Circulating skein automatic yarn taking device and receiving system

Abstract

The utility model discloses a circulating type automatic skein taking device and a receiving system. The circulating type automatic skein taking device comprises a conveying piece for circulating conveying and skein taking assemblies arranged on the conveying piece at equal intervals. The conveying piece is arranged in a vertical closed loop structure; the yarn taking assembly comprises a fixing support, a rotating lever, a balancing weight and a hook. The rotating lever comprises a first section and a second section which are perpendicular to each other, and the middle is rotationally arranged on the fixed bracket through a rotating shaft; the rotating shaft is parallel to the body of the conveying piece; the balancing weight is arranged at the tail end of the first section, the hook is arranged on the second section, and the balancing weight is heavier than the hook; the hook comprises a third section and a fourth section which are perpendicular to each other; one end of the third section is fixed on the second section; when the rotating lever rotates around the rotating shaft, the third section is always perpendicular to the body of the conveying piece, and the fourth section is always parallel to the body of the conveying piece. According to the utility model, skein can be automatically taken out from a plurality of single hangers, and automatic output, blanking and collection can be realized.

Description

Technical Field

[0001] The utility model belongs to the technical field of textile machinery equipment, and particularly relates to a cyclic hank yarn automatic yarn taking device and a material receiving system.

Background Art

[0002] In recent years, with the continuous development and growth of the textile industry, the application of hank winders has become more and more extensive. Because hank winders are easy to operate and have high production efficiency, they can well reduce costs. After the hank yarn is wound on the hank winder, it needs to be centrally collected for the next process; the hank winder generally includes a yarn frame, a traverse yarn guiding device, a yarn splitting device, a full hank self-stop device, a doffing device, and a threading device; the yarn end is fixed on the yarn frame, and the hank yarn is made as the yarn frame rotates. Subsequently, the yarn is knotted to form bundles of yarn loops, and then the unwinding operation is carried out. The traditional unwinding is manually operated, relying on manual workers to take down the yarn from the hanging rack one hank by one and then put it into the recycling cart. Such a completely manual and repetitive physical labor method has extremely low operation efficiency.

[0003] In the prior art, some automatic unwinding devices have been developed, such as a hank winder unwinding mechanism disclosed in Patent CN218560717U and a doffing device and a hank winder disclosed in Patent CN218619636U. Both of these two unwinding mechanisms push the hank yarn from one end of the integral yarn frame to the other end and fall into a yarn storage mechanism, and the yarn storage mechanism is used for doffing and feeding. However, during the overall pushing process of the hank yarn, adjacent hanks of yarn are prone to entanglement, affecting subsequent use; and when the integral yarn frame winds the yarn, if there is a problem with the hank yarn at a certain winding station, the other winding stations need to stop together, affecting the work efficiency; and the problematic wound yarn cannot be taken down from the yarn frame alone and needs to be taken out together with the qualified wound yarn at other stations. However, the qualified wound yarn at other stations has not been wound to the set length or number of turns, resulting in waste.

[0004] Therefore, there has gradually emerged a research direction of optimizing the integral yarn frame into a segmented yarn frame, using independent yarn frames for winding the yarn. Each independent yarn frame is equipped with a doffing mechanism, as Figure 1 shown, the hank yarn 200 is pushed from the yarn frame 2' to the hanging rack 31 of the doffing mechanism 3 by the yarn pushing mechanism 1', and the hank yarn 200 is output by rotating the hanging rack 31. For such a doffing mechanism, it is necessary to take down the hank yarn one by one from several single independent hanging racks 31. If high-efficiency production is to be achieved, it is necessary to design an automatic driving device to realize this, and there is no such device in the prior art. Therefore, it is necessary to provide a new cyclic hank yarn automatic yarn taking device and a material receiving system to solve the above technical problems.

Content of the Utility Model

[0005] One of the main purposes of the utility model is to provide a circulating type hank automatic yarn taking device, which can automatically take out hanks from a plurality of single hangers and realize automatic output and unloading.

