Cone yarn manipulator pick-and-place conveying device and pick-and-place conveying method

Abstract

The invention provides a cone yarn manipulator picking and placing conveying device and a picking and placing conveying method.The cone yarn manipulator picking and placing conveying device comprises a lifting picking and placing manipulator, a yarn receiving table and a control system and is characterized in that the lifting picking and placing manipulator is provided with a guide rail assembly and a tackle assembly, and the guide rail assembly is arranged on one side of a cage conveying line; the tackle assembly is installed on the guide rail assembly at a certain height in a suspended mode to move in a reciprocating mode, the lifting taking and placing mechanical arm is arranged on the tackle assembly, the tackle assembly is driven by a servo motor, and the control system is connected with the control end of the servo motor. And the control module is used for controlling the lifting taking and placing mechanical arm to reciprocate among a plurality of winding machines, taking down the cone yarns on the yarn receiving table one by one, and lifting and placing the cone yarns on the cage conveying line. The cone yarn taking and placing manipulator can move among a plurality of cone winders, the utilization rate of the cone yarn taking and placing manipulator is improved, the vacancy time of the manipulator is shortened, the number of the manipulator is reduced, and the equipment cost of an automatic cone yarn packaging machine is reduced.

Description

Technical Field

[0001] This invention belongs to the field of textile machinery technology and relates to the improvement of a robotic arm for an automatic yarn packaging system, specifically a yarn package robotic arm picking and placing conveying device and picking and placing conveying method. Background Technology

[0002] As textile mills demand increasingly higher levels of automation, automatic yarn packaging systems are becoming more widely used. In these systems, after the yarn is produced by the winding machine, a robotic arm removes the yarn, lifts it to a certain height, and places it into a cage on the yarn conveyor line. In existing technologies, these robotic arms are fixed, with each arm corresponding to one winding machine, only taking yarn from that specific machine and placing it into the cage.

[0003] Chinese patent CN104828557A discloses a yarn package conveying device, including a yarn-picking robot, a lifting mechanism, and a reversing mechanism. The yarn-picking robot is used to pick up yarn packages from a winding machine or rotor spinning machine and place them on the yarn package conveying line, with the picking direction of the robot perpendicular to the unloading direction. The lifting mechanism is used to realize the upward and downward movement of the yarn-picking robot between the picking position and the unloading position. The reversing mechanism is used to realize the reversing action of the yarn-picking robot during the upward and downward movements. The maximum reversing angle of the yarn-picking robot is 90 degrees. This yarn package conveying device is used to pick up yarn packages from a winding machine or rotor spinning machine and place them on the yarn package conveying line. This yarn package conveying device includes a yarn-picking robot, a lifting mechanism, and a reversing mechanism. Through the coordinated action of these components and in conjunction with existing control systems, it effectively realizes the picking of yarn from the winding machine or rotor spinning machine, the placement of yarn on the yarn package conveying line, and the lifting and reversing movements of the yarn-picking robot between the picking and placement positions. This facilitates the automation of the yarn package conveying process between the winding machine or rotor spinning machine and the yarn package conveying line. Replacing manual yarn package transfer with this device significantly reduces labor intensity and improves transportation efficiency.

[0004] Chinese patent CN222539842U discloses a yarn package type identification and sorting device. Its features include a slide at the outlet of a winding machine, with a robotic arm at its tail end. The robotic arm slides horizontally with a slide table, and the slide table slides vertically with a vertical guide rail. The upper part of the vertical guide rail is equipped with several cage conveying tracks for transporting different types of yarn packages, and cages are fitted onto these tracks. This patent can identify the type of yarn produced by the winding machine, thereby conveying different types of yarn packages to the corresponding cages on the cage conveying tracks via the robotic arm, thus completing the sorting and conveying of yarn packages by type.

[0005] The main purpose of the two patents mentioned above is to propose a lifting and loading robot for yarn bobbins, enabling the picking of yarn from the winding machine and its placement on the conveyor line. The proposed robot mechanism needs to correspond one-to-one with the number of winding machines, requiring one robot for each machine. Typically, an automated packaging production line can support up to twenty or more winding machines, necessitating a corresponding number of loading and loading robots. Furthermore, these robots are expensive, increasing the investment in automated packaging production equipment. In actual production, due to the limited capacity of a single winding machine, the loading and loading robots only operate briefly when the winding machine produces a certain quantity of yarn bobbins and begins to output them in a concentrated manner; the majority of the time they remain idle, resulting in low utilization rates.

