A top lock unlocking device for a cheese, a robot, an apparatus and a method for unlocking

Abstract

The application relates to a top lock locking and unlocking device for a cheese, a manipulator, equipment and a locking and unlocking method. The device comprises a righting assembly, a rotary driving assembly, a guide assembly and a top lock clamping assembly in a coaxial relationship. The guide assembly comprises a fixed cylinder and a guide pipe. The guide pipe is arranged in the middle of the fixed cylinder in a liftable manner. The lower part of the guide pipe is provided with a flared mouth. The righting assembly comprises two righting blocks. The two righting blocks right the top end of the yarn spindle rod from both sides. The righting height of the two righting blocks is relatively located below the top lock clamping assembly. The manipulator comprises the device. The equipment comprises the manipulator. The method uses the device to complete the locking and unlocking of the top lock on the upper part of the yarn spindle rod. The device first straightens the yarn spindle rod through the righting assembly, preliminarily aligns the yarn spindle rod with the top lock, then releases the yarn spindle rod through the righting assembly, continues to let the yarn spindle rod pass through the guide pipe to be completely centered, and finally tightens the top lock, so that the top lock is smoothly matched with the yarn spindle rod, manual operation is replaced, and the automation level of work is improved.

Description

A device, robotic arm, equipment, and method for locking and unlocking a bobbin top lock. Technical Field

[0001] This invention relates to the field of textile equipment technology, and in particular to a top lock locking and unlocking device, a robotic arm, equipment, and locking / unlocking method for yarn bobbins. Background Technology

[0002] Packaged yarn is a cylindrical or conical roll formed by winding yarn onto bobbins. Compared to traditional skein yarn, its structure is more compact and regular. Currently, packaged yarn dyeing can be performed using a vertical dyeing machine. Before dyeing, the packaged yarn is fixed in place by a yarn rack and then placed as a whole into the dyeing vat of the vertical dyeing machine. Some yarn racks are shaped like an inverted and open umbrella, with a central support rod, a tray at the bottom, and many cylindrical spindle rods standing vertically on top of the tray. The tops of the spindle rods are threaded. The bobbins are stacked and inserted into the spindle rods. After a row of packaged yarns is installed, the tops of the spindle rods need to be locked with a top lock (a nut-like part that engages with the thread) to prevent the packaged yarn from detaching from the spindle rods due to the buoyancy of the dye liquor. To improve the automation of dyeing, the locking and unlocking of the top lock is generally performed by specialized equipment.

[0003] There is a technical challenge in locking and unlocking the top lock. To accommodate a larger number of yarn bobbins, some spindle rods often need to be over 1 meter high, and a slight angle at the base of the spindle on the yarn rack can cause a significant offset at the top. However, the threaded fit between the top lock and the spindle rod requires excellent coaxiality; otherwise, the top lock will jam when locking, and the equipment cannot complete the operation.

[0004] Chinese patent CN112176611A discloses a method and device for unlocking a top lock on a yarn package. The device includes an unlocker, a rotary driver, and a robotic arm. The robotic arm is connected to the rotary driver, which in turn connects to and rotates the unlocker. The unlocker is used to engage with and unlock the top lock on the yarn package. This device can only automatically unlock the top lock after the yarn package dyeing is completed, but it cannot lock it. This is because unlocking the top lock when it is already threaded onto the spindle rod will not cause jamming, and lower control precision will not affect the completion of the work. However, the coaxial alignment for locking is much more difficult than unlocking, and jamming is very likely to occur. The above device cannot meet the coaxial alignment requirements. Therefore, the locking of many top locks still relies on manual labor, resulting in high labor costs and unstable work efficiency.

[0005] Therefore, it is necessary to design a new top lock unlocking device to solve the above problems. Summary of the Invention

[0006] The first main objective of this invention is to provide a top lock locking and unlocking device for bobbin yarn, which enables the top lock to be precisely aligned with the threaded part of the bobbin rod, thereby achieving automatic locking of the top lock and avoiding the problem of the top lock getting stuck.

[0007] The present invention achieves the above-mentioned objective through the following technical solution: a top lock locking and unlocking device for bobbin yarn, comprising a coaxially related straightening component, a rotary drive component, a guide component, and a top lock clamping component; the rotary drive component drives the guide component to rotate around a vertical axis; the guide component includes a fixed cylinder and a guide tube, the guide tube being vertically and elliptically disposed in the middle of the fixed cylinder, and the lower part of the guide tube having a flared opening; the top lock clamping component is fixed to the lower end of the guide component and used to clamp the top lock, the guide component being used to guide the bobbin to align with the rotation center of the rotary drive component; the straightening component includes two straightening blocks, the two straightening blocks straightening the top of the bobbin from both sides downwards, the straightening height of the two straightening blocks being relatively below the top lock clamping component.

[0008] Specifically, the straightening assembly further includes a cylinder seat, a fixed seat, two straightening cylinders, and two straightening arms. The cylinder seat is located above, and the fixed seat is located below. The two straightening cylinders and the two straightening arms are symmetrically arranged on both sides of the cylinder seat and the fixed seat. Each straightening arm includes a rotating end, a driving section, and a straightening end connected in sequence. The rotating ends of both straightening arms are connected to the fixed seat, and the rotation axes of the two straightening arms are parallel or coincident. The upper end of the straightening cylinder is hinged to the side of the cylinder seat, and the lower end is hinged to the driving section. The straightening end is provided with the straightening block.

[0009] Furthermore, the lower part of the straightening block is provided with a V-shaped groove, and the bottom of the V-shaped groove is a semi-circular structure that matches the spindle rod.

[0010] Furthermore, the straightening block is also provided with a pad with a matching semi-circular structure.

