loaded temporary storage screw rod group; Alignment module: used for after the turntable rotates in place, it sends an in-place instruction to the upper computer. The upper computer sends a transfer instruction to the multi-station rotary loading robot according to the in-place instruction; the multi-station rotary loading robot aligns its own working station with the working station of the fully loaded temporary storage screw rod group according to the transfer instruction; Pushing module: used for after the multi-station rotary loading robot moves and aligns, the upper computer sends a pushing instruction to the fully loaded temporary storage screw rod group, pushes the winding packages on the fully loaded temporary storage screw rod group to the working station of the multi-station rotary loading robot, and sends a pushing completion instruction to the upper computer; First-side mounting module: It is used for the host computer to send a control instruction to the multi-station rotary loading robot according to the pushing completion instruction, so that the multi-station rotary loading robot completes the mounting of the entire first side of the silk cart to be mounted; Back-side mounting module: It is used for the host computer to send control instructions to the turntable and the multi-station rotary loading robot respectively, so that the multi-station rotary loading robot completes the mounting of the entire back side of the silk cart to be mounted; Offline module: After the mounting of the entire back side of the silk cart to be mounted is completed, the host computer sends a control instruction to the turntable, and the turntable drives the silk cart full of reels to align with the offline port according to the control instruction, waiting for manual or logistics equipment to pick up the silk cart full of reels.
[0016] The technical solutions provided by the embodiments of the present invention may include the following beneficial effects: In this application, a silk box is used instead of the traditional temporary storage table as the buffer mechanism for the reels in the winding workshop. It has a smaller volume than the temporary storage table, and its transportable feature enables the splitting and loading location of the reels to no longer be restricted to the winding workshop. After the automatic bobbin-changing robot drops the reel from the winding head, the whole rod reels of the same variety are stored in a station of the silk box. After the silk box is full, the logistics equipment replaces the full silk box with an empty silk box and transports the full silk box to the corresponding temporary storage screw rod group of the temporary storage table; the "one-to-many" splitting and loading mode is adopted, that is, one set of splitting and loading systems corresponds to multiple automatic bobbin-changing lines, which can greatly save floor space compared with the traditional one set of splitting and loading systems corresponding to one bobbin-changing line. In the reel unpacking link, a transfer robot with multiple workstations is used to speed up the system transfer efficiency; in the splitting and loading link, a multi-station rotary loading robot is used, and the turntable is deployed on the opposite side of the temporary storage table, so that the receiving area and the loading area of the loading robot overlap, saving floor space.
[0017] It should be understood that the above general description and the following detailed description are only exemplary and explanatory, and cannot limit the present invention. BRIEF DESCRIPTION OF THE DRAWINGS
[0018] The drawings here are incorporated into the specification and form a part of this specification, showing embodiments consistent with the present invention and used together with the specification to explain the principles of the present invention.
[0019] Figure 1 is a flowchart showing a method for splitting and loading chemical fiber reels based on a multi-station rotary robot according to an exemplary embodiment; Figure 2 is a system diagram showing the reel logistics process according to another exemplary embodiment; Figure 3 is an overall layout diagram showing the splitting and loading of chemical fiber reels according to another exemplary embodiment; Figure 4Is the front view of a multi-station rotary loading and bobbin dropping robot shown according to another exemplary embodiment; Figure 5 Is the bottom view of a multi-station rotary loading and bobbin dropping robot shown according to another exemplary embodiment; Figure 6 Is the schematic diagram of the robot receiving goods shown according to another exemplary embodiment; Figure 7 Is the schematic diagram of the staging table grouping shown according to another exemplary embodiment; Figure 8 Is the system schematic diagram of a chemical fiber package splitting and loading device based on a multi-station rotary robot shown according to another exemplary embodiment; In the drawings: 1 - vertical track, 2 - push plate, 3 - vertical axis, 4 - rotating axis, 5 - horizontal walking axis, 6 - work station, 101 - unpacking station transportation module, 201 - staging transportation module, 301 - silk car in-place module, 401 - alignment module, 501 - pushing module, 601 - front mounting module, 701 - back mounting module, 801 - offline module. Detailed implementation manners
[0020] Here, the exemplary embodiments will be described in detail, and the examples are shown in the drawings. When the following description refers to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The implementation manners described in the following exemplary embodiments do not represent all implementation manners consistent with the present invention. On the contrary, they are only examples of devices and methods consistent with some aspects of the present invention as detailed in the appended claims.