[0006] The utility model achieves the above-mentioned purpose through the following technical solutions: a circulating type automatic yarn taking device for skeined yarn, which comprises a conveying member for circulating transmission and a yarn taking assembly arranged on the conveying member at equal intervals; the conveying member is arranged in a vertical closed loop structure; the yarn taking assembly comprises a fixed bracket, a rotating lever, a counterweight and a hook; the rotating lever is L-shaped and comprises a first section and a second section perpendicular to each other, and the middle part is rotatably arranged on the fixed bracket through a rotating shaft; the rotating shaft is arranged parallel to the body of the conveying member; the length of the first section is greater than the length of the second section; the counterweight is arranged at the end of the first section, and the hook is arranged on the second section, and the weight of the counterweight is greater than the weight of the hook; the hook is L-shaped as a whole and comprises a third section and a fourth section perpendicular to each other, and one end of the third section is fixed on the second section; when the rotating lever rotates around the rotating shaft, the third section always remains perpendicular to the body of the conveying member, and the fourth section always remains parallel to the body of the conveying member.

[0007] Furthermore, during the rotation of the rotating lever, the counterweight block can interfere with the fixed bracket at a set angle to achieve rotation limitation.

[0008] Furthermore, the second section is provided with a stop roller which abuts against the fixed bracket to achieve rotation limitation during the rotation of the rotating lever.

[0009] Further, the yarn taking assembly has a return state, a yarn taking preparation state and a yarn unloading preparation state on the conveying member;

[0010] The yarn taking preparation state: the yarn taking assembly is located on the lower body of the conveying member, and under the weight of the counterweight block itself, the first section rotates to a horizontal state, the second section rotates to a vertical state, and the counterweight block and the hook are both in a horizontal middle position; the anti-rotation roller contacts the side of the fixed bracket to achieve anti-rotation; the third section of the hook is perpendicular to the conveying member and faces outward horizontally, and the fourth section is parallel to the conveying member and extends toward the conveying direction of the lower body of the conveying member;

[0011] The yarn unloading preparation state: the yarn taking assembly is located on the lower side body of the conveying member, the hook picks up the hank of yarn, and under the action of the gravity of the hank of yarn, the first section rotates to a vertical state and the second section rotates to a horizontal state; the counterweight block is in a high position, the hook is in a low position and below the second section, and the third section of the hook is perpendicular to the conveying member and vertically downward; the counterweight block contacts the side of the fixed bracket to stop rotation.

[0012] Further, the return stroke state is as follows: the yarn taking assembly is located on the upper body of the conveyor, the first section is in a vertical state, and the second section is in a horizontal state; the counterweight is at a low position, and the hook is at a high position and above the upper body of the conveyor.

[0013] Further, the third section includes two parallel rod-shaped members, and the fourth section is a U-shaped structure formed by bending a rod; one ends of the two rod-shaped members are fixed to the second section and the other ends are adjacent to the two free ends of the U-shaped structure.

[0014] Further, the anti-rotation roller is a ferromagnetic material structure or a magnet, and a magnetic attraction block for attracting the anti-rotation roller when the anti-rotation roller abuts against the fixed bracket is arranged on the fixed bracket.

[0015] Another object of the present utility model is to provide a cyclic automatic doffing and collecting system for hank yarns, which includes a doffing mechanism, a yarn taking device as described above arranged beside the doffing mechanism, and an AGV collecting trolley automatically traveling below the yarn taking device; the doffing mechanism includes a hanging rack rotating around a horizontal axis; the hanging rack is L-shaped, one end of which is fixed on a driving shaft and rotates along with the driving shaft, and switches positions among a yarn taking position, a waiting position, and a yarn unloading position; a plurality of groups of the doffing mechanisms are arranged along the conveying direction of the conveyor; the open side of the hanging rack is the yarn unloading side, and the hook opens towards the yarn unloading side and is close to the hanging rack before taking yarn; the lower body of the conveyor conveys the yarn taking assembly along the yarn unloading direction.

[0016] Further, a first sensor for detecting whether there is hank yarn on the hanging rack is arranged on the doffing mechanism; when there is no hank yarn on the hanging rack, the hanging rack is located at the middle waiting position, when the hank yarn on the warping machine is completed, the hanging rack rotates to the yarn taking position to receive the hank yarn, and then rotates to the waiting position, and after the first sensor detects that there is hank yarn on the hanging rack, the hanging rack rotates to the yarn unloading position to wait for the yarn taking device to take the yarn.