[0006] How to design a bobbin handling and conveying device and method that allows the bobbin handling robot to move and work between multiple winding machines, thereby improving the utilization rate of the bobbin handling robot, reducing the robot's idle time, and lowering the equipment cost of the automatic bobbin packaging machine? This is a technical problem that urgently needs to be solved in this field. Summary of the Invention

[0007] To address the aforementioned problems in the prior art, this invention provides a yarn package robot for picking up and placing, and a method thereof, enabling the yarn package robot to move and work between multiple winding machines, thereby improving the utilization rate of the yarn package robot, reducing robot downtime, reducing the number of robots, and lowering the equipment cost of the automatic yarn packager.

[0008] The objective of this invention is achieved through the following technical solution: A bobbin handling and conveying device includes a lifting and placing robot, a yarn receiving platform, and a control system. The lifting and placing robot is equipped with a guide rail assembly and a trolley assembly. The guide rail assembly is located on one side of the cage conveyor line. The trolley assembly is suspended and mounted on the guide rail assembly at a certain height, reciprocating in a circular motion. The lifting and placing robot is mounted on the trolley assembly, which is driven by a servo motor. The control system is connected to the control terminal of the servo motor and is used to control the lifting and placing robot to reciprocate between multiple winding machines, and to remove bobbins from the yarn receiving platform one by one and lift them into the cage conveyor line.

[0009] Improvements to the above technical solution: The lifting and loading robot includes a guide column, a sliding frame, a yarn rotating motor or rotary cylinder, a yarn loading and unloading mechanism, a lifting motor, a synchronous belt, and a driven wheel. The guide column is mounted on the trolley assembly. The sliding frame is mounted on the guide column via a slider to achieve vertical movement. The yarn rotating motor or rotary cylinder and the yarn loading and unloading mechanism are mounted on the sliding frame and are driven to move vertically by the sliding frame. The yarn loading and unloading mechanism is driven to rotate by the yarn rotating motor. A synchronous pulley is mounted on the output shaft of the lifting motor. The synchronous belt is wound between the synchronous pulley in the lifting motor and the driven wheel. The driven wheel is used to finely adjust the position downwards to tension the synchronous belt. The sliding frame is connected to the synchronous belt. When the lifting motor rotates, it drives the sliding frame to move up and down through the synchronous belt.

[0010] Further improvements to the above technical solution: The guide rail assembly includes a mounting bracket, an H-beam rail, an encoding component, a code reader sensor, and connectors. The code reader sensor is connected to the control system. One end of the mounting bracket is connected to the upper wing plate of the H-beam rail for suspending and fixing the H-beam rail, and the other end is fixed to the column of the cage conveyor line or a dedicated column. The encoding component is fixed above the H-beam rail and corresponds one-to-one with the positions of multiple winding machine heads, providing the trolley assembly with a signal to position itself to the designated winding machine.

[0011] Further improvements to the above technical solution: The H-beam rail is a national standard steel section with an "I" shaped cross-section, including an upper flange, a web, and a lower flange. Each end of the upper flange has four threaded holes. Multiple sections of the H-beam rail are connected and extended by connectors. The connected H-beam rails are fixed to the corresponding columns of the cage conveyor line by multiple mounting brackets. The upper and lower flanges of the H-beam rail are horizontally arranged, and the length direction of the H-beam rail is parallel to the multiple winding machines and laid out side by side.

[0012] Further improvements to the above technical solution: The encoding component is used to provide an encoded address. The encoding component adopts an encoded magnetic strip, RFID tag, barcode or QR code, in conjunction with a reading sensor with corresponding functions. The encoded magnetic strip is a magnetic strip marker with a unique code, and its code is read by a Hall effect reader.

[0013] Further improvements to the above technical solution: The trolley assembly includes a mounting base, a travel motor assembly, an active suspension wheel, a passive suspension wheel, two pairs of lower auxiliary wheels, two pairs of side auxiliary wheels, and a cable chain bracket. The travel motor assembly is connected to the active suspension wheel via a sprocket and chain. The active suspension wheel is fixed to the mounting base via a bearing seat. The two active suspension wheels are connected and driven by a chain and sprocket, and rotate synchronously. The passive suspension wheel is fixed to the mounting base via a bearing seat, and together with the active suspension wheel, forms the left and right wheel pairs of the suspension base. The lower auxiliary wheels and side auxiliary wheels are both connected to the mounting base via bearing seats to assist in guidance and positioning, ensuring the stability of the trolley assembly during sliding. The cable chain bracket is used to mount the moving end of the cable chain.