[0021] Embodiment 1 Figure 1 Is the flowchart of a chemical fiber package splitting and loading method based on a multi-station rotary robot shown according to an exemplary embodiment, as Figure 1 shown, the method includes: S1. After dropping the package from the winding head by the automatic bobbin dropping robot, store the whole rod packages of the same variety in a work station of the silk box. After the silk box is full, replace the full silk box with an empty silk box, and transport the full silk box to the unpacking station through the winding workshop; S2. The host computer sends control instructions to the transfer robot and the unpacking station respectively, so that the transfer robot stores the packages of the same variety in the full silk box in the corresponding temporary silk rod group of the staging table; when all work stations of any temporary silk rod group are full, the full temporary silk rod group sends a full-load signal to the host computer; S3. The host computer sends an entry instruction to the silk reel car to be loaded according to the full-load signal. The silk reel car to be loaded moves to the turntable according to the entry instruction. After the turntable detects the entry of the silk reel car to be loaded, it rotates to drive the silk reel car to be loaded, so that the front surface of the silk reel car to be loaded faces the station of the full-load temporary storage lead screw group. S4. After the turntable rotates in place, it sends an in-place instruction to the host computer. The host computer sends a transfer instruction to the multi-station rotary loading robot according to the in-place instruction. The multi-station rotary loading robot aligns its own station with the station of the full-load temporary storage lead screw group according to the transfer instruction. S5. After the multi-station rotary loading robot moves and aligns, the host computer sends a push-out instruction to the full-load temporary storage lead screw group, pushes the reel on the full-load temporary storage lead screw group to the station of the multi-station rotary loading robot, and sends a push-out completion instruction to the host computer. S6. The host computer sends a control instruction to the multi-station rotary loading robot according to the push-out completion instruction, so that the multi-station rotary loading robot completes the full mounting of the front surface of the silk reel car to be loaded. S7. The host computer sends control instructions to the turntable and the multi-station rotary loading robot respectively, so that the multi-station rotary loading robot completes the full mounting of the back surface of the silk reel car to be loaded. S8. After the full mounting of the back surface of the silk reel car to be loaded, the host computer sends a control instruction to the turntable. The turntable drives the silk reel car full of reels to align with the offline port according to the control instruction, and waits for manual or logistics equipment to pick up the silk reel car full of reels. It can be understood that the method of this embodiment is implemented based on an unpacking station, a temporary storage table, a transfer robot, a multi-station rotary loading robot, a turntable and a silk reel car. The logistics process of the reel is as shown in the appendix. Figure 2 As shown, this embodiment uses a silk box instead of a traditional temporary storage table as the buffer mechanism for the reels in the winding workshop. Its volume is smaller than that of the temporary storage table, and its transportable feature makes the splitting and loading location of the reels no longer limited to the winding workshop. After the automatic bobbin-changing robot drops the reel from the winding head, the whole rod reels of the same variety are stored in a station of the silk box. The same silk box can contain reels of multiple varieties. After the silk box is full, the logistics equipment replaces the full silk box with an empty silk box and transports the full silk box to the unpacking station; as Figure 3In the overall layout diagram shown, this embodiment adopts a "one-to-many" split loading mode, that is, one set of split loading system corresponds to multiple automatic bobbin dropping lines. Compared with the traditional one set of split loading system corresponding to one bobbin dropping line, it can greatly save floor space; in the process of reel unpacking, transfer robots with different numbers of workstations can be used according to the production volume to improve the transfer efficiency of the system; in the split loading process, a multi-station rotary loading robot is used, and the turntable is deployed on the opposite side of the temporary storage table. This can not only make the receiving area and loading area of the loading robot overlap to save the floor space of the system, but also its multi-station design ensures the split loading efficiency of the reels. The implementation process of this embodiment is based on a multi-station rotary loading robot, as shown in the Figure 5 bottom view. The multi-station rotary loading robot includes a horizontal walking shaft 5 for walking on the ground, which can drive the whole robot to run horizontally back and forth along the track, and a rotary shaft 4 arranged on the chassis, which can drive the upper part of the robot chassis (including the vertical track 1, the push plate 2, the vertical shaft 3 and the workstation 6) to rotate around the Figure 3 center line; as shown in the Figure 4 front view, the multi-station rotary loading robot also includes a vertical shaft 3 that drives the workstation 6 of the robot to move up and down vertically along the vertical track 1, and also includes a push plate 2 sleeved at the rear end of the workstation 6 of the robot. The forward push of the push plate 2 can push out the reel on the workstation 6.
