Periscopic doffing device

Abstract

The embodiment of the utility model provides a periscopic doffing device, which comprises a traveling mechanism, a doffing mechanism, a doffing mechanism and a driving mechanism, the first lifting mechanism comprises a first lifting rod group, a first driving motor and a first platform, the first lifting rod group is fixed on the frame, and the top end of the first lifting rod group is connected with the first platform; the second lifting mechanism comprises a second lifting rod group, a second driving motor and a second platform, the second lifting rod group is arranged on the first platform, and the top end of the second lifting rod group is connected with the second platform; the rotating mechanism comprises a rotating motor and a rotating rack which are fixed to the second platform, the rotating motor is fixed to the second platform and connected with a rotating table at the bottom of the rotating rack, and a horizontally-arranged sliding rail assembly is arranged on the rotating rack; the wire connecting mechanism comprises a wire connecting rod and a translation assembly, the first end of the wire connecting rod is connected with the translation assembly, and the translation assembly is connected with the sliding rail assembly. According to the technical scheme of the embodiment of the invention, the occupied space of channels and the ground can be reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of chemical fiber production, and in particular to a periscope doffing device. Background Art

[0002] The process of removing the reel that has completed winding from the working position of the winding machine is called doffing, and the reel that has completed winding is called a wire ingot. Usually, when taking out the whole wire ingot from the winding machine at one time, a receiving rod with the same width as the whole wire ingot is required to dock with the winding rod of the winding machine in the same direction. For this reason, the size of the wire doffing device is too wide, which seriously occupies the working channel during operation, making it impossible for personnel and other receiving mechanisms to pass through. Utility Model Content

[0003] The embodiments of the present disclosure provide a periscope drop tube device to solve or alleviate one or more technical problems in the prior art.

[0004] As one aspect of an embodiment of the present disclosure, an embodiment of the present disclosure provides a periscope drop tube device, comprising:

[0005] A traveling mechanism comprises a frame, traveling wheels and a traveling motor; wherein the traveling mechanism is arranged in a ground trough under the ground, the ground trough is arranged along a first straight line, and the first straight line is parallel to a second straight line formed by a plurality of material receiving stations;

[0006] The first lifting mechanism comprises a first lifting rod group, a first driving motor and a first platform, wherein the first lifting rod group is fixed to the vehicle frame, the top end of the first lifting rod group is connected to the first platform, and the first lifting rod group is driven by the first driving motor to adjust the height of the first platform;

[0007] The second lifting mechanism comprises a second lifting rod group, a second driving motor and a second platform. The second lifting rod group is arranged on the first platform. The top end of the second lifting rod group is connected to the second platform. The second lifting rod group is driven by the second driving motor to adjust the height of the second platform.

[0008] The rotating mechanism comprises a rotating motor and a rotating frame fixed on the second platform, the rotating motor is fixed on the second platform, the rotating motor is connected to the rotating table at the bottom of the rotating frame, and a horizontally arranged slide rail assembly is provided on the rotating frame; the direction of the rotating frame is switched between the first direction and the second direction by driving the rotating motor;

[0009] The wire connecting mechanism includes a wire connecting rod and a translation assembly. The first end of the wire connecting rod is connected to the translation assembly, and the translation assembly is connected to the slide rail assembly. Under the drive of the translation assembly, the wire connecting rod moves and retracts along the direction of the rotating frame so that the second end of the wire connecting rod reaches the target material receiving station to receive the material to be transferred.

[0010] In a possible implementation, the first lifting rod group includes a plurality of hydraulic lifting rods, the bottoms of the plurality of hydraulic lifting rods are fixed to the middle of the frame, and the tops of the plurality of hydraulic lifting rods are evenly distributed on the edge of the first platform.

[0011] In one possible implementation, the second lifting rod group includes multiple groups of threaded screws and sliding rods, wherein the sliding rods are fixedly connected to one of the first platform and the second platform, and are slidably connected to the other; the bottom of the threaded screw passes through the first platform and is connected to a second drive motor arranged under the first platform; the second drive motor drives the threaded screw to rotate, so that the second platform can be raised and lowered.

[0012] In a possible implementation, a pair of vertical plates are provided on both sides of the length direction of the rotating mechanism, and the bottoms of the pair of vertical plates are connected to the rotating table through the base plate; a long hole arranged in the horizontal direction is provided on the vertical plate, and the slide rail assembly is fixed to the inner side of the vertical plate below the long hole, and the translation assembly is arranged between the pair of vertical plates, the translation motor of the translation assembly is connected to the slide rail assembly, and the slider of the translation assembly passes through the long hole and is connected to the first end of the screw rod located on the outside of the vertical plate.