[0014] Further improvements to the above technical solution: The active suspension wheel and the passive suspension wheel are suspended on the lower flange of the H-rail. The two pairs of lower auxiliary wheels are slightly adjusted upwards to press against the lower flange. The two pairs of side auxiliary wheels are slightly adjusted towards the web of the H-rail to abut against the left and right sides of the web. Driven by the traveling motor assembly, the active suspension wheel rolls on the lower flange of the H-rail, driving the entire trolley assembly to move smoothly along the H-rail. The lower auxiliary wheels provide a certain clamping force, and the side auxiliary wheels provide guidance, jointly ensuring that the trolley assembly always holds tightly to the H-rail during movement and will not deviate or tilt.

[0015] Further improvements to the above technical solution: The yarn receiving platform is fixedly installed at the yarn output belt outlet of the winding machine head, the cage conveyor column supports the cage track, and the circulating cage assembly circulates in the cage track.

[0016] The present invention provides a picking and placing conveying method for the above-mentioned bobbin robotic arm picking and placing conveying device, characterized in that the working process of the picking and placing conveying method includes the following steps: Step 1: The lifting and picking robot arm moves to the designated yarn receiving platform in front of a winding machine to wait for yarn to be picked up; Step 2: The yarn cones produced by the winding machine are fed out one by one by its own conveyor belt and fall onto the yarn receiving table 4; Step 3: The lifting and placing robot grabs the yarn bobbin from the yarn receiving table, lifts it a certain distance, and hangs it in an empty cage in the circulating cage assembly; Step 4: The gripping device of the lifting and placing robot arm descends to the yarn receiving platform (4) to wait for the yarn to be picked up; Step 5: The winding machine continues to send out the next yarn bobbin via the conveyor belt, and the lifting and picking robot grabs it and puts it into an empty cage in the circulating cage assembly; Step 6: After the winding machine sends out all the yarn packages, the lifting and picking robot will grab them and put them into the empty cage. Driven by the trolley assembly, the lifting and picking robot will move to the yarn receiving platform in front of the next winding machine head to wait for the yarn to be picked up. Repeat steps 1-6, and a bobbin robot pick-and-place conveyor gradually delivers the bobbins produced by multiple winding machines to the cage conveyor line.

[0017] Furthermore, the process of the lifting and loading robotic arm taking yarn from the yarn receiving platform assembly and hanging it into the cage includes the following specific steps: Step S1: The trolley assembly drives the lifting and placing robot arm to move along the guide rail assembly, and the Hall effect reader reads the code of the coded magnetic strips that pass through in sequence; Step S2: Based on the encoded data of the encoded magnetic strip read by the Hall reader, the trolley assembly drives the lifting and placing robot arm to position it to the winding machine where the yarn needs to be output; Step S3: The yarn feeding mechanism rotates to be parallel to the direction of the winding machine conveyor belt; Step S4: The yarn feeding mechanism descends between the two yarn guide wheel assemblies on the yarn receiving platform; Step S5: The winding machine outputs a yarn bobbin, and the yarn bobbin sensor detects that the yarn splicing is complete; Step S6: The lifting motor rotates, driving the yarn picking and placing mechanism to rise to a certain height, and the yarn cone is picked up; Step S7: The lifting motor stops running, and the yarn rotating motor drives the yarn picking and placing mechanism and the yarn bobbin to rotate 90 degrees; Step S8: When an empty hoisting cage is about to pass by, the lifting motor starts running in advance to raise the yarn loading and unloading mechanism to the height of the hoisting cage; Step S9: When the empty hoist cage moves directly above the yarn picking and placing mechanism, the yarn picking and placing mechanism descends and puts the yarn cone into the hoist cage; Step S10: The yarn pick-up and drop-off mechanism descends to a certain height while the yarn rotating motor drives the yarn pick-up and drop-off mechanism to rotate 90 degrees in the opposite direction until the yarn pick-up and drop-off mechanism is parallel to the direction of the winding machine conveyor belt; Step S11: Repeat steps 4-10 to lift all the yarn packages output by this winding machine into the cage; Step S12: The trolley assembly moves along the guide rail assembly and, according to the code of the coded magnetic strip read by the Hall reader, positions itself to the next winding machine that needs to output the yarn package. Step S13: Repeat the above steps to complete the movement of yarn between multiple winding machines.

[0018] Compared with the prior art, the present invention has the following advantages and positive effects: The bobbin handling and conveying device of the present invention includes a lifting and placing robot arm, a guide rail assembly, a trolley assembly, a yarn receiving platform, and a control system. The guide rail assembly suspends the lifting and placing robot arm on the trolley assembly, allowing it to reciprocate between multiple winding machines to grab bobbins and lift them into a cage. The winding machine's bobbin output belt delivers bobbins one by one to the yarn receiving platform. The bobbin handling robot arm removes the bobbins one by one from the receiving platform and lifts them into the cage conveyor line. After completing the lifting task of all bobbins for the current winding machine, the lifting and placing robot arm can move to the next winding machine to wait for yarn pickup.