[0017] Further, a magnetic induction guiding wire is arranged below the yarn taking device, and the AGV collecting trolley travels along the magnetic induction guiding wire within the material taking area below the yarn taking device; a collecting box is arranged on the AGV collecting trolley, an installation bracket is arranged on one side of the collecting box, and a second sensor for sensing whether there is hank yarn on the hook, a cylinder started when the second sensor detects the presence of hank yarn, and a doffing push rod driven by the cylinder to perform horizontal telescopic movement are arranged on the installation bracket.

[0018] Compared with the prior art, the beneficial effects of a cyclic hank automatic yarn taking device and a material receiving system of the utility model are as follows: by designing a gravity-type rotating yarn taking assembly, a rotating lever is rotatably arranged on a fixed bracket, a hook is arranged at one end of the rotating lever for taking the hank on the hanging rack of a warping machine, a counterweight block is arranged at the other end of the rotating lever, and the counterweight block is used to drive the rotating lever to rotate, thereby driving the hook to rotate, realizing the switching of various different angular states of the hook to meet the yarn taking requirements from the hanging rack of the warping machine, and facilitating unloading the hank from the hook and putting it into a material receiving trolley for automatic collection; the whole yarn taking and material receiving process realizes automatic operation, greatly improves the production efficiency, reduces the labor cost, and improves the safety.

Description of the Drawings

[0019] Figure 1 Schematic diagram of the doffing structure of the embodiment of the utility model applied to a warping machine;

[0020] Figure 2 Schematic diagram of the structure of the embodiment of the utility model;

[0021] Figure 3 Schematic diagram of the structure of the yarn taking device in the embodiment of the utility model;

[0022] Figure 4 Schematic diagram of the structure of the yarn taking assembly in the embodiment of the utility model;

[0023] Figure 5 is Figure 3 Partial enlarged structure schematic diagram at A in

[0024] Figure 6 is Figure 3 Partial enlarged structure schematic diagram at B in

[0025] Figure 7 is Figure 3 Partial enlarged structure schematic diagram at C in

[0026] Figure 8 Schematic diagram of the structure of the yarn taking assembly taking yarn from the hanging rack in the embodiment of the utility model;

[0027] Figure 9 Schematic diagram of the structure of the AGV material receiving trolley taking and discharging yarn from the yarn taking assembly in the embodiment of the utility model;

[0028] The numbers in the figure represent:

[0029] 100 - Cyclic hank automatic yarn taking and material receiving system;

[0030] 200 - Hank;

[0031] 1 - Yarn taking device, 11 - Conveyor, 111 - Upper body, 112 - Lower body, 12 - Yarn taking assembly, 121 - Fixed bracket, 122 - Rotating lever, 1221 - First section, 1222 - Second section, 123 - Counterweight, 124 - Hook, 1241 - Third section, 1242 - Fourth section, 125 - Anti - rotation roller, 126 - Magnetic attracting block, 13 - Driving part, 14 - Transmission wheel;

[0032] 2 - AGV material collecting trolley, 21 - Collection box, 22 - Second sensor, 23 - Cylinder, 24 - Yarn doffing push rod, 25 - Mounting bracket;

[0033] 3 - Yarn doffing mechanism, 31 - Hanging rack, 32 - First sensor;

[0034] 4 - Magnetic induction guiding wire.

Specific implementation manner

[0035] Example 1:

[0036] Please refer to Figures 1-9 , this example is a cyclic automatic yarn taking and material collecting system 100 for hank yarn, which includes a yarn taking device 1 arranged beside the yarn doffing mechanism 3 and an AGV material collecting trolley 2 that automatically moves below the yarn taking device 1.

[0037] The yarn doffing mechanism 3 is a yarn conveying mechanism of a hank - winding machine, which includes a hanging rack 31 that rotates around a horizontal axis. The hanging rack 31 receives the hank yarn 200 on the yarn frame and outputs the twisted yarn through rotational motion. The hanging rack 31 is in an L - shape, with one end fixed on a driving shaft and performing rotational motion along with the driving shaft, switching positions between the yarn taking position, the waiting position, and the yarn unloading position. A pair of hanging racks 31 can be symmetrically arranged to alternately take and unload yarn.