[0013] In one possible implementation, the slide rail assembly includes a rack rail and an I-rail, the I-rail is fixed to the bottom plate, and the rack rail is fixed to the inner side of the vertical plate; the bottom of the translation motor is connected to the I-rail through a pulley, the output end of the translation motor is connected to the rack rail through a gear, and the slider is connected to the translation motor.

[0014] In a possible implementation, the doffing device further includes:

[0015] The auxiliary support mechanism includes a limit sleeve, a support rod, a switch assembly, a pull rope and a pin; the limit sleeve is arranged at the first end of the rotating mechanism, a vertical through hole is formed in the middle of the limit sleeve, the support rod is movably arranged in the vertical through hole, a pin is provided on one side of the vertical through hole, the pin is connected to the switch assembly, and a one-way tooth matching the pin is provided on the support rod. The pin is separated from or engaged with the support rod under the drive of the switch assembly; the first end of the pull rope is connected to the bottom of the support rod, and the second end of the pull rope is connected to the power source to lift the support rod.

[0016] In one possible implementation, the second end of the pull rope is detachably connected to the hook of the translation assembly through a connecting block, and the connecting block is arranged in a slide groove parallel to the slide rail assembly; before the translation assembly extends outward, the hook is separated from the connecting block, so that the support rod slides down to the ground by gravity, and when the translation assembly contracts inward, the hook drives the connecting block to move, so that the support rod is lifted and recovered.

[0017] In one possible implementation, when the tube-dropping device is heading to the target material receiving station, the entire tube-dropping device is in the ground trough; after the tube-dropping device reaches the target material receiving station, the wire connecting mechanism rises from the ground trough and docks with the target material receiving station under the drive of the first lifting mechanism, the second lifting mechanism and the rotating mechanism to receive the material to be transferred; when the tube-dropping device returns from the target material receiving station, at least part of the tube-dropping device is in the ground trough; when the traveling mechanism of the tube-dropping device is moving, the direction of the rotating frame is in the first direction, and the first direction is parallel to the first straight line.

[0018] In a possible implementation, after the doffing device reaches the target material receiving station, the material receiving action is performed:

[0019] The first lifting mechanism and the second lifting mechanism lift the wire connecting mechanism to a height matching the target material receiving station, and the rotating mechanism rotates the rotating frame to a second direction so that the wire connecting rod of the wire connecting mechanism is aligned with the target material receiving station; the second end of the wire connecting rod extends in a horizontal direction under the action of the translation assembly to reach the target material receiving station, and the second direction is the moving direction of the material to be transferred at the target material receiving station.

[0020] In a possible implementation, a camera device is provided at the first end of the rotating frame, and the camera device is used to determine the position difference between the second end of the screw connecting rod and the target material connecting station;

[0021] The second lifting mechanism is used to adjust the vertical position of the second end of the screw rod according to the position difference; and / or

[0022] The rotating mechanism is used to adjust the lateral position of the second end of the screw rod according to the position difference to achieve precise docking.

[0023] The embodiment of the present disclosure adopts the above technical solution to reduce the space occupied by the passage and the ground.

[0024] The above summary is for illustrative purposes only and is not intended to be limiting in any way. In addition to the illustrative aspects, embodiments and features described above, further aspects, embodiments and features of the present disclosure will be readily apparent by reference to the accompanying drawings and the following detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In the accompanying drawings, unless otherwise specified, the same reference numerals throughout the multiple drawings represent the same or similar parts or elements. These drawings are not necessarily drawn to scale. It should be understood that these drawings only depict some embodiments provided according to the present disclosure and should not be regarded as limiting the scope of the present disclosure.

[0026] Figure 1 It is a schematic structural diagram of a periscope drop tube device according to an embodiment of the present disclosure;

[0027] Figure 2 for Figure 1 A schematic structural diagram of the doffing device when the rotating mechanism faces the second direction;

[0028] Figure 3 for Figure 2 A partial enlarged schematic diagram of the central rotating mechanism and the wire connecting mechanism;

[0029] Figure 4 A schematic structural diagram of a doffing device in an unloaded diving state provided by an embodiment of the present disclosure;

[0030] Figure 5 A schematic diagram of the structure of the drum drop device provided in an embodiment of the present disclosure when it is fully loaded with materials to be transferred.