[0019] This invention expands the working range of the lifting and placing robot and improves its utilization rate. When the same number of winding machines are used in a fully automatic packaging machine, the number of picking and placing robots can be greatly reduced, thus reducing the equipment cost of the fully automatic packaging machine for yarn packages. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the structure of a mobile bobbin loading and unloading robot of the present invention; Figure 2 This is a schematic diagram showing the installation position relationship between the mobile bobbin handling robot, the winding machine, and the cage conveyor line of the present invention; Figure 3 This is a schematic diagram of a guide rail assembly in a mobile bobbin handling robot according to the present invention. Figure 4 This is a perspective view of the H-steel track used in the mobile bobbin handling robot of the present invention; Figure 5 This is a schematic diagram of a hand trolley assembly of a mobile yarn loading and unloading robot according to the present invention; Figure 6 This is a schematic diagram of the trolley assembly of a mobile bobbin handling robot mounted on a guide rail assembly according to the present invention. Figure 7 This is a perspective view of the lifting and placing robotic arm portion of a mobile yarn bobbin handling robot according to the present invention. Figure 8 This is a perspective view of the yarn receiving platform assembly in a mobile bobbin handling robot according to the present invention. Figure 9 This is a schematic diagram of the yarn picking and placing mechanism of a mobile yarn loading and unloading robot descending to the yarn receiving platform to pick up yarn according to the present invention. Figure 10 This is a schematic diagram of the rotating motor in the hand of a mobile yarn loading and unloading robot of the present invention driving the yarn loading and unloading mechanism and the yarn package to rotate 90 degrees. Figure 11 This is a schematic diagram of the yarn loading and unloading mechanism in a mobile yarn loading and unloading robot of the present invention, showing the yarn loading and unloading mechanism hanging the yarn into the cage.

[0021] The components in the diagram are numbered as follows: 1. Guide rail assembly; 1.1. Mounting bracket; 1.2. H-beam rail; 1.21. Upper flange; 1.22. Web plate; 1.23. Lower flange; 1.3. Encoded magnetic strip; 1.4. Connector; 2. Trolley assembly; 2.1. Mounting base plate; 2.2. Travel motor assembly; 2.3. Active suspension wheel; 2.4. Passive suspension wheel; 2.5. Lower auxiliary wheel; 2.6. Side auxiliary wheel; 2.7. Cable carrier bracket; 2.8. Hall effect sensor. 3. Code Reader; 3. Lifting and Loading Robot; 3.1 Guide Column; 3.2 Sliding Frame; 3.3 Yarn Rotating Motor; 3.4 Yarn Loading and Loading Mechanism; 3.5 Lifting Motor; 3.6 Synchronous Belt; 3.7 Driven Wheel; 4. Yarn Receiving Platform; 4.1 Column; 4.2 Yarn Guide Wheel Assembly; 4.3 Yarn Bore Sensor; 4.4 Yarn Bore Limiting Assembly; A. Winding Machine Head; B. Cage Conveyor Column; C. Cage Track; D. Circulating Cage Assembly. Detailed Implementation

[0022] The present invention will be further described in detail below with reference to the accompanying drawings: See Figures 1-11 This invention discloses an embodiment of a mobile bobbin loading and unloading robot, comprising a lifting and unloading robot 3, a receiving platform 4, and a control system. The lifting and unloading robot 3 is equipped with a guide rail assembly 1 and a trolley assembly 2. The guide rail assembly 1 is located on one side of the cage conveyor line. The trolley assembly 2 is suspended on the guide rail assembly 1 at a certain height and moves back and forth. The lifting and unloading robot 3 is mounted on the trolley assembly 2, which is driven by a servo motor. The control system is connected to the control terminal of the servo motor and is used to control the lifting and unloading robot 3 to move back and forth between multiple winding machines. The receiving platform 4 is fixedly installed on the ground. The lifting and unloading robot 3 removes the bobbins one by one from the receiving platform 4 and lifts them into an empty cage on the cage conveyor line.