[0022] The specific implementation process of this embodiment is as follows: After the full bobbin box runs from the winding workshop to the unpacking station, the upper computer sends an instruction to allow the transfer robot to come and pick up the goods; The transfer robot generates a receiving operation according to the instruction of the upper computer. The transfer robot runs to align its own workstation lead screw with the lead screw of the bobbin box (that is, the workstation of the bobbin box). After alignment, the upper computer allows the unpacking station to deliver the goods; The unpacking station pushes out the push plate at the docking position with the transfer robot, pushes the reel from the bobbin box workstation to the transfer robot workstation, and retracts the push plate, as shown in the Figure 6 figure; The transfer robot generates an inventory operation, and then according to the reel varieties in the workstation, stores the reels in the workstation into the corresponding temporary storage lead screw groups of the varieties respectively, as shown in the Figure 7 figure. In this embodiment, the temporary storage table is divided into several temporary storage lead screw groups. The number of lead screws in each temporary storage lead screw group is equal to the number of rotatable loading robot workstations. The lead screws in each temporary storage lead screw group are vertically and continuously arranged and all store reels of the same variety; through the multiple cooperation of the transfer robot and the unpacking station, the reels on the bobbin box are cached by variety into the temporary storage lead screw groups in the temporary storage table. After the bobbin box in the unpacking station is empty, the empty bobbin box is conveyed away from the unpacking station by a chain machine. The unpacking station waits for the next full bobbin box to enter. Finally, the empty bobbin box is transported to the winding workshop by a shuttle car to cache the reels; After any temporary lead screw group is fully loaded, the host computer sends an instruction to the empty bobbin car. The empty bobbin car enters the turntable. An induction sensor is set on the turntable. After detecting the entry of the empty bobbin car, the turntable rotates to drive the bobbin car, so that the front surface of the bobbin car faces the working position of the temporary lead screw group. The host computer allows the multi-station rotating loading robot to mount the bobbin package; The multi-station rotating loading robot generates a receiving operation according to the instruction of the host computer. The rotating shaft 4 rotates, driving the whole robot to rotate, so that the working position 6 of the robot faces the temporary storage table. Then the horizontal shaft 5 runs to horizontally align the working position 6 of the robot with the receiving position. The vertical shaft 3 runs, driving the working position 6 to move downward from the high position along the vertical track 1, so that the working position 6 of the robot is vertically aligned with the receiving position. Finally, the state of each working position 6 is as shown in the appendix Figure 6 shown; The push plate of the temporary lead screw group is pushed out, and the bobbin is pushed to the working position 6 of the loading robot to complete the receiving operation of the robot; After the rotating loading robot finishes receiving, it generates a loading operation. The rotating shaft 4 rotates 180° to drive the working position of the robot to face the front surface of the bobbin car on the turntable. Then the horizontal shaft 5 and the vertical shaft 3 run in sequence to perform horizontal and vertical calibration, so that the working position of the robot is aligned with the first row of hanging racks on the front surface of the bobbin car; The push plate 2 of the rotating loading robot runs, and the first bobbin package on the working position is pushed out to the first row of the hanging rack of the bobbin car to complete the first loading; the horizontal shaft 5, the vertical shaft 3 and the push plate 2 of the loading robot cooperate to continue to mount the bobbin packages in the working position to the hanging racks on other rows of the front surface of the bobbin car until the front surface of the bobbin car is fully mounted; After the bobbin packages on the front surface of the bobbin car are fully mounted, the bobbin packages need to be continuously mounted on the back surface of the bobbin car. To avoid collision between the turntable and the robot during rotation, the horizontal shaft 5 of the rotating loading robot runs to make the robot away from the turntable area. Then the turntable rotates 180° and waits for the bobbin packages to be mounted on the back surface of the bobbin car; After the position of the back surface of the bobbin car stops accurately, the rotating loading robot continues to disassemble and load the bobbin packages in the working position 6 onto each row of the hanging racks on the back surface of the bobbin car. The process is the same as that of the front surface mounting, and this embodiment will not be elaborated here; After the rotating loading robot finishes mounting the bobbin packages, its working position 6 is empty. The push plate 2 retracts. The vertical shaft 3 runs to drive the working position 6 to rise to the high position. The horizontal shaft 5 runs to make the robot away from the turntable area, completes the loading operation, and waits for the next temporary lead screw group to be fully loaded and allow the receiving signal; The turntable rotates, driving the bobbin car full of bobbin packages to align with the offline port, waiting for manual or logistics equipment to pick up the full bobbin car.