[0031] Explanation of the reference numerals: 10. Traveling mechanism, 11. Traveling wheel, 12. Frame, 21. First lifting rod group, 22. First platform, 31. Sliding rod, 32. Threaded screw, 33. Second platform, 34. Second driving motor, 41. Rotating motor, 42. Rotating frame, 421. Vertical plate, 422. Bottom plate, 43. Rotating table, 441. Rack rail, 442. I-rail, 51. Connecting screw, 52. Sliding block, 53. Translation motor, 54. Pulley, 55. Hook, 61. Support rod, 62. Limiting sleeve, 63. Switch assembly, 64. Pull rope, 65. Support foot, 66. Connecting block, 71. Camera device, 80. Material to be transferred. DETAILED DESCRIPTION

[0032] In the following, only some exemplary embodiments are briefly described. As those skilled in the art will appreciate, the described embodiments may be modified in various ways without departing from the spirit or scope of the present disclosure. Therefore, the drawings and descriptions are considered to be exemplary and non-restrictive in nature.

[0033] Figure 1 FIG. 2 is a schematic diagram showing the structure of a periscope-type drop tube device according to an embodiment of the present disclosure. Figure 1 As shown, the device comprises:

[0034] The traveling mechanism 10 includes a frame 12, traveling wheels 11 and a traveling motor; wherein the traveling mechanism 10 is arranged in a ground trough under the ground, the ground trough is arranged along a first straight line, and the first straight line is parallel to a second straight line formed by a plurality of material receiving stations;

[0035] The first lifting mechanism includes a first lifting rod group 21, a first driving motor and a first platform 22. The first lifting rod group 21 is fixed to the frame 12. The top of the first lifting rod group 21 is connected to the first platform 22. The first lifting rod group 21 is driven by the first driving motor to adjust the height of the first platform 22.

[0036] The second lifting mechanism includes a second lifting rod group, a second driving motor 34 and a second platform 33. The second lifting rod group is arranged on the first platform 22. The top of the second lifting rod group is connected to the second platform 33. The second lifting rod group is driven by the second driving motor 34 to adjust the height of the second platform 33.

[0037] The rotating mechanism includes a rotating motor 41 and a rotating frame 42 fixed on the second platform 33. The rotating motor 41 is fixed on the second platform 33. The rotating motor 41 is connected to a rotating table 43 at the bottom of the rotating frame 42. A horizontally arranged slide rail assembly is provided on the rotating frame 42. The direction of the rotating frame 42 is switched between the first direction and the second direction by driving the rotating motor 41.

[0038] The wire connecting mechanism includes a wire connecting rod 51 and a translation assembly. The first end of the wire connecting rod 51 is connected to the translation assembly, and the translation assembly is connected to the slide rail assembly. Driven by the translation assembly, the wire connecting rod 51 moves and retracts along the direction of the rotating frame 42 so that the second end of the wire connecting rod 51 reaches the target material receiving station to receive the material to be transferred.

[0039] In the disclosed embodiment, multiple material receiving stations correspond to multiple winding machines, and the multiple winding machines can be arranged in multiple rows, and passages are provided between two rows facing each other to facilitate the movement of personnel and equipment. When one of the winding machines completes the winding work and needs to remove the wire ingot formed by the winding, the periscope-type bobbin-dropping device can travel in the ground trough like a submarine, and when it reaches the target material receiving station corresponding to the winding machine, the wire-dropping mechanism is raised and rotated from the ground trough like a periscope, and then docked with the target material receiving station. A ground rail is provided at the bottom of the ground trough, and the traveling wheel 11 of the traveling mechanism 10 can move on the ground rail under the drive of the traveling motor. The traveling wheel 11 and the traveling motor are arranged on the frame 12. A movable cover plate can be provided on the top of the ground trough so that when no bobbin-dropping device moves through the ground trough, the top surface of a part of the ground trough is closed, and personnel can stand and pass through.

[0040] The first lifting mechanism is fixed on the frame 12, and is used to control the lifting of the first platform 22. The second lifting mechanism is fixed on the first platform 22, and is used to control the lifting of the second platform 33. The rotating mechanism is arranged on the second platform 33, and is used to control the direction of itself and the wire connecting mechanism in the horizontal direction. The wire connecting rod 51 of the wire connecting mechanism can be extended outward along the direction of the wire connecting mechanism under the drive of the translation assembly, so as to reach the target material connecting position, so that the wire connecting rod 51 and the winding rod of the winding machine are in the same straight line. When the winding machine pushes the wire ingots on the winding rod outward, the wire connecting rod 51 receives the wire ingots one by one. The length of the wire connecting rod 51 matches the length of the winding rod, that is, the wire connecting rod 51 can receive the entire wire ingot on the winding rod at one time.