[0023] Furthermore, the aforementioned lifting and placing manipulator 3 includes a guide column 3.1, a sliding frame 3.2, a yarn rotating motor 3.3 (or a rotary cylinder), a yarn picking and placing mechanism 3.4, a lifting motor 3.5, a synchronous belt 3.6, and a driven wheel 3.7. The guide column 3.1 is mounted on the trolley assembly 2. The sliding frame 3.2 is mounted on the guide column 3.1 via a slider to achieve vertical movement. The yarn rotating motor 3.3 (or rotary cylinder) and the yarn picking and placing mechanism 3.4 are mounted on the sliding frame 3.2 and are driven to move vertically by the sliding frame 3.2. The yarn picking and placing mechanism 3.2 is driven to rotate by the yarn rotating motor 3.3. A synchronous pulley is mounted on the output shaft of the lifting motor 3.5. The synchronous belt 3.6 is wound between the synchronous pulley and the driven pulley 3.7 in the lifting motor 3.5. The driven pulley 3.7 is used to finely adjust the position downwards to tension the synchronous belt 3.6. The sliding frame 3.2 is connected to the synchronous belt 3.6. When the lifting motor 3.5 rotates, it drives the sliding frame 3.2 to move up and down through the synchronous belt 3.6.

[0024] Specifically, the guide rail assembly 1 includes a mounting bracket 1.1, an H-beam rail 1.2, an encoding component 1.3, a code reader sensor, and a connector 1.4. The code reader sensor is connected to the control system. One end of the mounting bracket 1.1 is connected to the upper flange of the H-beam rail 1.2 for suspending and fixing the H-beam rail 1.2, and the other end is fixed to the column B of the cage conveyor line. The encoding component is fixed above the H-beam rail 1.2 and corresponds one-to-one with the positions of the heads A of multiple winding machines, providing the trolley assembly 2 with a signal to position itself to the designated winding machine.

[0025] Figure 2 As shown, the other end of the mounting bracket 1.1 can be fixed on column B of the cage conveyor line. This is based on the consideration of convenient on-site construction and cost saving. In actual implementation, the guide rail assembly can be installed on an independent dedicated column.

[0026] Furthermore, the aforementioned H-steel rail 1.2 is a national standard steel section with an "I" shaped cross-section, including an upper flange 1.21, a web 1.22, and a lower flange 1.23. Each end of the upper flange 1.21 is machined with four threaded holes. Multiple sections of H-steel rail 1.2 are connected and extended by connectors 1.4. The connected H-steel rail 1.2 is fixed to the corresponding multiple cage conveyor column B by multiple mounting brackets 1.1. The upper flange 1.21 and lower flange 1.23 of the H-steel rail 1.2 are set horizontally, and the length direction of the H-steel rail 1.2 is parallel to the multiple winding machines and unfolded side by side.

[0027] Furthermore, the aforementioned encoding component is used to provide an encoded address. The encoding component uses an encoded magnetic strip 1.3, an RFID tag, a barcode, or a QR code, in conjunction with a reading sensor with corresponding functions. The aforementioned encoded magnetic strip 1.3 is a magnetic bar-shaped marker with a unique code, and its code is read by a Hall effect reader 2.8.

[0028] Specifically, the aforementioned trolley assembly 2 includes a mounting base 2.1, a travel motor assembly 2.2, an active suspension wheel 2.3, a passive suspension wheel 2.4, two pairs of lower auxiliary wheels 2.5, two pairs of side auxiliary wheels 2.6, and a cable chain bracket 2.7. The mounting base 2.1 provides fixed positions for the other components, which are directly or indirectly mounted on it. The travel motor assembly 2.2 is connected to the active suspension wheel 2.3 via a sprocket and chain. The active suspension wheel 2.3 is fixed to the mounting base 2.1 via bearing seats. The two active suspension wheels 2.3 are connected and driven by a chain and sprocket, allowing them to rotate synchronously. The passive suspension wheel 2.4 is fixed to the mounting base 2.1 via bearing seats, forming the left and right wheel pairs of the suspension base together with the active suspension wheel 2.3. There are two pairs of lower auxiliary wheels 2.5 and two pairs of side auxiliary wheels 2.6, all connected to the mounting base 2.1 via bearing seats, used for guidance and positioning to ensure the stability of the trolley assembly 2 during sliding. The cable chain bracket 2.7 is used to mount the moving end of the cable chain.

[0029] The aforementioned active suspension wheel 2.3 and passive suspension wheel 2.4 are suspended on the lower flange 1.23 of the H-steel rail 1.2. The two pairs of lower auxiliary wheels 2.5 are slightly adjusted upwards to press against the lower flange 1.23. The two pairs of side auxiliary wheels 2.6 are slightly adjusted towards the web 1.22 of the H-steel rail 1.2 to abut against the left and right sides of the web 1.22. Driven by the travel motor assembly 2.2, the active suspension wheel 2.3 rolls on the lower flange 1.23 of the H-steel rail 1.2, driving the entire trolley assembly 2 to move smoothly along the H-steel rail 1.2. The lower auxiliary wheels 2.5 provide a certain clamping force, and the side auxiliary wheels 2.6 provide guidance, jointly ensuring that the trolley assembly 2 always holds tightly to the H-steel rail 1.2 during movement, preventing deviation or tilting.