[0011] Specifically, the rotary drive assembly includes a motor mounting base, a rotary servo motor, a rotary drive shaft, and a synchronous belt transmission mechanism. The axis of rotation of the rotary servo motor and the axis of rotation of the rotary drive shaft are both vertical. The rotary servo motor is fixed to the upper part of the motor mounting base, the rotary drive shaft is rotatably connected to one side of the motor mounting base, the synchronous belt transmission mechanism transmits power between the rotary servo motor's axis of rotation and the rotary drive shaft, and the rotary drive shaft is connected to the guide assembly.

[0012] Specifically, the guiding assembly further includes an upper plate, a lower plate, and multiple sets of elastic components. The fixing cylinder is fixed to the lower center of the lower plate. The lower plate is suspended below the upper plate by multiple sets of elastic components. Each elastic component includes a guide rod, a spring, and a guide sleeve. The upper end of the guide rod is fixed to the lower part of the upper plate, and the guide sleeve is fixed to the lower plate. The middle part of the guide rod passes through the guide sleeve and the lower plate. The lower end of the guide rod is thicker than its middle part, thus suspending the lower plate. The spring is sleeved on the guide rod. The upper end of the spring abuts against the lower surface of the upper plate, and the lower end abuts against the upper end face of the guide sleeve.

[0013] Specifically, the guide assembly also includes two hook kits, which are symmetrically arranged on opposite sides of the guide tube. Each hook kit includes a hook rotatably connected to the fixed cylinder and a hook cylinder located above the fixed cylinder. The hook cylinder drives the hook to rotate to lock the retaining ring on the top lock.

[0014] Specifically, the top lock clamping assembly includes a clamping cylinder, a pair of clamps, and two limiting screws. The clamps are semi-circular in structure and have a hinged end and a free end. The hinged ends of the two clamps are hinged together, and the free ends of the two clamps are respectively connected to the two movable ends of the clamping cylinder. Each free end has a waist-shaped hole that penetrates vertically. Each limiting screw passes through a waist-shaped hole and is fixed to the lower part of the guide assembly.

[0015] Furthermore, the inner side of the clamp is provided with anti-slip teeth.

[0016] The first main objective of this invention is to provide a bobbin top lock locking and unlocking robot that can precisely align the top lock with the threaded part of the bobbin rod, thereby realizing automatic locking of the top lock.

[0017] The present invention achieves the above-mentioned objective through the following technical solution: a bobbin top lock locking and unlocking robot, comprising a lifting device, a multi-joint moving device, and the bobbin top lock locking and unlocking device, wherein the lifting device drives the multi-joint moving device to rise and fall, and the multi-joint moving device drives the bobbin top lock locking and unlocking device to move within a horizontal plane.

[0018] Specifically, the lifting device includes a column, a lifting bracket that moves up and down along the column, and a lifting servo motor that drives the lifting bracket to move up and down.

[0019] Furthermore, the multi-joint moving device includes an inner arm, a first motor, an outer arm, and a second motor. The first motor is fixed to the lifting bracket and drives the inner arm to rotate around a vertical axis. The drive shaft of the first motor is connected to the fixed end of the inner arm. The second motor is fixed to the suspended end of the inner arm and drives the outer arm to rotate around a vertical axis. The drive shaft of the second motor is connected to the fixed end of the outer arm. The yarn top lock unlocking device is fixed to the suspended end of the outer arm.

[0020] The third main objective of this invention is to provide a device for locking and unlocking top locks on yarn bobbins, which can automatically lock and unlock the top locks on all the spindle rods of the yarn frame.

[0021] The present invention achieves the above-mentioned objective through the following technical solution: a top lock locking and unlocking device for yarn bobbins, characterized in that: it includes a yarn frame fixing base, a plurality of top lock locking and unlocking manipulators for yarn bobbins, and a plurality of top lock placement platforms, wherein the top lock locking and unlocking manipulators for yarn bobbins are located to the side of the yarn frame fixing base, the spindle rod and the top lock placement platform are located within the operating range of the top lock locking and unlocking manipulators for yarn bobbins, and the top lock placement platform is provided with a plurality of temporary storage shafts for passing through the top locks.

[0022] The fourth main objective of this invention is to provide a method for locking and unlocking a bobbin top lock, which can smoothly lock and unlock the top lock on the upper part of the spindle rod using a bobbin top lock locking and unlocking device.

[0023] The present invention achieves the above-mentioned objective through the following technical solution: a method for locking and unlocking the top lock of the yarn bobbin, comprising: two straightening blocks acting on both sides of the spindle rod to straighten it; then the top lock locking and unlocking device descends, causing the spindle rod to pass through the top lock and into the guide tube; subsequently, the straightening blocks release the spindle rod, and the top lock locking and unlocking device continues to descend, causing the top lock to approach the threaded part on the spindle rod; while maintaining the clamping clamp on the top lock, the top lock is driven to rotate clockwise while descending, thereby locking the top lock at the upper part of the spindle rod; finally, the top lock clamping assembly releases the top lock, leaving the top lock on the spindle rod.

[0024] The beneficial effects of the technical solution of this invention are:

[0025] 1. The top lock locking and unlocking device for yarn bobbins can automatically complete the rotational assembly of the top lock at the top of the spindle rod. It adopts a step-by-step axial alignment method, which avoids the problem of the top lock getting stuck when tightening. It replaces the manual locking and unlocking operation and improves the level of automation of the work.

[0026] 2. The top lock locking and unlocking device of the yarn package is controlled by a lifting device to meet the lifting and lowering requirements of the top lock. The top lock locking and unlocking device is also controlled by a multi-joint moving device to reach the top of the spindle rod or temporary storage shaft to meet the movement requirements of the top lock locking and unlocking device itself, and the cost is low.