[0041] It should be noted that in order to receive the whole wire ingot at the same time, the wire connecting rod 51 needs to have a sufficient length. When dropping the bobbin, the wire connecting rod 51 is perpendicular to the length direction of the channel, which seriously occupies the width of the channel. After the connection is completed, if the direction of the wire connecting rod 51 is not adjusted and continues to move perpendicular to the direction of the channel, it will make the entire channel difficult to pass, for example, using an automatic guided vehicle to drop and transport the bobbin. Therefore, it is necessary to rotate the length direction of the wire connecting rod 51 to be consistent with the length direction of the channel during movement, so as to reduce the space occupied in the width direction of the channel. The relevant technical solution is usually to set a fixed track on the ground and / or above the channel, that is, a sky / ground track. The implementation of the ground track is relatively easy, but because the relevant components of the winding rod in the winder need to be taken out regularly for maintenance, the relevant components of the winding rod can only be taken out in a straight line along its own length direction. The existence of the ground track easily hinders the disassembly and maintenance of the winding machine.

[0042] The first direction can be understood as the length direction of the channel, which is also the direction in which the doffing device moves in the channel. The second direction can be understood as the moving direction of the material (silk ingot) 80 to be transported when it is taken out of the winding machine, and the second direction is usually perpendicular to the first direction.

[0043] It should also be noted that two sets of doffing devices can be set in one channel, and each set of doffing devices is responsible for doffing the winding machine on one side of the channel. Alternatively, only one set of doffing devices can be set, which is responsible for doffing the winding machines on both sides. In other words, switching from the first direction to the second direction can be achieved by driving the rotating motor 41 to rotate the rotating frame 42 90° clockwise or 90° counterclockwise, depending on the initial direction of the rotating frame 42 and on which side of the channel the target material receiving station is located.

[0044] According to the solution of the embodiment of the present disclosure, the tube-dropping device can move in the ground trough and rise from the ground trough when receiving the material 80 to be transferred, thereby reducing the occupation of the channel space.

[0045] In a possible implementation, the first lifting rod group 21 includes a plurality of hydraulic lifting rods, the bottoms of the plurality of hydraulic lifting rods are fixed to the middle of the frame 12 , and the tops of the plurality of hydraulic lifting rods are evenly distributed on the edge of the first platform 22 .

[0046] In the embodiment of the present disclosure, the first lifting rod group 21 may include 4 or more hydraulic lifting rods, the first drive motor is connected to the oil pump, and the oil pump is connected to the hydraulic cylinder of the hydraulic lifting rod. The top side of the hydraulic cylinder can be connected to the frame 12 to enhance the stability of other components on the top. Figure 1The first lifting mechanism 21 is not shown in the figure, and both can be arranged in the housing at the front or rear of the frame 12. The maximum stroke of the first lifting rod group 21 is not less than 50% of the height difference between the lowest position of the wire connecting mechanism and the material connecting station. As a further preferred embodiment, the maximum stroke of the first lifting rod group 21 is not less than 80% of the height difference between the lowest position of the wire connecting mechanism and the material connecting station. That is, most of the height stroke is completed by the first lifting mechanism, and a small part of the height stroke is completed by the second lifting mechanism.

[0047] According to the solution of the embodiment of the present disclosure, the use of a hydraulic lifting rod as the first-level lifting mechanism can make the lifting action faster and improve the efficiency of tube dropping.

[0048] In one possible implementation, the second lifting rod group includes multiple groups of threaded screws 32 and sliding rods 31, wherein the sliding rods 31 are fixedly connected to one of the first platform 22 and the second platform 33, and are slidably connected to the other; the bottom of the threaded screw 32 passes through the first platform 22 and is connected to a second drive motor 34 arranged under the first platform 22; the second drive motor 34 drives the threaded screw 32 to rotate, so that the second platform 33 can be raised and lowered.