[0038] The yarn taking device 1 includes a conveyor 11 that conveys in a closed loop, a yarn taking assembly 12 arranged at equal intervals and uniformly on the conveyor 11, and a driving part 13 that drives the conveyor 11 to convey in a loop. A number of groups of yarn doffing mechanisms 3 are arranged along the conveying direction of the conveyor 11, corresponding to the number of spindles of the hank - winding machine.

[0039] The conveyor 11 is arranged as an overall vertical closed - loop structure, such as a rectangle, a racetrack shape, etc. In this example, the conveyor 11 is arranged as a vertical rectangular structure and is wound around the transmission wheel 14 at the four corners. One of the transmission wheels 14 is driven by the driving part 13 to perform rotational motion. The conveyor 11 can be a closed - type chain, or a closed - type synchronous belt, or a closed - type belt, etc. The corresponding transmission wheel 14 can be a sprocket or a synchronous pulley.

[0040] The conveying member 11 carries the yarn taking assembly 12 for cyclic conveying, and during the conveying process, the yarn is taken from the hanger 31, unloaded into the AGV receiving trolley 2, and the yarn taking assembly 12 is refluxed and recycled.

[0041] After the hanger 31 receives the hank 200 on the yarn frame and rotates to the yarn unloading position, the hank 200 is hung on the hanger 31. The hanks 200 on several hangers 31 are located in the same vertical plane and are arranged horizontally. The open side of the hanger 31 is the yarn unloading side, and the lower body 112 of the conveying member 11 conveys the yarn taking assembly 12 along the yarn unloading direction.

[0042] When the skein 200 is on the hanger 31, multiple arranged skeins 200 are in a hanging state and are arranged horizontally; the skein 200 on the first hanger 31 on the far left will be taken away first, and the first yarn taking component 12 of the reflux will continue to move to the right with the conveyor 11 after taking away the skein 200 on the first hanger 31. During this process, the skein 200 on the yarn taking component 12 will interfere with the skein on the subsequent hanger 31 and be pulled off, resulting in failure to unload the material normally; in addition, there will also be a number of hanging skeins 200 arranged horizontally along the conveying direction of the conveyor 11 on the yarn taking position side of the hanger 31. If the yarn taking component 12 arranged on the upper body 111 of the conveyor 11 keeps being horizontally extended, it is easy to interfere with the hanging skein at the yarn taking position of the hanger 31, affecting the falling of the skein.

[0043] Therefore, to solve the above technical problems, the structure of the yarn taking component 12 is optimized in this embodiment. Specifically, the yarn taking component 12 includes a fixed bracket 121, a rotating lever 122 rotatably arranged on the fixed bracket 121, a counterweight 123 arranged at one end of the rotating lever 122, and a hook 124 arranged at the other end of the rotating lever 122. The fixed bracket 121 is vertically arranged perpendicular to the conveyor 11, one end of the fixed bracket 121 is fixed on the conveyor body of the conveyor 11, and the rotating lever 122 is rotatably arranged at the other free end of the fixed bracket 121. The rotating lever 122 is integrally L-shaped and includes a first section 1221 and a second section 1222 perpendicular to each other. The counterweight 123 is arranged at the end of the first section 1221, the hook 124 is arranged on the second section 1222, and the weight of the counterweight 123 is greater than the weight of the hook 124. An installation suspension point is arranged at a position where the second section 1222 is close to the first section 1221, and the rotating lever 122 is rotatably arranged at the free end of the fixed bracket 121 at the installation suspension point through a rotating shaft. The rotating shaft is horizontally arranged parallel to the conveying direction of the conveyor 11, and the plane formed by the whole rotating lever 122 is a vertical plane and perpendicular to the conveying direction of the conveyor 11. The hook 124 is integrally L-shaped and includes a third section 1241 and a fourth section 1242 perpendicular to each other. The third section 1241 is perpendicular to the conveyor body of the conveyor 11, and the fourth section 1242 is parallel to the conveyor body of the conveyor 11 as a whole. During the rotation of the rotating lever 122 around the rotating shaft, the fourth section 1242 always remains perpendicular to the conveyor body of the conveyor 11, and the third section 1241 always remains parallel to the conveyor body of the conveyor 11. The third section 1241 is composed of two parallel rod-shaped members, one end of which is fixed to the second section 1222 and the other end is adjacent to the fourth section 1242; the fourth section 1242 is a U-shaped structure formed by bending a rod, and the free ends of the U-shaped structure are respectively adjacent to the ends of the two rod-shaped members of the third section 1241. Through the structural design of the third section 1241 and the fourth section 1242, the overall weight of the hook 124 can be reduced, so as to better cooperate with the counterweight 123 to realize state changes when being conveyed to different positions along with the conveyor 11.