[0023] Embodiment 2 This embodiment also discloses a system schematic diagram of a chemical fiber bobbin package disassembly and loading device based on a multi-station rotating robot, as shown in the appendix Figure 8 shown, including: Unloading Station Transportation Module 101: After the bobbin is dropped from the winding head by the automatic bobbin dropping robot, the whole bobbin of the same variety is stored in a station of the silk box. After the silk box is full, an empty silk box is used to replace the full silk box, and the full silk box is transported to the unloading station through the winding workshop; Temporary Storage Transportation Module 201: It is used for the host computer to send control instructions to the transfer robot and the unloading station respectively, so that the transfer robot stores the bobbins of the same variety in the full silk box into the corresponding temporary storage screw rod group on the temporary storage table; when all stations of any temporary storage screw rod group are full, the full temporary storage screw rod group sends a full load signal to the host computer; Silk Cart Arrival Module 301: It is used for the host computer to send an entry instruction to the silk cart to be loaded according to the full load signal. The silk cart to be loaded moves to the turntable according to the entry instruction. After the turntable detects the entry of the silk cart to be loaded, it rotates to drive the silk cart to be loaded, so that the first side of the silk cart to be loaded faces the station of the full temporary storage screw rod group; Alignment Module 401: After the turntable rotates in place, it sends an in-place instruction to the host computer. The host computer sends a transfer instruction to the multi-station rotary loading robot according to the in-place instruction; the multi-station rotary loading robot aligns its own station with the station of the full temporary storage screw rod group according to the transfer instruction; Pushing-out Module 501: After the multi-station rotary loading robot moves and aligns, the host computer sends a pushing-out instruction to the full temporary storage screw rod group, pushes the bobbins on the full temporary storage screw rod group to the station of the multi-station rotary loading robot, and sends a pushing-out completion instruction to the host computer; First-side Mounting Module 601: It is used for the host computer to send a control instruction to the multi-station rotary loading robot according to the pushing-out completion instruction, so that the multi-station rotary loading robot completes the full mounting of the first side of the silk cart to be loaded; Back-side Mounting Module 701: It is used for the host computer to send control instructions to the turntable and the multi-station rotary loading robot respectively, so that the multi-station rotary loading robot completes the full mounting of the back side of the silk cart to be loaded; Offline Module 801: After the back side of the silk cart to be loaded is fully mounted, the host computer sends a control instruction to the turntable. The turntable drives the silk cart full of bobbins to align with the offline port according to the control instruction, and waits for the full silk cart to be picked up by manual or logistics equipment.
[0024] It can be understood that the same or similar parts in the above embodiments can be referred to each other. For the content not detailed in some embodiments, reference can be made to the same or similar content in other embodiments.
[0025] It should be noted that in the description of the present invention, the terms "first", "second", etc. are only used for descriptive purposes and cannot be construed as indicating or implying relative importance. In addition, in the description of the present invention, unless otherwise specified, the meaning of "a plurality of" refers to at least two.
[0026] Any process or method description shown in the flowchart or described in other ways herein can be understood to represent a module, segment, or part of code including one or more executable instructions for implementing a specific logical function or process. The scope of the preferred embodiments of the present invention includes additional implementations, where the functions can be executed in a substantially simultaneous manner or in the reverse order according to the involved functions, rather than in the order shown or discussed, which should be understood by those skilled in the technical field of the embodiments of the present invention.