[0049] In the disclosed embodiment, there are at least four slide rods 31, which are respectively arranged at the four corners of the platform and staggered with the first lifting rod group 21. The top of the slide rod 31 is fixedly connected to the second platform 33, and the rest of the slide rod 31 can pass through the first platform 22. The length of the slide rod 31 is not greater than the stroke of the threaded screw 32, and a limit block can be set at the bottom of the slide rod 31. There are at least two threaded screw rods 32, and the top of the threaded screw rod 32 is connected to the second platform 33 through a rotating bearing, that is, the threaded screw rod 32 and the second platform 33 do not have relative displacement. The threaded screw rod 32 passes through the circular hole on the first platform 22 and is connected to the output component of the second drive motor 34. The output component includes an output shaft and a gear set. The second drive motor 34 drives the threaded screw rod 32 to rotate, so that the threaded screw rod 32 and the second drive motor 34 and the first platform 22 are relatively displaced, and then the second platform 33 connected to the threaded screw rod 32 is lifted.

[0050] According to the solution of the embodiment of the present disclosure, the threaded screw 32 is used as the second-level lifting mechanism to achieve more precise height control, which facilitates the precise connection of the screw rod 51 with the target material connection station.

[0051] Figure 2 for Figure 1 A schematic diagram of the structure of the doffing device when the rotating mechanism faces the second direction. Figure 2As shown, in a possible implementation, a pair of vertical plates 421 are provided on both sides of the length direction of the rotating mechanism, and the bottoms of the pair of vertical plates 421 are connected to the rotating table 43 through the bottom plate 422; a long hole arranged in the horizontal direction is provided on the vertical plate 421, and the slide rail assembly is fixed to the inner side of the vertical plate 421 below the long hole, and the translation assembly is arranged between the pair of vertical plates 421, and the translation motor 53 of the translation assembly is connected to the slide rail assembly, and the slider 52 of the translation assembly passes through the long hole and is connected to the first end of the screw rod 51 located on the outer side of the vertical plate 421.

[0052] In the disclosed embodiment, a pair of vertical plates 421 and a bottom plate 422 connecting the bottoms of the two vertical plates 421 constitute a rotating frame 42. The vertical plates 421 may have a curvature adapted to the material 80 to be transported. The vertical plates 421 separate the screw rod 51 and the translation assembly on both sides thereof, that is, the translation assembly is disposed between the pair of vertical plates 421. The translation assembly is connected to the screw rod 51 via a slider 52 passing through the vertical plates 421, and the vertical plates 421 may be used to separate the material 80 to be transported to prevent accidental contamination and damage to the material 80 by mechanical components.

[0053] In one possible implementation, reference Figure 2 As shown, the slide rail assembly includes a rack rail 441 and an I-rail 442. The I-rail 442 is fixed on the bottom plate 422, and the rack rail 441 is fixed on the inner side of the vertical plate 421. The bottom of the translation motor 53 is connected to the I-rail 442 through a pulley 54, and the output end of the translation motor 53 is connected to the rack rail 441 through a gear, and the slider 52 is connected to the translation motor 53.

[0054] In one example, the doffing device includes two sets of wire receiving mechanisms, and correspondingly, two sets of slide rail assemblies are provided on the rotating mechanism, and the two sets of wire receiving mechanisms and the slide rail assemblies are symmetrically arranged. The two sets of wire receiving mechanisms can receive wire ingots from different winding machines, thereby improving the transfer efficiency.

[0055] In the disclosed embodiment, the translation motor 53 realizes movement on the rack rail 441 and the I-rail 442 by driving the gear. Two pulley seats are symmetrically arranged at the bottom of the translation motor 53, and each pulley seat is provided with an upper and lower pulley block 54, which is respectively connected to the upper and lower sides of the top plane of the I-rail 442, so that the translation motor 53 is fixed in the vertical direction. The rack rail 441 is arranged on the inner side of the vertical plate 421. After the wire rod 51 receives the whole wire ingot, the rack rail 441 also serves as a fulcrum closer to the wire rod 51 to share part of the weight.

[0056] Figure 3 yes Figure 2 A partial enlarged schematic diagram of the rotating frame and the wire connecting mechanism. In a possible implementation, refer to Figure 2 and Figure 3 As shown, the tube-dropping device also includes:

[0057] The auxiliary support mechanism includes a limit sleeve 62, a support rod 61, a switch assembly 63, a pull rope 64 and a pin; the limit sleeve 62 is arranged at the first end of the rotating mechanism, a vertical through hole is formed in the middle of the limit sleeve 62, the support rod 61 is movably arranged in the vertical through hole, a pin is provided on one side of the vertical through hole, the pin is connected to the switch assembly 63, and a one-way tooth matching the pin is provided on the support rod 61. The pin is separated or engaged with the one-way tooth of the support rod 61 under the drive of the switch assembly 63; the first end of the pull rope 64 is connected to the bottom of the support rod 61, and the second end of the pull rope 64 is connected to the power source to lift the support rod 61.