[0044] The yarn taking component 12 has the following three states on the conveyor 11:

[0045] (1) Return stroke state: Please refer to Figure 5, the yarn taking assembly 12 is located on the upper body 111 of the conveyor 11 and is in the return path. At this time, due to its own gravity, the counterweight 123 causes the first section 1221 of the rotating lever 122 to rotate to the vertical state and the second section 1222 to rotate to the horizontal state. The counterweight 123 is at a low position and the hook 124 is at a high position; the counterweight 123 abuts against the side of the fixed bracket 121 to stop the rotation of the rotating lever 122 and prevent excessive flipping. The hook 124 is approximately in the shape of a "7" and is located above the body of the conveyor 11, and will not interfere with the hank yarn dropping at the yarn taking position of the hanger 31.

[0046] (2) Yarn taking preparation state: Please refer to Figure 6 , the yarn taking assembly 12 returns to the lower body 112 of the conveyor 11. At this time, due to its own gravity, the counterweight 123 drives the first section 1221 to rotate 90° around the rotating shaft, so that the first section 1221 of the rotating lever 122 is in the horizontal state and the second section 1222 is in the vertical state. Both the counterweight 123 and the hook 124 are in the horizontal middle position; a rotation stop roller 125 is arranged on the second section 1222, and the rotation stop roller 125 abuts against the side of the fixed bracket 121 to stop the rotation of the rotating lever 122 and prevent excessive flipping, so that the hook 124 remains in the horizontal state; the third section 1241 of the hook 124 faces horizontally towards the side of the hanger 31 at the yarn unloading position, the fourth section 1242 of the hook 124 is horizontally parallel to the body of the conveyor 11, the orientation of the end of the hook 124 is the same as the orientation of the end of the hanger 31, and is close to the hanger 31. In this state, the hook 124 moves along with the conveyor 11 in the direction of the yarn unloading side of the hanger 31. When the hook 124 approaches the hanger 31, the hank yarn 200 on the hanger 31 can be removed and transferred to the hook 124 to complete the yarn taking.

[0047] (3) Yarn unloading preparation state: Please refer to Figure 7 , after the hank yarn 200 is transferred to the hook 124, under the action of the gravity of the hank yarn 200 (the weight of the hank yarn 200 is greater than the weight of the counterweight 123), it drives the rotating lever 122 to rotate 90° in the reverse direction around the rotating shaft, so that the hook 124 is at a low position and the counterweight 123 is at a high position; the first section 1221 of the rotating lever 122 is in the vertical state and the second section 1222 is in the horizontal state. The hook 124 is located below the second section 1222, waiting for the AGV receiving trolley 2 to come to take the yarn and unload it; when the hank yarn 200 is taken away, under the action of the gravity of the counterweight 123, the rotating lever 122 will rotate to the yarn taking preparation state, and then after being conveyed to the upper body 111 by the conveyor 11, it returns to the return state. After taking the hank yarn, the hook 124 will rotate 90° from the side close to the hanger 31 to the lower part of the conveyor 11, and thus will not interfere with the hank yarn on the subsequent hanger 31.