[0027] It should be understood that various parts of the present invention can be implemented by hardware, software, firmware, or a combination thereof. In the above embodiments, multiple steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented by hardware, as in another embodiment, any one or a combination of the following well-known techniques in the art can be used: discrete logic circuits having logic gate circuits for implementing logical functions on data signals, application-specific integrated circuits having appropriate combinational logic gate circuits, programmable gate arrays (PGAs), field-programmable gate arrays (FPGAs), etc.
[0028] Those of ordinary skill in the art of this technology can understand that all or part of the steps carried by the method of implementing the above embodiments can be completed by instructing relevant hardware through a program. The said program can be stored in a computer-readable storage medium. When the program is executed, it includes one or a combination of the steps of the method embodiments.
[0029] In addition, each functional unit in various embodiments of the present invention can be integrated into a processing module, or each unit can exist physically alone, or two or more units can be integrated into one module. The above-mentioned integrated module can be implemented in the form of hardware or in the form of a software functional module. When the integrated module is implemented in the form of a software functional module and sold or used as an independent product, it can also be stored in a computer-readable storage medium.
[0030] The above-mentioned storage medium can be a read-only memory, a magnetic disk, an optical disk, etc.
[0031] In the description of this specification, the descriptions referring to terms such as "one embodiment", "some embodiments", "examples", "specific examples", or "some examples", etc. mean that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described may be combined in a suitable manner in any one or more embodiments or examples.
[0032] Although the embodiments of the present invention have been shown and described above, it can be understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those of ordinary skill in the art can make changes, modifications, substitutions, and variations to the above embodiments within the scope of the present invention.
Claims
1. A method for splitting and loading chemical fiber packages based on a multi-station rotating robot, characterized in that Including: After the bobbin is dropped from the winding head by an automatic bobbin dropping robot, the whole bobbins of the same variety are stored in a working station of the creel. After the creel is full, an empty creel is used to replace the full creel, and the full creel is transported to the unpacking station through the winding workshop; The host computer sends control instructions to the transfer robot and the unpacking station respectively, so that the transfer robot stores the bobbins of the same variety in the full creel into the corresponding temporary storage screw rod group on the temporary storage table; when all the working stations of any temporary storage screw rod group are full, the full temporary storage screw rod group sends a full load signal to the host computer; The host computer sends an entry instruction to the silk cart to be loaded according to the full load signal, and the silk cart to be loaded moves to the turntable according to the entry instruction. After the turntable detects the entry of the silk cart to be loaded, it rotates to drive the silk cart to be loaded, so that the front side of the silk cart to be loaded faces the working station of the full temporary storage screw rod group; After the turntable rotates in place, it sends an in-place instruction to the host computer, and the host computer sends a transfer instruction to the multi-station rotary loading robot according to the in-place instruction; the multi-station rotary loading robot aligns its own working station with the working station of the full temporary storage screw rod group according to the transfer instruction; After the multi-station rotary loading robot moves and aligns, the host computer sends a push-out instruction to the full temporary storage screw rod group, pushes the bobbins on the full temporary storage screw rod group to the working station of the multi-station rotary loading robot, and sends a push-out completion instruction to the host computer; The host computer sends a control instruction to the multi-station rotary loading robot according to the push-out completion instruction, so that the multi-station rotary loading robot completes the loading of the front side of the silk cart to be loaded; The host computer sends control instructions to the turntable and the multi-station rotary loading robot respectively, so that the multi-station rotary loading robot completes the loading of the back side of the silk cart to be loaded; After the loading of the back side of the silk cart to be loaded is completed, the host computer sends a control instruction to the turntable, and the turntable drives the silk cart full of bobbins to align with the offline port according to the control instruction, waiting for manual or logistics equipment to pick up the silk cart full of bobbins.