[0058] In the disclosed embodiment, the auxiliary support mechanism can support the wire connecting mechanism when receiving the material to be transferred 80, so as to prevent the wire connecting mechanism from sagging at the farthest end due to the increase in weight after receiving the material to be transferred 80, thereby affecting the reception of subsequent materials or preventing the received materials from slipping during the recovery process of the wire connecting rod 51.

[0059] When in use, after the rotating mechanism adjusts the direction of the rotating frame 42 to the second direction, the switch assembly 63 of the auxiliary support mechanism separates the bayonet from the support rod 61, and the support rod 61 slides down to the ground by gravity. A support foot 65 is provided at the bottom of the support rod 61. The switch assembly 63 reengages the bayonet with the one-way teeth of the support rod 61 to ensure that the support rod 61 cannot move upward. Before the rotating mechanism needs to be readjusted to the first direction, the switch assembly 63 separates the bayonet from the support rod 61, and the power source retracts the support rod 61 by stretching.

[0060] In one possible implementation, the second end of the pull rope 64 is detachably connected to the hook 55 of the translation assembly through a connecting block 66, and the connecting block 66 is arranged in a slide groove parallel to the slide rail assembly; before the translation assembly extends outward, the hook 55 is separated from the connecting block 66, so that the support rod 61 slides down to the ground by gravity, and when the translation assembly retracts inward, the hook 55 drives the connecting block 66 to move, so that the support rod 61 is lifted and recovered.

[0061] In the disclosed embodiment, the translation assembly is used as the power source of the auxiliary support mechanism. For this purpose, a slide groove is provided on one side of the slide rail assembly close to the auxiliary support mechanism, the slide groove is parallel to the I-rail 442, and the connecting block 66 is movably provided in the slide groove. A hook 55 and an electric switch are provided on one side of the pulley 54 seat at the bottom of the translation motor 53, and the electric switch can control the hook 55 to pop out or fold inward. The upper part of the connecting block 66 is on the moving path of the hook 55. Before the translation assembly extends outward to dock with the target material receiving station, the hook 55 is folded by the electric switch, so that it is separated from the connecting block 66, so that the second end of the pull rope 64 is not bound. During the process of the translation assembly contracting inward, the electric switch pops out the hook 55, and the hook 55 drives the connecting block 66 to move during the movement, thereby pulling and stretching to lift and recycle the support rod 61.

[0062] In one possible implementation, when the tube-dropping device is heading to the target material receiving station, the entire tube-dropping device is in the ground trough; after the tube-dropping device reaches the target material receiving station, the wire connecting mechanism rises from the ground trough and docks with the target material receiving station under the drive of the first lifting mechanism, the second lifting mechanism and the rotating mechanism to receive the material to be transferred; when the tube-dropping device returns from the target material receiving station, at least part of the tube-dropping device is in the ground trough; when the traveling mechanism 10 of the tube-dropping device is moving, the direction of the rotating frame 42 is in the first direction, and the first direction is parallel to the first straight line.

[0063] In the embodiment of the present disclosure, the tube-dropping task generally includes three steps: going to the target material receiving station, docking with the target material receiving station, and returning from the target material receiving station. During the going and returning process, the entire tube-dropping device can be in the ground trough. Figure 4 and Figure 5 As shown. It is also possible to not dive or partially dive when returning, and keep the material 80 to be transferred above the ground. In this way, it is possible to go to the next target receiving station more quickly to receive the next rod of material 80 to be transferred.

[0064] In a possible implementation, after the doffing device reaches the target material receiving station, the material receiving action is performed:

[0065] The first lifting mechanism and the second lifting mechanism lift the wire connecting mechanism to a height matching the target material receiving station, and the rotating mechanism rotates the rotating frame 42 to the second direction so that the wire connecting rod 51 of the wire connecting mechanism is aligned with the target material receiving station; the second end of the wire connecting rod 51 extends horizontally under the action of the translation assembly to reach the target material receiving station, and the second direction is the moving direction of the material 80 to be transferred at the target material receiving station.