[0027] 3. The top lock locking and unlocking device for yarn cones can automatically lock and unlock the top locks on all the spindle rods of the yarn frame. When locking, the top lock locking and unlocking robot arm removes the top locks one by one from the top lock placement table, and then rotates and attaches them to the upper end of the spindle rod; when unlocking, the top lock locking and unlocking robot arm loosens the top locks from the upper end of the spindle rod, and then places them on the temporary storage shaft of the top lock placement table.

[0028] 4. The top lock locking and unlocking device for the yarn package first straightens the spindle rod through the straightening component, so that the spindle rod and the top lock are initially aligned. Then, the straightening component releases the spindle rod, allowing the spindle rod to pass through the guide tube and be fully aligned. Finally, the top lock is tightened, thus achieving smooth cooperation between the top lock and the spindle rod. Attached Figure Description

[0029] Figure 1 is a top view of the yarn top lock unlocking device of the embodiment;

[0030] Figure 2 is a 3D view of the top lock and unlocking robot arm for yarn bobbins;

[0031] Figure 3 shows the connection relationship between the top lock and unlocking device of the yarn package in the open state and the outer arm;

[0032] Figure 4 shows the open state of the straightening component;

[0033] Figure 5 is a perspective view of the rotary drive assembly;

[0034] Figure 6 is a 3D view of the guide component;

[0035] Figure 7 is a perspective view of the top lock clamping assembly;

[0036] Figure 8 is a schematic diagram of the working principle of the yarn top lock and unlocking device for straightening the spindle rod;

[0037] Figure 9 is a partial sectional view of the top lock of the yarn top lock when the top lock installation is completed with the addition and unlocking device.

[0038] The diagram is marked as follows:

[0039] 100- Yarn top lock unlocking and unlocking device

[0040] 1- Yarn frame fixing base;

[0041] 2-Cone top lock unlocking / unlocking robotic arm, 21-Lifting device, 211-Column, 212-Lifting bracket, 213-Lifting servo motor, 22-Multi-joint moving device, 221-Inner arm, 222-First motor, 223-Outer arm, 224-Second motor, 23-Cone top lock unlocking / unlocking device, 231-Straightening assembly, 2311-Cylinder seat, 2312-Fixed seat, 2313-Straightening cylinder, 2314-Straightening arm, 2315-Straightening block, 23151-V-groove, 2316-Padded block, 232-Rotation drive assembly, 2321-Motor mounting base, 2322-Rotation... Servo motor, 2323-rotary drive shaft, 2324-synchronous belt transmission mechanism, 233-guide assembly, 2331-upper plate, 2332-lower plate, 2333-elastic kit, 23331-guide rod, 23332-spring, 23333-guide sleeve, 2334-fixed cylinder, 2335-guide tube, 23351-flare mouth, 2336-hook kit, 23361-hook, 23362-hook cylinder, 234-top lock clamping assembly, 2341-clamping cylinder, 2342-clamp, 23421-waist-shaped hole, 23422-anti-slip teeth, 2343-limit screw;

[0042] 3-Top lock placement platform, 31-Temporary storage shaft;

[0043] 200 - Yarn frame, 201 - Yarn spindle bar;

[0044] 300-Cone yarn;

[0045] 400 - Top lock, 401 - Locking ring. Detailed Implementation

[0046] The present invention will be further described in detail below with reference to specific embodiments.

[0047] Example:

[0048] As shown in Figure 1, the yarn top lock unlocking / unlocking device 100 of this embodiment includes a yarn frame fixing base 1, two yarn top lock unlocking / unlocking manipulators 2, and four top lock placement platforms 3. The yarn frame fixing base 1 is used to fix the yarn frame 200. Multiple spindle rods 201 are vertically arranged on the yarn frame 200. The two yarn top lock unlocking / unlocking manipulators 2 are located on opposite sides of the yarn frame fixing base 1. At least half of the spindle rods 201 and half of the top lock placement platforms 3 are within the operating range of one yarn top lock unlocking / unlocking manipulator 2, and the other half of the spindle rods 201 and half of the top lock placement platforms 3 are within the operating range of the other yarn top lock unlocking / unlocking manipulator 2. The top lock placement platforms 3 are provided with several temporary storage shafts 31 for passing through the top locks 400 to accurately position the top locks 400.

[0049] Before entering the dyeing vat, the yarn frame 200 needs to have its top locks 400 engaged and disengaged within this equipment. The top lock placement platform 3 is used to temporarily store the top locks 400. The storage method involves the top locks 400 being fitted onto a temporary storage shaft 31, with the inner diameter of the temporary storage shaft 31 fitting with the inner diameter of the top locks 400. Multiple top locks 400 can be stacked on each temporary storage shaft 31. Before and after dyeing, the yarn packages 300 pass through the spindle rods 201 and are stacked on the yarn frame 200. The yarn package top lock engagement and disengagement device 100 is designed to automatically engage and disengage the top locks 400 on all the spindle rods 201 of the yarn frame 200. When locking, the yarn top lock locking / unlocking robot 2 removes the top locks 400 one by one from the top lock placement platform 3, and then rotates and locks them onto the upper end of the spindle rod 201. When unlocking, the yarn top lock locking / unlocking robot 2 loosens the top lock 400 from the upper end of the spindle rod 201, and then places it on the temporary storage shaft 31 of the top lock placement platform 3. In this embodiment, the two yarn top lock locking / unlocking robots 2 on each side are responsible for locking and unlocking half of the top locks 400, without interfering with each other. The actual number of yarn top lock locking / unlocking robots 2 can be increased or decreased according to the needs of the work rhythm. Each top lock placement platform 3 is an independent support for placing the top lock 400. The isolated arrangement of multiple top lock placement platforms 3 is only used to leave a passage for movement or to avoid the position of the yarn top lock locking / unlocking robot 2. In practical applications, the top lock placement platforms 3 can be an indefinite number of isolated structures, or an integral structure set around the yarn top lock locking / unlocking robot 2.