2. The method according to claim 1, wherein The host computer sends control instructions to the transfer robot and the unpacking station respectively, so that the transfer robot stores the bobbins of the same variety in the full creel into the corresponding temporary storage screw rod group on the temporary storage table, including: The host computer sends a receiving instruction to the transfer robot, and the transfer robot generates a receiving operation according to the receiving instruction, aligns its own working station with the working station of the full creel, and sends an arrival instruction to the host computer; The host computer sends a delivery instruction to the unpacking station according to the arrival instruction of the transfer robot. The unpacking station pushes out the push plate at the position aligned with the transfer robot according to the delivery instruction, and pushes the bobbins from the working station of the creel to the working station of the transfer robot. After the transfer robot retracts the push plate, it sends a completion instruction to the host computer; The host computer sends a stock instruction to the transfer robot according to the completion instruction, and the transfer robot stores the bobbin varieties in its respective working stations into the corresponding temporary storage screw rod groups on the temporary storage table according to the stock instruction.
3. The method according to claim 2, wherein The temporary storage table includes a plurality of temporary storage lead screw groups. The number of workstations in each temporary storage lead screw group is equal to the number of workstations of the multi-station rotary loading robot. The workstations of each temporary storage lead screw group are vertically and continuously distributed, and each temporary storage lead screw group stores the coiled packages of the same variety.
4. The method according to claim 3, wherein the multi-station rotary loading robot aligning its own workstation with the workstation of the fully loaded temporary storage lead screw group according to the transfer instruction includes: the multi-station rotary loading robot driving its own rotating shaft to operate according to the transfer instruction, so that its own workstation faces the workstation of the fully loaded temporary storage lead screw group; the multi-station rotary loading robot driving its own horizontal walking shaft to operate, so that its own workstation is horizontally aligned with the workstation of the fully loaded temporary storage lead screw group; the multi-station rotary loading robot driving its own vertical shaft to operate, driving its own workstation to move downward from a high position along the vertical track, so that its own workstation is vertically aligned with the workstation of the fully loaded temporary storage lead screw group.
5. The method according to claim 4, wherein after the multi-station rotary loading robot moves and aligns, the host computer sends a control instruction to the fully loaded temporary storage lead screw group to push the coiled packages on the fully loaded temporary storage lead screw group to the workstation of the multi-station rotary loading robot, including: after the multi-station rotary loading robot moves and aligns, it sends an alignment completion instruction to the host computer, and the host computer sends a pushing-out instruction to the fully loaded temporary storage lead screw group according to the alignment completion instruction; the fully loaded temporary storage lead screw group drives its own push plate to push out according to the pushing-out instruction, pushes the coiled packages on its own workstation to the workstation of the multi-station rotary loading robot, and sends a pushing-out completion instruction to the host computer.
6. The method according to claim 5, characterized in that It further includes: the host computer sending a control instruction to the multi-station rotary loading robot according to the pushing-out completion instruction to complete the full mounting of the first side of the wire car to be mounted, including: the host computer sending a loading instruction to the multi-station rotary loading robot according to the pushing-out completion instruction, and the multi-station rotary loading robot driving its own rotating shaft to drive its own workstation to rotate 180 degrees according to the loading instruction, so that its own workstation faces the first side of the wire car to be mounted on the turntable, and then respectively driving its own horizontal walking shaft and vertical shaft, so that its own workstation is aligned with the first row of hanging brackets on the first side of the wire car to be mounted; the multi-station rotary loading robot driving the push plate to operate, pushing out the first ingot coiled packages on its own workstations to the first row of hanging brackets on the first side of the wire car to be mounted; then the multi-station rotary loading robot driving its own horizontal walking shaft and vertical shaft, so that its own workstation is aligned with the second row of hanging brackets on the first side of the wire car to be mounted, and driving the push plate to operate again, pushing out the first ingot coiled packages on its own workstations to the second row of hanging brackets on the first side of the wire car to be mounted, and repeating this action until all the hanging brackets in each row on the first side of the wire car to be mounted are fully mounted.
7. The method according to claim 6, wherein It further includes: After the multi-station rotary loading robot completes the loading of the last row of hangers on the front side of the wire spool to be hung, the multi-station rotary loading robot drives its own horizontal walking axis to operate, so that it moves from the loading position to a specified waiting position away from the turntable, and sends a waiting signal to the host computer.