[0030] Furthermore, the aforementioned yarn receiving platform 4 is fixedly installed at the yarn output belt outlet of the winding machine head A, the cage conveyor column B supports the cage track C, and the circulating cage assembly D circulates in the cage track C.

[0031] like Figure 8 The yarn receiving platform 4 shown includes a column 4.1, a yarn guide wheel assembly 4.2, a yarn sensor 4.3, and a yarn limiting assembly 4.4. The yarn receiving platform 4 is installed before the yarn output belt of the winding machine head A. After the yarn is fed from the winding machine belt, it slides onto the yarn guide wheel assembly 4.2. There are two yarn guide wheel assemblies 4.2, one on each side, which together support the yarn. The yarn guide wheel assembly 4.2 has a certain downward tilt angle. After the yarn slides into the yarn guide wheel assembly 4.2, it slides down along the guide wheel to the yarn limiting assembly 4.4, where it is stopped at the bottom of the guide wheel assembly 4.4. The yarn sensor 4.3 can then detect that the yarn receiving is complete.

[0032] See Figures 1-11 An embodiment of the picking and placing conveying method of the above-mentioned yarn bobbin robotic arm picking and placing conveying device of the present invention includes the following steps in its workflow: Step 1: The lifting and loading robot arm 3 moves to position 4 in front of the designated yarn receiving table in front of a winding machine to wait for yarn to be picked up; Step 2: The yarn cones produced by the winding machine are fed out one by one by its own conveyor belt and fall onto the yarn receiving table 4; Step 3: The lifting and placing robot arm 3 grabs the yarn bobbin from the yarn receiving table 4 and lifts it a certain distance to hang it in an empty cage in the circulating cage assembly D; Step 4: The gripping device of the lifting and placing robot arm 3 descends to the yarn receiving platform 4 to wait for the yarn to be picked up; Step 5: The winding machine continues to send out the next yarn bobbin via the conveyor belt, and the lifting and picking robot 3 grabs it and puts it into an empty cage in the circulating cage assembly D; Step 6: After the winding machine sends out all the yarn packages, the lifting and picking robot will grab them and put them into the empty cage. Driven by the trolley assembly, the lifting and picking robot will move to the yarn receiving platform 4 in front of the head A of the next winding machine to wait for the yarn to be picked up. Repeat steps 1-6, and a bobbin robot pick-and-place conveyor gradually delivers the bobbins produced by multiple winding machines to the cage conveyor line.

[0033] Furthermore, the process by which the lifting and placing robotic arm of the present invention picks up yarn from the yarn receiving platform 4 and hangs it into the cage includes the following specific steps: Step S1: The trolley assembly 2 drives the lifting and placing robot arm 3 to move along the guide rail assembly 1, and the Hall reader 2.8 reads the code of the coded magnetic strip 1.3 that it passes through in sequence; Step S2: Based on the encoded data of the encoded magnetic strip read by the Hall reader, the trolley assembly 2 drives the lifting and picking robot 3 to position it to the winding machine where the yarn needs to be output; Step S3: Rotate the yarn feeding mechanism 3.4 to be parallel to the direction of the winding machine conveyor belt; Step S4: The yarn feeding mechanism 3.4 descends to the space between the two yarn guide wheel assemblies on the yarn receiving platform 4; Step S5: The winding machine outputs a yarn bobbin, and the yarn bobbin sensor detects that the yarn splicing is complete; Step S6: The lifting motor 3.5 rotates, driving the yarn picking and placing mechanism 3.4 to rise to a certain height, and the yarn cone is picked up; Step S7: The lifting motor 3.5 stops running, and the yarn rotating motor 3.3 drives the yarn picking and placing mechanism 3.4 and the yarn cone to rotate 90 degrees; Step S8: When an empty hoisting cage is about to pass by, the lifting motor 3.5 starts running in advance to raise the yarn loading and unloading mechanism 3.4 to the height of the hoisting cage; Step S9: When the empty hoist cage moves directly above the yarn picking and placing mechanism 3.4, the yarn picking and placing mechanism 3.4 descends and puts the yarn cone into the hoist cage; Step S10: The yarn pick-up and drop mechanism 3.4 descends to a certain height, and at the same time, the yarn rotating motor 3.3 drives the yarn pick-up and drop mechanism 3.4 to rotate 90 degrees in the opposite direction until the yarn pick-up and drop mechanism 3.4 is parallel to the direction of the winding machine conveyor belt; Step S11: Repeat steps 4-10 to lift all the yarn packages output by this winding machine into the cage; Step S12: The trolley assembly 2 moves along the guide rail assembly 1 and is positioned to the next winding machine that needs to output yarn according to the encoding of the coded magnetic strip 1.3 read by the Hall reader 2.8. Step S13: Repeat the above steps to complete the movement of yarn between multiple winding machines.