[0050] As shown in Figure 2, the yarn top lock locking and unlocking robot 2 includes a lifting device 21, a multi-joint moving device 22, and a yarn top lock locking and unlocking device 23. The lifting device 21 drives the multi-joint moving device 22 to lift and lower, and the multi-joint moving device 22 drives the yarn top lock locking and unlocking device 23 to move within the horizontal plane.

[0051] Although the actual position of the spindle rod 201 always has some deviation, it is generally vertical. The temporary storage shaft 31 is also vertical, so the central axis of the yarn top lock / unlock device 23 should ideally remain vertical. The lifting device 21 controls the height of the yarn top lock / unlock device 23 to meet the requirements of its lifting and lowering action (change in Z-coordinate) for picking up and placing the top lock 400. The multi-joint moving device 22 controls the yarn top lock / unlock device 23 to reach above the spindle rod 201 or the temporary storage shaft 31 (theoretical alignment of the axis XY coordinates). The rotating shafts in the multi-joint moving device 22 are all vertical, so no matter how the yarn top lock / unlock device 23 is moved, its axis remains basically vertical. Because the top lock 400 will eventually rotate, the initial rotation angle of the top lock 400 does not affect whether the top lock 400 can be locked onto the spindle rod 201.

[0052] As shown in Figure 2, the lifting device 21 includes a column 211, a lifting bracket 212 that moves up and down along the column 211, and a lifting servo motor 213 that drives the lifting bracket 212 to move up and down. The multi-joint moving device 22 includes an inner arm 221, a first motor 222, an outer arm 223, and a second motor 224. The first motor 222 is fixed on the lifting bracket 212 and drives the inner arm 221 to rotate around a vertical axis. The drive shaft of the first motor 222 is connected to the fixed end of the inner arm 221. The second motor 224 is fixed on the suspended end of the inner arm 221 and drives the outer arm 223 to rotate around a vertical axis. The drive shaft of the second motor 224 is connected to the fixed end of the outer arm 223. The yarn top lock unlocking device 23 is fixed to the suspended end of the outer arm 223.

[0053] The lifting device 21 and the multi-joint moving device 22 can meet the movement requirements of the yarn top lock unlocking device 23 itself, and the cost is low. The multi-joint moving device 22 here adopts a folding arm structure with two arms (inner arm 221 and outer arm 223), which can make the drooping range of the yarn top lock unlocking device 23 smaller, but the operating range larger. If the arm length of the inner arm 221 (the distance from the axis of the first motor 222 to the axis of the second motor 224) is a, and the arm length of the outer arm 223 (the distance from the axis of the second motor 224 to the axis of the yarn top lock unlocking device 23) is b, and a>b, then the axis of the yarn top lock unlocking device 23 can move within a fan-shaped range of minimum distance ab and maximum distance a+b (except for the side blocked by the column 211).

[0054] As shown in Figure 3, the top lock locking and unlocking device 23 for yarn bobbins includes a coaxially arranged straightening component 231, a rotary drive component 232, a guide component 233, and a top lock clamping component 234. The rotary drive component 232 drives the guide component 233 to rotate around a vertical axis. The top lock clamping component 234 is fixed to the lower end of the guide component 233 and is used to clamp the periphery of the top lock 400. The guide component 233 is used to guide the spindle rod 201 to align with the rotation center of the rotary drive component 232. The straightening component 231 (via the straightening block 2315) straightens the top ends of the spindle rod 201 from both sides, with the straightening height positioned relatively below the top lock clamping component 234.

[0055] To tighten the top lock 400 onto the upper end of the spindle rod 201, the top lock locking and unlocking device 23 needs to align the axes of both the top lock 400 and the spindle rod 201 to the rotation center of the rotary drive assembly 232 beforehand. The top lock clamping assembly 234 clamps the top lock 400 and aligns its threaded shaft hole vertically. The straightening assembly 231 provides coarse positioning of the top of the spindle rod 201 before it is inserted into the guide assembly 233. There is a height difference between the top of the spindle rod 201 and its threaded portion. The top of the spindle rod 201 will only enter the guide assembly 233 after it has completely passed through the threaded shaft hole of the top lock 400. The guide assembly 233 provides fine positioning of the top of the spindle rod 201, and the top lock 400 will pause at the upper end of the threaded portion. After the straightening component 231 releases the spindle rod 201, the top lock clamping component 234 rotates around the vertical axis (the function of the rotation drive component 232) while descending (the function of the lifting servo motor 213), thus successfully locking the top lock 400. Theoretically, as long as the movement of the straightening block 2315 does not collide with the adjacent spindle rod 201, it is acceptable. Therefore, the straightening block 2315 can straighten the spindle rod 201 not only by swinging downward from both sides, but also by swinging forward from both rear sides.