[0066] In the disclosed embodiment, the hydraulic lifting rod of the first lifting mechanism is used to quickly make the wire connecting mechanism approach the height of the target material connecting station, and then the height of the wire connecting mechanism is adjusted for a second time by the second lifting mechanism. When the second end of the wire connecting rod 51 reaches the target material connecting station, if the second end of the wire connecting rod 51 is not aligned with the target material connecting station, the second lifting mechanism can also be used for fine adjustment.

[0067] In a possible implementation, a camera device 71 is provided at the first end of the rotating frame 42, and the camera device 71 is used to determine the position difference between the second end of the screw rod 51 and the target material receiving station;

[0068] The second lifting mechanism is used to adjust the vertical position of the second end of the screw rod 51 according to the position difference; and / or

[0069] The rotating mechanism is used to adjust the lateral position of the second end of the screw rod 51 according to the position difference to achieve precise docking.

[0070] In the disclosed embodiment, the image recognition is performed by the camera device 71 to determine the position difference between the second end of the screw rod 51 and the target material connection station. Markers can be set on the second end of the screw rod 51 and each material connection station, and the camera device 71 is calibrated using any scheme of the prior art, so as to identify the position difference between the second end of the screw rod 51 and the target material connection station based on the image information collected by the camera device 71. The position difference can be decomposed into a lateral position difference and a vertical position difference, and then adjusted by the second lifting mechanism and the rotating mechanism respectively to achieve precise docking.

[0071] The other components of the doffing device in the above embodiment may adopt various technical solutions known to ordinary technicians in this field now and in the future, and will not be described in detail here.

[0072] In the description of this specification, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present disclosure and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present disclosure.

[0073] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of the present disclosure, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0074] In the present disclosure, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection, an electrical connection, or a communication; it can be a direct connection, or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present disclosure can be understood according to specific circumstances.

[0075] In the present disclosure, unless otherwise clearly specified and limited, a first feature being “above” or “below” a second feature may include that the first and second features are in direct contact, or may include that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, a first feature being “above”, “above”, and “above” a second feature includes that the first feature is directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. A first feature being “below”, “below”, and “below” a second feature includes that the first feature is directly above and obliquely above the second feature, or simply indicates that the first feature is lower in level than the second feature.

[0076] The disclosure above provides many different embodiments or examples to realize different structures of the present disclosure. In order to simplify the disclosure of the present disclosure, the components and settings of specific examples are described above. Of course, they are only examples, and the purpose is not to limit the present disclosure. In addition, the present disclosure can repeat reference numbers and / or reference letters in different examples, and this repetition is for the purpose of simplification and clarity, and does not itself indicate the relationship between the various embodiments and / or settings discussed.

[0077] The above is only a specific implementation of the present disclosure, but the protection scope of the present disclosure is not limited thereto. Any technician familiar with the technical field can easily think of various changes or substitutions within the technical scope disclosed in the present disclosure, which should be included in the protection scope of the present disclosure. Therefore, the protection scope of the present disclosure should be based on the protection scope of the claims.

Claims

1. A periscope tube-dropping device, comprising: A traveling mechanism (10) comprises a frame (12), traveling wheels (11) and a traveling motor; wherein the traveling mechanism (10) is arranged in a ground trough under the ground, the ground trough is arranged along a first straight line, and the first straight line is parallel to a second straight line formed by a plurality of material receiving stations; A first lifting mechanism comprises a first lifting rod group (21), a first driving motor and a first platform (22), wherein the first lifting rod group (21) is fixed to the vehicle frame (12), the top end of the first lifting rod group (21) is connected to the first platform (22), and the first lifting rod group (21) is driven by the first driving motor to adjust the height of the first platform (22); A second lifting mechanism comprises a second lifting rod group, a second drive motor (34) and a second platform (33), wherein the second lifting rod group is arranged on the first platform (22), the top end of the second lifting rod group is connected to the second platform (33), and the second lifting rod group is driven by the second drive motor (34) to adjust the height of the second platform (33); The rotating mechanism comprises a rotating motor (41) and a rotating frame (42) fixed on the second platform (33), wherein the rotating motor (41) is fixed on the second platform (33), the rotating motor (41) is connected to a rotating table (43) at the bottom of the rotating frame (42), and a horizontally arranged slide rail assembly is provided on the rotating frame (42); the direction of the rotating frame (42) is switched between a first direction and a second direction by driving the rotating motor (41); The wire connecting mechanism comprises a wire connecting rod (51) and a translation assembly, wherein the first end of the wire connecting rod (51) is connected to the translation assembly, and the translation assembly is connected to the slide rail assembly; the wire connecting rod (51) is driven by the translation assembly to move and retract along the direction of the rotating frame (42) so that the second end of the wire connecting rod (51) reaches a target material receiving station to receive the material to be transferred.