[0034] This invention improves the utilization rate of lifting and placing robotic arms, significantly reduces the number of lifting and placing robotic arms, and lowers equipment costs.

[0035] Of course, the above description is not intended to limit the present invention, and the present invention is not limited to the examples given above. Any changes, modifications, additions or substitutions made by those skilled in the art within the scope of the present invention should also fall within the protection scope of the present invention.

Claims

1. A creel robot pick-and-place conveyor comprising a lifting pick-and-place robot, a yarn receiving table, and a control system, characterized in that, The lifting and placing robot arm is equipped with a guide rail assembly and a trolley assembly. The guide rail assembly is located on one side of the cage conveyor line. The trolley assembly is suspended on the guide rail assembly at a certain height and moves back and forth. The lifting and placing robot arm is mounted on the trolley assembly. The trolley assembly is driven by a servo motor. The control system is connected to the control terminal of the servo motor and is used to control the lifting and placing robot arm to move back and forth between multiple winding machines, and to remove the yarn bobbins one by one from the yarn receiving table and lift them into the cage conveyor line.

2. The cop handling robot transfer device according to claim 1, wherein, The lifting and loading robot includes a guide column, a sliding frame, a yarn rotating motor or rotary cylinder, a yarn loading and unloading mechanism, a lifting motor, a synchronous belt, and a driven wheel. The guide column is mounted on the trolley assembly. The sliding frame is mounted on the guide column via a slider to achieve vertical movement. The yarn rotating motor or rotary cylinder and the yarn loading and unloading mechanism are mounted on the sliding frame and are driven to move vertically by the sliding frame. The yarn loading and unloading mechanism is driven to rotate by the yarn rotating motor. A synchronous pulley is mounted on the output shaft of the lifting motor. The synchronous belt is wound between the synchronous pulley in the lifting motor and the driven wheel. The driven wheel is used to finely adjust the position downwards to tension the synchronous belt. The sliding frame is connected to the synchronous belt. When the lifting motor rotates, it drives the sliding frame to move up and down through the synchronous belt.

3. The cop handling robot transfer device according to claim 1 or 2, characterized in that The guide rail assembly includes a mounting bracket, an H-beam rail, an encoding component, a code reader sensor, and connectors. The code reader sensor is connected to the control system. One end of the mounting bracket is connected to the upper wing plate of the H-beam rail for suspending and fixing the H-beam rail, and the other end is fixed to the column of the cage conveyor line or a dedicated column. The encoding component is fixed above the H-beam rail and corresponds one-to-one with the positions of multiple winding machine heads, providing the trolley assembly with a signal to position itself to the designated winding machine.

4. The cop handling robot transfer device according to claim 3, wherein, The H-shaped steel rail is a national standard steel with an "I"-shaped cross-section, including an upper flange, a web, and a lower flange. Each end of the upper flange has four threaded holes. Multiple sections of the H-shaped steel rail are connected and extended by connectors. The connected H-shaped steel rail is fixed to the corresponding columns of the cage conveyor line by multiple mounting brackets. The upper and lower flanges of the H-shaped steel rail are horizontally arranged, and the length of the H-shaped steel rail is parallel to the multiple winding machines and laid out side by side.

5. The cop handling robot transfer device according to claim 3, wherein, The encoding component is used to provide an encoded address. The encoding component adopts an encoded magnetic strip, RFID tag, barcode or QR code, in conjunction with a reading sensor with corresponding functions. The encoded magnetic strip is a magnetic strip marker with a unique code, and its code is read by a Hall effect reader.

6. The cop handling robot transfer device according to claim 4, wherein, The trolley assembly includes a mounting base, a travel motor assembly, an active suspension wheel, a passive suspension wheel, two pairs of lower auxiliary wheels, two pairs of side auxiliary wheels, and a cable chain bracket. The travel motor assembly is connected to the active suspension wheel via a sprocket and chain. The active suspension wheel is fixed to the mounting base via a bearing seat. The two active suspension wheels are connected and driven by a chain and sprocket, and rotate synchronously. The passive suspension wheel is fixed to the mounting base via a bearing seat, and together with the active suspension wheel, forms the left and right wheel pairs of the suspension base. The lower auxiliary wheels and side auxiliary wheels are both connected to the mounting base via bearing seats to assist in guidance and positioning, ensuring the stability of the trolley assembly during sliding. The cable chain bracket is used to mount the moving end of the cable chain.