[0056] As shown in Figure 4, the straightening assembly 231 includes a cylinder seat 2311, a fixed seat 2312, two straightening cylinders 2313, and two straightening arms 2314. The cylinder seat 2311 is located above the outer arm 223, and the fixed seat 2312 is located below the outer arm 223. The two straightening cylinders 2313 and the two straightening arms 2314 are symmetrically arranged on both sides of the cylinder seat 2311 and the fixed seat 2312. The straightening arm 2314 includes a rotating end, a driving section, and a straightening end connected in sequence. The rotating ends of 14 are all connected to the fixed base 2312 and the rotating shafts of the two straightening arms 2314 coincide (or are parallel). The upper end of the straightening cylinder 2313 is hinged to the side of the cylinder seat 2311 and the lower end is hinged to the drive section. A straightening block 2315 is provided on the straightening end. A V-shaped groove 23151 is provided at the lower part of the straightening block 2315. The bottom of the V-shaped groove 23151 is a semi-circular structure matching the spindle rod 201. A pad 2316 matching the semi-circular structure is also provided on the straightening block 2315.

[0057] Because the guide assembly 233 and the top lock clamping assembly 234 are already below the height of the outer arm 223, the position to be straightened by the straightening assembly 231 needs to be even lower than the lowest point of the top lock clamping assembly 234. Therefore, the straightening assembly 231 is designed to swing downwards from both sides to clamp. The straightening arm 2314 and the straightening block 2315 simulate two arms and two hands, and the V-shaped groove 23151 is equivalent to the tiger's mouth on the hand. The straightening cylinder 2313 drives the straightening arm 2314 to swing downwards, and the two straightening blocks 2315 move closer to the middle to clamp the top of the spindle rod 201, so that the top of the spindle rod 201 is aligned with the threaded hole of the top lock 400. The semi-circular structure inside the V-shaped groove 23151 of the two straightening blocks 2315 can each be tightly attached to one side of the spindle rod 201 or the temporary shaft 31, while the actual contact position is on the inner wall of the pad block 2316. Because the pad 2316 is made of elastic material, it can prevent scratching the spindle rod 201 or the temporary storage shaft 31. The action of the top lock 400 being put onto the temporary storage shaft 31 by the top lock 23 is similar to the action of putting the top lock 400 onto the spindle rod 201. However, since the temporary storage shaft 31 does not need to have threads, the former action only needs to lower the top lock 400 vertically, and there is no need to perform a rotation action on the top lock 400.

[0058] As shown in Figure 5, the rotary drive assembly 232 includes a motor mounting base 2321, a rotary servo motor 2322, a rotary drive shaft 2323, and a synchronous belt drive mechanism 2324. The axis of rotation of the rotary servo motor 2322 and the axis of rotation of the rotary drive shaft 2323 are both vertical. The rotary servo motor 2322 is fixed to the upper part of the motor mounting base 2321. The rotary drive shaft 2323 is rotatably connected to one side of the motor mounting base 2321. The synchronous belt drive mechanism 2324 transmits power between the rotary axis of the rotary servo motor 2322 and the rotary drive shaft 2323. The rotary drive shaft 2323 is connected to the guide assembly 233.

[0059] The motor mounting base 2321 serves as the fixed foundation for the rotary drive assembly 232 and is used to connect to the outer arm 223. The rotary drive shaft 2323 drives the guide assembly 233 and the top lock clamping assembly 234 to rotate together. Combined with the lifting action, this allows for the tightening and loosening of the top lock 400 on the spindle rod 201. The rotary servo motor 2322 generates the power to rotate the rotary drive shaft 2323. The synchronous belt drive mechanism 2324 consists of a synchronous belt and two synchronous pulleys. One pulley is connected to the rotating shaft of the rotary servo motor 2322, and the other pulley is connected to the rotary drive shaft 2323, thus transmitting the power of the rotary servo motor 2322. The rotary drive shaft 2323 is not directly connected to the rotating shaft of the rotary servo motor 2322 so that the load below the rotary drive shaft 2323 can be directly transmitted to the motor mounting base 2321, reducing wear on the rotary servo motor 2322.

[0060] As shown in Figures 6 and 9, the guide assembly 233 includes an upper plate 2331, a lower plate 2332, multiple sets of elastic components 2333, a fixing cylinder 2334, a guide tube 2335, and two hook components 2336. The lower plate 2332 is suspended below the upper plate 2331 by the multiple sets of elastic components 2333. The fixing cylinder 2334 is fixed to the lower center of the lower plate 2332. The guide tube 2335 is vertically and vertically positioned in the middle of the fixing cylinder 2334. The lower part of the guide tube 2335 has a flared mouth 23351, and two hook kits 2336 are symmetrically arranged on opposite sides of the guide tube 2335. Each hook kit 2336 includes a hook 23361 rotatably connected to the fixed cylinder 2334 and a hook cylinder 23362 located above the fixed cylinder 2334. The hook cylinder 23362 drives the hook 23361 to rotate to lock the retaining ring 401 on the top lock 400.

[0061] The fixed cylinder 2334 has a hollow structure, allowing a portion of the top lock 400 to enter. The guide assembly 233 can flexibly adjust its relative position to the spindle rod 201, ensuring that the axis of the spindle rod 201 is centered when the top lock locking / unlocking device 23 descends. Because the straightening assembly 231 has initially straightened the spindle rod 201, the top of the spindle rod 201 is now accurately aligned with the bell mouth 23351. Therefore, when the guide assembly 233 descends, the spindle rod 201 will pass through the bell mouth 23351 and enter the inner side of the guide tube 2335. The guide tube 2335 and the fixed cylinder 2334 are not fixedly connected here because this extends the guiding distance, providing more precise guidance for the axial alignment of the top lock 400 and the spindle rod 201. The elastic kit 2333 serves two purposes: firstly, it holds the lower plate 2332, limiting the maximum distance between the lower plate 2332 and the upper plate 2331; secondly, it allows all components on the lower plate 2332 to float relative to the upper plate 2331, enabling the fixing cylinder 2334 and guide tube 2335 to automatically adapt to the position of the spindle rod 201, preventing impact on the spindle rod 201. Although the top lock clamping assembly 234 can clamp the outer periphery of the top lock 400, it lacks vertical tension, posing a risk of the top lock 400 falling off. The hook 23361 on the hook assembly 2336 can hook the retaining ring 401 after the top lock 400 is in place. After locking, as long as the hook cylinder 23362 does not release, the top lock 400 will not fall off.