[0048] When multiple yarn taking components 12 circulate at high speed on the conveyor 11, since the rotation point on the rotating lever 122 is very flexible and the degree of freedom restriction is only constrained by a counterweight 123, the vibration and impact during high-speed rotation will cause the hook 124 and the counterweight 123 to vibrate and swing. When the yarn taking component 12 is in the lower position for yarn taking preparation, large swings or vibrations will cause the fourth section 1242 of the hook 124 not to fully hook the hank yarn 200 on the hanging rack 31. If the hook 124 only hooks a part of the hank yarn 200, the yarn will be pulled and dropped in a mess, resulting in waste yarn. Therefore, to solve the above problems, in this embodiment, the anti-rotation roller 125 is made of ferromagnetic material structure or magnet, and a magnetic absorption block 126 is arranged on the fixed bracket 121. When the yarn taking component 12 is in the yarn taking preparation state, the anti-rotation roller 125 abuts against the side of the fixed bracket 121, and the magnetic absorption block 126 can reliably and effectively adsorb the anti-rotation roller 125, playing a positioning role for the rotating lever 122. In this way, the degree of freedom of the entire rotating lever 122 around the rotation point is restricted by the counterweight 123 and the magnetic absorption block 126 together. Furthermore, the hook 124 can maintain a relatively stable state and will not swing up and down unstably even when encountering vibration and impact loads during high-speed movement, ensuring the success rate of grasping the hanging yarn and improving the stability and reliability of the entire hook system.

[0049] Each doffing mechanism 3 is also provided with a first sensor 32 for detecting whether there is hank yarn on the hanging rack 31. When there is no hank yarn on the hanging rack 31, the hanging rack 31 is located at the middle waiting position. After the hank yarn on the hank winding machine is completed, the hanging rack 31 rotates to the yarn taking position to receive the hank yarn, and then rotates to the middle waiting position. After the first sensor 32 detects that there is hank yarn on the hanging rack 31, the hanging rack 31 rotates to the yarn discharging position and waits for the yarn taking device 1 to come and take the yarn.

[0050] A magnetic induction guiding line 4 is arranged below the yarn taking device 1, and the AGV receiving trolley 2 travels along the magnetic induction guiding line 4. A collecting box 21 is arranged on the AGV receiving trolley 2. A mounting bracket 25 is arranged on one side of the collecting box 21. A second sensor 22 for detecting whether there is hank yarn on the hook 124, a cylinder 23 that is activated when the second sensor 22 detects hank yarn, and a doffing push rod 24 that is driven by the cylinder 23 to perform horizontal telescopic movement are arranged on the mounting bracket 25. The hank yarn on the hook 124 is pushed out by the doffing push rod 24 and falls into the collecting box 21 under the weight of the hank yarn, completing automatic material collection. When the doffing push rod 24 performs the yarn pushing action for a set number of times, the collecting box 21 has collected the corresponding number of hank yarns and has reached the set number of hank yarn rolls. After that, the AGV receiving trolley 2 no longer collects hank yarn, and the fully loaded AGV receiving trolley 2 withdraws and moves to the work station where hank yarn is required, and the next AGV receiving trolley 2 enters to perform repeated hank yarn receiving and material collection work.

[0051] This embodiment also provides a control method for automatically doffing and collecting hank yarn in a cyclic manner, which includes:

[0052] S1. In the initial state, the hanger 31 in the doffing mechanism 3 is in the waiting position. After the hank winder produces hank yarn, the hanger 31 rotates to the yarn taking position to take the yarn, and then rotates to the yarn discharging position, waiting for the hook 124 to come and take the yarn.

[0053] S2. The hook 124 moves along the closed-loop path with the conveyor 11. When the hook 124 moves to the lower body 112 of the conveyor 11, it is in the yarn taking preparation state. Then it will pass through all the doffing mechanisms 3 in sequence. If there is hank yarn on the hanger 31, the hook 124 passing through the hanger 31 automatically removes the hank yarn. After the hook 124 removes the hank yarn, it automatically rotates to the yarn discharging preparation state. If there is no hank yarn on the hanger 31, the hook 124 maintains the yarn taking preparation state and continues to move.