7. The cop handling robot transfer device according to claim 6, wherein, The active and passive suspension wheels are suspended on the lower flange of the H-rail. The two pairs of lower auxiliary wheels are slightly adjusted upwards to press against the lower flange. The two pairs of side auxiliary wheels are slightly adjusted towards the web of the H-rail to abut against the left and right sides of the web. Driven by the traveling motor assembly, the active suspension wheels roll on the lower flange of the H-rail, driving the entire trolley assembly to move smoothly along the H-rail. The lower auxiliary wheels provide a certain clamping force, and the side auxiliary wheels provide guidance, jointly ensuring that the trolley assembly always holds tightly to the H-rail during movement and does not deviate or tilt.

8. The cop handling robot transfer device according to claim 1 or 2, characterized in that, The yarn receiving platform is fixedly installed at the yarn output belt outlet of the winding machine head. The cage conveyor column supports the cage track, and the circulating cage assembly circulates in the cage track.

9. A method of picking and placing a delivery device of a cop handling robot according to any one of claims 1 to 8, characterized in that The workflow of the pick-and-place conveying method includes the following steps: Step 1: The lifting and picking robot arm moves to the designated yarn receiving platform in front of a winding machine to wait for yarn to be picked up; Step 2: The yarn cones produced by the winding machine are fed out one by one by its own conveyor belt and fall onto the yarn receiving table 4; Step 3: The lifting and placing robot grabs the yarn bobbin from the yarn receiving table, lifts it a certain distance, and hangs it in an empty cage in the circulating cage assembly; Step 4: The gripping device of the lifting and placing robot arm descends to the yarn receiving platform (4) to wait for the yarn to be picked up; Step 5: The winding machine continues to send out the next yarn bobbin via the conveyor belt, and the lifting and picking robot grabs it and puts it into an empty cage in the circulating cage assembly; Step 6: After the winding machine sends out all the yarn packages, the lifting and picking robot will grab them and put them into the empty cage. Driven by the trolley assembly, the lifting and picking robot will move to the yarn receiving platform in front of the next winding machine head to wait for the yarn to be picked up. Repeat steps 1-6, and a bobbin robot pick-and-place conveyor gradually delivers the bobbins produced by multiple winding machines to the cage conveyor line.

10. The method of picking and placing the delivery device of the cop handling robot according to claim 9, wherein The process of the lifting and loading robotic arm taking yarn from the yarn receiving platform assembly and hanging it into the cage includes the following specific steps: Step S1: The trolley assembly drives the lifting and placing robot arm to move along the guide rail assembly, and the Hall effect reader reads the code of the coded magnetic strips that pass through in sequence; Step S2: Based on the encoded data of the encoded magnetic strip read by the Hall reader, the trolley assembly drives the lifting and placing robot arm to position it to the winding machine where the yarn needs to be output; Step S3: The yarn feeding mechanism rotates to be parallel to the direction of the winding machine conveyor belt; Step S4: The yarn feeding mechanism descends between the two yarn guide wheel assemblies on the yarn receiving platform; Step S5: The winding machine outputs a yarn bobbin, and the yarn bobbin sensor detects that the yarn splicing is complete; Step S6: The lifting motor rotates, driving the yarn picking and placing mechanism to rise to a certain height, and the yarn cone is picked up; Step S7: The lifting motor stops running, and the yarn rotating motor drives the yarn picking and placing mechanism and the yarn bobbin to rotate 90 degrees; Step S8: When an empty hoisting cage is about to pass by, the lifting motor starts running in advance to raise the yarn loading and unloading mechanism to the height of the hoisting cage; Step S9: When the empty hoist cage moves directly above the yarn picking and placing mechanism, the yarn picking and placing mechanism descends and puts the yarn cone into the hoist cage; Step S10: The yarn pick-up and drop-off mechanism descends to a certain height while the yarn rotating motor drives the yarn pick-up and drop-off mechanism to rotate 90 degrees in the opposite direction until the yarn pick-up and drop-off mechanism is parallel to the direction of the winding machine conveyor belt; Step S11: Repeat steps 4-10 to lift all the yarn packages output by this winding machine into the cage; Step S12: The trolley assembly moves along the guide rail assembly and, according to the code of the coded magnetic strip read by the Hall reader, positions itself to the next winding machine that needs to output the yarn package. Step S13: Repeat the above steps to complete the movement of yarn between multiple winding machines.

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