[0062] As shown in Figures 6 and 9, each elastic component 2333 includes a guide rod 23331, a spring 23332, and a guide sleeve 23333. The upper end of the guide rod 23331 is fixed to the lower part of the upper plate 2331, and the guide sleeve 23333 is fixed to the lower plate 2332. The middle part of the guide rod 23331 passes through the guide sleeve 23333 and the lower plate 2332. The lower end of the guide rod 23331 is thicker than the middle part, so that the lower plate 2332 can be suspended. The spring 23332 is sleeved on the outside of the guide rod 23331. The upper end of the spring 23332 abuts against the lower surface of the upper plate 2331, and the lower end abuts against the upper end face of the guide sleeve 23333.

[0063] The cooperation between the guide sleeve 23333 and the guide rod 23331 allows the lower plate 2332 to rise and fall vertically. The spring 23332 causes the lower plate 2332 to tend to move away from the upper plate 2331, but the lower end of the guide rod 23331 will catch the lower plate 2332 to prevent it from leaving the range of the guide rod 23331.

[0064] As shown in Figures 7 to 9, the top lock clamping assembly 234 includes a clamping cylinder 2341, a pair of clamps 2342, and two limiting screws 2343. The clamps 2342 have a semi-circular structure and have a hinged end and a free end. The hinged ends of the two clamps 2342 are hinged together, and the free ends of the two clamps 2342 are respectively connected to the two movable ends of the clamping cylinder 2341. Each free end is provided with an oblong hole 23421 penetrating vertically. Each limiting screw 2343 passes through an oblong hole 23421 and is fixed to the lower part of the guide assembly 233 (the lower surface of the fixing cylinder 2334). The inner side of the clamps 2342 is provided with anti-slip teeth 23422.

[0065] Two clamps 2342 form a ring structure that can grip the outer wall of the top lock 400. The clamping cylinder 2341 controls the distance between the two free ends by extending and retracting. When the two free ends are far apart, the top lock 400 can enter the inner side of the clamps 2342; when the two free ends are close together, the two clamps 2342 can grip the top lock 400 tightly. The limit screw 2343 ensures that the two clamps 2342 do not detach from the lower part of the guide assembly 233 during movement, while the waist-shaped hole 23421 provides space for the angle of the two clamps 2342 to change. Because the clamps 2342 need to be driven to rotate a set number of turns after gripping the top lock 400 in order to lock the yarn package 300, it is necessary to prevent the top lock 400 from slipping relative to the top lock clamping assembly 234. The purpose of the anti-slip teeth 23422 is to maintain the relative position of the clamps 2342 and the top lock 400 when the top lock clamping assembly 234 rotates.

[0066] The locking process of the yarn top lock locking and unlocking device 100 is as follows:

[0067] 1. Material preparation: All top locks 400 are placed on the top lock placement platform 3 for later use. The top locks 400 are first stacked and placed on the temporary storage shaft 31. The yarn frame 200 is fixed to the yarn frame fixing seat 1. At this time, the spindle rod 201 is in a basically upright state and is already fully loaded with yarn cones 300.

[0068] 2. One movement: The lifting device 21 and the multi-joint moving device 22 drive the yarn top lock unlocking device 23 to move above a top lock placement platform 3. At this time, the axis of the yarn top lock unlocking device 23 is basically collinear with a temporary shaft 31 that stores the top lock 400, and the top lock clamping assembly 234 is slightly higher than the upper end of the temporary shaft 31.

[0069] 3. Remove the top lock 400: The straightening cylinder 2313 drives the straightening arm 2314 to swing down, and the two straightening blocks 2315 straighten the temporary storage shaft 31 by relying on the V-shaped groove 23151; then the lifting device 21 drives the yarn top lock unlocking device 23 to descend slightly (the straightening blocks 2315 do not touch the top lock 400 at the top), and the flared mouth 23351 guides the temporary storage shaft 31 into the guide tube 2335; then the straightening blocks 2315 release the temporary storage shaft 31, and the yarn top lock unlocking device 23 continues to descend until it reaches the guide tube. When 2335 reaches its highest point relative to the lower plate 2332 (the elastic kit 2333 allows the lower plate 2332 to adapt to the position of the top lock 400), the top lock 400 reaches the interior of the fixed cylinder 2334 and the top lock clamping assembly 234; then, each of the two hook cylinders 23362 drives a hook 23361 to lock the upper ring 401 of the top lock 400, and the clamping cylinder 2341 also drives the two clamps 2342 to hold the outer periphery of the top lock 400. Then, the yarn top lock unlocking device 23 rises, causing the single top lock 400 to disengage from the temporary shaft 31.

[0070] 4. Secondary movement: The lifting device 21 and the multi-joint moving device 22 drive the top lock locking and unlocking device 23 carrying the top lock 400 to move above the spindle rod 201 where the top lock 400 is to be placed. At this time, the axis of the top lock locking and unlocking device 23 is basically collinear with the spindle rod 201, while the top lock clamping assembly 234 is slightly higher than the upper end of the spindle rod 201.