8. The method according to claim 7, characterized in that The host computer sends control instructions to the turntable and the multi-station rotary loading robot respectively, so that the multi-station rotary loading robot completes the loading of the entire back side of the wire spool to be hung, including: The host computer sends a rotation instruction to the turntable according to the waiting signal, and the turntable rotates 180 degrees according to the rotation instruction, so that the back side of the wire spool to be hung faces the station of the temporary storage screw rod group. After the turntable rotates in place, it sends a rotation completion signal to the host computer; The host computer sends a return instruction to the multi-station rotary loading robot according to the rotation completion signal, and the multi-station rotary loading robot drives its horizontal walking axis to operate according to the return instruction, and returns from the specified waiting position to the loading position; After the multi-station rotary loading robot returns to the loading position, it loads the back side of the wire spool to be hung until the entire back side of the wire spool to be hung is loaded.
9. The method according to claim 8, characterized in that It also includes: After the multi-station rotary loading robot completes the loading of the last row of hangers on the back side of the wire spool to be hung, the multi-station rotary loading robot retracts the push plate, drives the vertical axis to operate, so that its own station rises to a high position, and drives its horizontal walking axis to operate, so that it moves from the loading position to a specified waiting position away from the turntable, and waits for the next temporary storage screw rod group to be fully loaded; The host computer sends a control instruction to the turntable, and the turntable drives the wire spool full of winding packages to align with the offline port according to the control instruction, and waits for manual or logistics equipment to pick up the wire spool full of winding packages, including: After the multi-station rotary loading robot moves to the specified waiting position, it sends a loading completion signal to the host computer. The host computer sends a rotation instruction to the turntable according to the loading completion signal, and the turntable rotates according to the rotation instruction to drive the wire spool full of winding packages to align with the offline port, and waits for manual or logistics equipment to pick up the wire spool full of winding packages.
10. The chemical fiber package splitting and loading device based on a multi-station rotating robot is characterized in that, It includes: Unpacking station transportation module: used to store the whole rod winding packages of the same variety in a station of the wire box after the winding packages are dropped from the winding head by the automatic bobbin dropping robot. After the wire box is full, use an empty wire box to replace the full wire box, and transport the full wire box to the unpacking station through the winding workshop; Temporary storage transportation module: used for the host computer to send control instructions to the transfer robot and the unpacking station respectively, so that the transfer robot stores the winding packages of the same variety in the full wire box into the corresponding temporary storage screw rod group of the temporary storage table; when all stations of any temporary storage screw rod group are fully loaded, the fully loaded temporary storage screw rod group sends a full load signal to the host computer; The silk reel in-place module: It is used for the host computer to send an entry instruction to the silk reel to be mounted according to the full-load signal. The silk reel to be mounted moves to the turntable according to the entry instruction. After the turntable detects the entry of the silk reel to be mounted, it rotates to drive the silk reel to be mounted, so that the front side of the silk reel to be mounted faces the station of the full-load temporary storage lead screw group; The alignment module: It is used for the turntable to send an in-place instruction to the host computer after rotating in place. The host computer sends a transfer instruction to the multi-station rotary loading robot according to the in-place instruction; the multi-station rotary loading robot aligns its own station with the station of the full-load temporary storage lead screw group according to the transfer instruction; The pushing-out module: It is used for the host computer to send a pushing-out instruction to the full-load temporary storage lead screw group after the multi-station rotary loading robot moves and aligns, push the spool on the full-load temporary storage lead screw group to the station of the multi-station rotary loading robot, and send a pushing-out completion instruction to the host computer; The front-side mounting module: It is used for the host computer to send a control instruction to the multi-station rotary loading robot according to the pushing-out completion instruction, so that the multi-station rotary loading robot completes the full mounting of the front side of the silk reel to be mounted; The back-side mounting module: It is used for the host computer to send control instructions to the turntable and the multi-station rotary loading robot respectively, so that the multi-station rotary loading robot completes the full mounting of the back side of the silk reel to be mounted; The offline module: It is used for the host computer to send a control instruction to the turntable after the back side of the silk reel to be mounted is fully mounted. The turntable drives the silk reel with the full-load spool to align with the offline port according to the control instruction, and waits for manual or logistics equipment to pick up the silk reel with the full-load spool.