2. The periscope drop tube device according to claim 1, wherein: The first lifting rod group (21) comprises a plurality of hydraulic lifting rods, the bottoms of the plurality of hydraulic lifting rods are fixed to the middle of the frame (12), and the tops of the plurality of hydraulic lifting rods are evenly distributed on the edge of the first platform (22).

3. The periscope drop tube device according to claim 1, wherein: The second lifting rod group includes multiple groups of threaded screws and sliding rods, wherein the sliding rods are fixedly connected to one of the first platform (22) and the second platform (33), and are slidably connected to the other; the bottom of the threaded screw passes through the first platform (22) and is connected to a second drive motor (34) arranged under the first platform (22); the second drive motor (34) drives the threaded screw to rotate, so that the second platform (33) is raised and lowered.

4. The periscope drop tube device according to claim 1, wherein: A pair of vertical plates (421) are provided on both sides of the length direction of the rotating mechanism, and the bottoms of the pair of vertical plates (421) are connected to the rotating platform (43) through a bottom plate (422); a long hole arranged in the horizontal direction is provided on the vertical plate (421), the slide rail assembly is fixed on the inner side of the vertical plate (421) below the long hole, the translation assembly is arranged between the pair of vertical plates (421), the translation motor (53) of the translation assembly is connected to the slide rail assembly, and the slider (52) of the translation assembly passes through the long hole and is connected to the first end of the screw rod (51) located on the outer side of the vertical plate (421).

5. The periscope drop tube device according to claim 4, wherein: The slide rail assembly comprises a rack rail (441) and an I-rail (442); the I-rail (442) is fixed on the bottom plate (422), and the rack rail (441) is fixed on the inner side of the vertical plate (421); the bottom of the translation motor (53) is connected to the I-rail (442) through a pulley (54); the output end of the translation motor (53) is connected to the rack rail (441) through a gear; and the slider (52) is connected to the translation motor (53).

6. The periscope drop tube device according to claim 1, wherein: Also includes: The auxiliary support mechanism comprises a limit sleeve (62), a support rod (61), a switch assembly (63), a pull rope (64) and a bayonet; the limit sleeve (62) is arranged at the first end of the rotating mechanism, a vertical through hole is formed in the middle of the limit sleeve (62), the support rod (61) is movably arranged in the vertical through hole, a bayonet is provided on one side of the vertical through hole, the bayonet is connected to the switch assembly (63), a one-way tooth matching the bayonet is provided on the support rod (61), and the bayonet is separated from or engaged with the support rod (61) under the drive of the switch assembly (63); the first end of the pull rope (64) is connected to the bottom of the support rod (61), and the second end of the pull rope (64) is connected to a power source to lift the support rod (61).

7. The periscope drop tube device according to claim 6, wherein: The second end of the pull rope (64) is detachably connected to the hook (55) of the translation assembly through a connecting block (66), and the connecting block (66) is arranged in a slide groove parallel to the slide rail assembly; before the translation assembly extends outward, the hook (55) is separated from the connecting block (66), so that the support rod (61) slides down to the ground by gravity, and when the translation assembly is inwardly contracted, the hook (55) drives the connecting block (66) to move, so that the support rod (61) is lifted and recovered.

8. The periscope drop tube device according to claim 1, wherein: The maximum stroke of the first lifting rod group (21) is not less than 50% of the height difference between the lowest position of the wire connecting mechanism and the material connecting station.

9. The periscope doffing device according to any one of claims 1 to 8, wherein: The doffing device comprises two groups of wire connecting mechanisms. Two groups of slide rail assemblies are arranged on the rotating mechanism. The two groups of wire connecting mechanisms and the two groups of slide rail assemblies are symmetrically arranged on the rotating mechanism.

10. The periscope doffing device according to claim 1, wherein: A camera device (71) is provided at the first end of the rotating frame (42), and the camera device (71) is used to determine the position difference between the second end of the screw connecting rod (51) and the target material connecting station; The second lifting mechanism is used to adjust the vertical position of the second end of the thread connecting rod (51) according to the position difference; and / or The rotating mechanism is used to adjust the lateral position of the second end of the thread connecting rod (51) according to the position difference, so as to achieve precise docking.

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