[0071] 5. Locking the top lock 400: The straightening cylinder 2313 drives the straightening arm 2314 to swing downwards, and the two straightening blocks 2315 straighten the spindle rod 201 by relying on the V-shaped grooves 23151; then the lifting device 21 drives the top lock and unlocking device 23 of the yarn package to descend slightly (the straightening blocks 2315 do not touch the uppermost yarn package 300), and the spindle rod 201 passes through the top lock 400 and enters the guide tube 2335; then the straightening blocks 2315 release the spindle rod 201, and the top lock and unlocking device 23 of the yarn package continues to descend, so that the top lock 400 is close to the yarn package. The threaded portion on the spindle 201; while keeping the clamp 2342 clamping the top lock 400, the rotary drive assembly 232 drives the top lock 400 to rotate clockwise, and the lifting device 21 drives the top lock 400 to descend (when the top lock 400 rotates one revolution clockwise, it descends by one thread pitch), thereby locking the top lock 400 on the upper part of the spindle 201; finally, the top lock clamping assembly 234 and the hook assembly 2336 release the top lock 400 together, leaving the top lock 400 on the spindle 201, and the yarn top lock unlocking device 23 goes back to remove the next top lock 400.

[0072] Repeat steps 2-5 to lock all spindle rods 201.

[0073] The unlocking process of the yarn top lock unlocking device 100 is as follows:

[0074] 1. One-time movement: The lifting device 21 and the multi-joint moving device 22 drive the yarn top lock unlocking device 23 to move above the yarn spindle rod 201 where the top lock 400 is to be removed. At this time, the axis of the yarn top lock unlocking device 23 is basically collinear with the yarn spindle rod 201, while the top lock clamping assembly 234 is slightly higher than the upper end of the yarn spindle rod 201.

[0075] 2. Unlocking the top lock 400: The straightening cylinder 2313 drives the straightening arm 2314 to swing downwards, and the two straightening blocks 2315 straighten the spindle rod 201 by relying on the V-shaped grooves 23151; then the lifting device 21 drives the top lock and unlocking device 23 of the yarn package to descend slightly (the straightening blocks 2315 do not touch the top lock 400), and the spindle rod 201 passes through the top lock 400; then the straightening blocks 2315 release the spindle rod 201, and the top lock and unlocking device 23 of the yarn package continues to descend, so that the top lock 400 abuts against the bell mouth. 23351, clamp 2342 and hook 23361 clamp the top lock 400; then the rotation drive assembly 232 drives the top lock 400 to rotate counterclockwise, while the lifting device 21 drives the top lock 400 to rise (when the top lock 400 rotates one revolution, it rises exactly one thread pitch), thereby disengaging the top lock 400 from the spindle rod 201; finally, the top lock clamping assembly 234 and hook assembly 2336 keep the top lock 400 clamped, and the top lock unlocking device 23 carries the top lock 400 away from the spindle rod 201.

[0076] 3. Secondary movement: The lifting device 21 and the multi-joint moving device 22 drive the yarn top lock unlocking device 23 carrying the top lock 400 to move above a top lock placement platform 3. At this time, the axis of the yarn top lock unlocking device 23 is basically collinear with a temporary shaft 31 that stores the top lock 400, and the top lock clamping assembly 234 is slightly higher than the upper end of the temporary shaft 31.

[0077] 4. Temporary storage of top lock 400: The straightening cylinder 2313 drives the straightening arm 2314 to swing down, and the two straightening blocks 2315 rely on the V-shaped groove 23151 to act on both sides of the temporary storage shaft 31 to straighten it; then the lifting device 21 drives the yarn top lock unlocking device 23 to descend slightly (the straightening blocks 2315 do not touch the table surface of the top lock placement platform 3 or the topmost top lock 400), and the upper end of the temporary storage shaft 31 passes into the top lock 400; then the straightening blocks 2315 release the temporary storage shaft 31, and the yarn top lock unlocking device 23 continues to descend until the top lock 400 is blocked; finally, the top lock clamping assembly 234 and the hook assembly 2336 release the top lock 400 together, leaving the top lock 400 on the temporary storage shaft 31, and the yarn top lock unlocking device 23 goes back to retrieve the next top lock 400.

[0078] The locking and unlocking of the top lock 400 is essentially a reverse operation. Locking, however, is more challenging due to its crucial role in the precise axial positioning of the top lock 400 and the spindle rod 201 before tightening, making it a key aspect of this technology. The yarn top lock locking and unlocking device 23 first straightens the spindle rod 201 using the straightening component 231, initially aligning it with the top lock 400. Then, the straightening component 231 releases the spindle rod 201, allowing it to pass through the guide tube 2335 for complete alignment. Finally, the top lock 400 is tightened, achieving smooth engagement between the top lock 400 and the spindle rod 201. Therefore, the yarn top lock locking and unlocking device 23 employs a step-by-step axial alignment method, avoiding the problem of the top lock 400 jamming during tightening, replacing manual locking and unlocking operations, and improving the level of automation.

[0079] The above are merely some embodiments of the present invention. For those skilled in the art, various modifications and improvements can be made without departing from the inventive concept of the present invention, and all such modifications and improvements fall within the scope of protection of the present invention.

Claims

1. A device for locking and unlocking a bobbin top lock, characterized in that: The device includes a coaxially aligned centering assembly, a rotary drive assembly, a guide assembly, and a top-lock clamping assembly. The rotary drive assembly drives the guide assembly to rotate around a vertical axis. The guide assembly includes a fixed cylinder and a guide tube, the guide tube being vertically detachable at the center of the fixed cylinder, and the lower part of the guide tube having a flared opening. The top-lock clamping assembly is fixed to the lower end of the guide assembly and is used to clamp a top lock. The guide assembly guides the spindle rod to align with the rotation center of the rotary drive assembly. The centering assembly includes two centering blocks, which center the top of the spindle rod from both sides, with the centering height of the two centering blocks positioned below the top-lock clamping assembly. The rotary drive assembly includes a motor mounting base, a rotary servo motor, a rotary drive shaft, and a synchronous belt drive mechanism. The axis of rotation of the rotary servo motor and the axis of rotation of the rotary drive shaft are both vertical. The rotary servo motor is fixed to the upper part of the motor mounting base, and the rotary drive shaft is rotatably connected to one side of the motor mounting base. The synchronous belt drive mechanism... The drive mechanism transmits power between the rotating shaft of the rotary servo motor and the rotary drive shaft, with the rotary drive shaft connected to the guide assembly. The guide assembly further includes an upper plate, a lower plate, and multiple sets of elastic components. The fixed cylinder is fixed to the lower center of the lower plate. The lower plate is suspended below the upper plate by multiple sets of elastic components. Each elastic component includes a guide rod, a spring, and a guide sleeve. The upper end of the guide rod is fixed to the lower part of the upper plate, the guide sleeve is fixed to the lower plate, and the middle part of the guide rod passes through the guide sleeve and the lower plate. The lower end of the guide rod is thicker than its middle part, thus enabling the lower plate to be suspended. The spring is sleeved on the outside of the guide rod, with the upper end of the spring abutting against the lower surface of the upper plate and the lower end abutting against the upper end face of the guide sleeve. The guide assembly also includes two hook kits, which are symmetrically arranged on opposite sides of the guide tube. Each hook kit includes a hook rotatably connected to the fixed cylinder and a hook cylinder located above the fixed cylinder. The hook cylinder drives the hook to rotate to lock the retaining ring on the top lock.

2. The yarn bobbin top lock locking and unlocking device according to claim 1, characterized in that: The straightening assembly also includes a cylinder seat, a fixed seat, two straightening cylinders, and two straightening arms. The cylinder seat is located above, and the fixed seat is located below. The two straightening cylinders and the two straightening arms are symmetrically arranged on both sides of the cylinder seat and the fixed seat. Each straightening arm includes a rotating end, a driving section, and a straightening end connected in sequence. The rotating ends of both straightening arms are connected to the fixed seat, and the rotation axes of the two straightening arms are parallel or coincident. The upper end of the straightening cylinder is hinged to the side of the cylinder seat, and the lower end is hinged to the driving section. The straightening end is provided with the straightening block.

3. The yarn top lock locking and unlocking device according to claim 2, characterized in that: The lower part of the straightening block is provided with a V-shaped groove, and the bottom of the V-shaped groove is a semi-circular structure that matches the spindle rod.

4. The yarn top lock locking and unlocking device according to claim 3, characterized in that: The straightening block is also equipped with a matching semi-circular pad.

5. The yarn top lock locking and unlocking device according to claim 2, characterized in that: The top-lock clamping assembly includes a clamping cylinder, a pair of clamps, and two limiting screws. The clamps are semi-circular in structure and have a hinged end and a free end. The hinged ends of the two clamps are hinged together, and the free ends of the two clamps are respectively connected to the two movable ends of the clamping cylinder. Each free end has a waist-shaped hole that penetrates vertically. Each limiting screw passes through a waist-shaped hole and is fixed to the lower part of the guide assembly.

6. The yarn bobbin top lock locking and unlocking device according to claim 5, characterized in that: The inner side of the clamp is provided with anti-slip teeth.

7. A bobbin top lock locking and unlocking robot, comprising a lifting device, a multi-joint moving device, and the bobbin top lock locking and unlocking device according to any one of claims 1-6, wherein the lifting device drives the multi-joint moving device to lift and lower, and the multi-joint moving device drives the bobbin top lock locking and unlocking device to move within a horizontal plane.

8. The bobbin top lock locking and unlocking robot according to claim 7, characterized in that: The lifting device includes a column, a lifting bracket that moves up and down along the column, and a lifting servo motor that drives the lifting bracket to move up and down.

9. The bobbin top lock locking and unlocking robot according to claim 8, characterized in that: The multi-joint moving device includes an inner arm, a first motor, an outer arm, and a second motor. The first motor is fixed on the lifting bracket and drives the inner arm to rotate around a vertical axis. The drive shaft of the first motor is connected to the fixed end of the inner arm. The second motor is fixed on the suspended end of the inner arm and drives the outer arm to rotate around a vertical axis. The drive shaft of the second motor is connected to the fixed end of the outer arm. The yarn top lock locking and unlocking device is fixed to the suspended end of the outer arm.

10. A device for locking and unlocking a bobbin top lock, characterized in that: The device includes a yarn frame fixing base, several yarn top lock locking and unlocking manipulators as described in any one of claims 7-9, and several top lock placement platforms. The yarn top lock locking and unlocking manipulators are located to the side of the yarn frame fixing base. The spindle rod and the top lock placement platforms are located within the operating range of the yarn top lock locking and unlocking manipulators. The top lock placement platforms are provided with several temporary storage shafts for passing through the top locks.

11. A method for unlocking / unlocking a bobbin top lock using the unlocking / unlocking device according to any one of claims 5 or 6, characterized in that, include: The straightening cylinder drives the straightening arm to swing downward, and the two straightening blocks act on both sides of the spindle rod to straighten it. Then the top lock locking and unlocking device descends, allowing the spindle rod to pass through the top lock and into the guide tube; subsequently, the straightening block releases the spindle rod, and the top lock locking and unlocking device continues to descend, bringing the top lock close to the threaded part on the spindle rod; while maintaining the clamping clamp on the top lock, the top lock is driven to rotate clockwise and descend simultaneously, thereby locking the top lock on the upper part of the spindle rod; finally, the top lock clamping assembly releases the top lock, leaving the top lock on the spindle rod.

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