[0054] S3. The AGV collecting trolley 2 moves from one end of the conveyor 11 along the direction of yarn discharging to the other end of the conveyor 11. During this period, it will pass through the hooks 124 on the lower body 112 of the conveyor 11 in sequence. When it is detected that there is hank yarn on the hook 124, the doffing push rod 24 on the AGV collecting trolley 2 acts to push the hank yarn on the hook 124 into the AGV collecting trolley 2. When it is detected that there is no hank yarn on the hook 124, the AGV collecting trolley 2 continues to move forward along the set path. When the hook 124 moves to the end of the conveyor 11 after receiving the hank yarn, if the hank yarn has not been taken away by the AGV collecting trolley 2, the conveyor 11 stops moving and waits for the AGV collecting trolley 2 to come and take the yarn. The AGV collecting trolley 2 moves from one end of the conveyor 11 to the other end, which completes one round of collecting. If the AGV collecting trolley 2 does not reach the full load quantity after one round of collecting, the AGV collecting trolley 2 returns to the initial end of the conveyor 11 again, and then starts the next round of collecting. When it is full, it stops collecting and withdraws from the collecting area, and the next AGV collecting trolley 2 enters the collecting area for collecting.

[0055] This embodiment adopts a full-process automated control method, which minimizes the input and use of manpower, and has a high level of equipment automation, good stability, and high operating efficiency. The collection and centralized storage of all skeins are completed by the circulation hook 124 and the yarn dropping push rod 24, which has a better safety factor and avoids the risk of human limbs being involved in the equipment due to misoperation. From the perspective of safety substitution, it helps companies eliminate concerns about the safety of manual operations. The combined use of gravity-type rotating hooks, smart push rods, and smart carts can achieve unmanned full-process operation. From the perspective of future data collection and production data integration, the system of this embodiment can help more smart factories achieve unmanned scale management. At the same time, the AGV material receiving cart 2 that plays the role of centralized storage of skeins in the system has reserved ports for signal reception and transmission, and can be connected to the Internet to query statistical production information at any time, which is convenient for real-time data management and control.

[0056] For ordinary technicians in this field, several modifications and improvements can be made without departing from the creative concept of the utility model, which all fall within the protection scope of the utility model.

Claims

1. A circulating type hank automatic yarn taking device, characterized in that: It includes a conveying member for cyclic transmission and a yarn taking assembly arranged on the conveying member at equal intervals; the conveying member is arranged in a vertical closed loop structure; the yarn taking assembly includes a fixed bracket, a rotating lever, a counterweight and a hook; the rotating lever is L-shaped and includes a first section and a second section that are perpendicular to each other, and the middle part is rotatably arranged on the fixed bracket through a rotating shaft; the rotating shaft is arranged parallel to the body of the conveying member; the counterweight is arranged at the end of the first section, and the hook is arranged on the second section, and the weight of the counterweight is greater than the weight of the hook; the hook is L-shaped as a whole and includes a third section and a fourth section that are perpendicular to each other, and one end of the third section is fixed to the second section; when the rotating lever rotates around the rotating shaft, the third section always remains perpendicular to the body of the conveying member, and the fourth section always remains parallel to the body of the conveying member.

2. The circulating type hank automatic yarn taking device according to claim 1, characterized in that: During the rotation of the rotating lever, the counterweight block can come into contact with the fixed bracket at a set angle to achieve rotation limitation.

3. The circulating type hank automatic yarn taking device according to claim 1 is characterized in that: The second section is provided with a rotation-stopping roller which abuts against the fixed bracket to achieve rotation limitation during the rotation of the rotating lever.

4. The circulating type hank automatic yarn taking device according to claim 3 is characterized in that: The yarn taking assembly has a return state, a yarn taking preparation state and a yarn unloading preparation state on the conveying member; The yarn taking preparation state: the yarn taking assembly is located on the lower body of the conveying member, and under the weight of the counterweight block itself, the first section rotates to a horizontal state, the second section rotates to a vertical state, and the counterweight block and the hook are both in a horizontal middle position; the anti-rotation roller contacts the side of the fixed bracket to achieve anti-rotation; the third section of the hook is perpendicular to the conveying member and faces outward horizontally, and the fourth section is parallel to the conveying member and extends toward the conveying direction of the lower body of the conveying member; The yarn unloading preparation state: the yarn taking assembly is located on the lower side body of the conveying member, the hook picks up the hank of yarn, and under the action of the gravity of the hank of yarn, the first section rotates to a vertical state and the second section rotates to a horizontal state; the counterweight block is in a high position, the hook is in a low position and below the second section, and the third section of the hook is perpendicular to the conveying member and vertically downward; the counterweight block contacts the side of the fixed bracket to stop rotation.

5. The circulating type hank automatic yarn taking device according to claim 4, characterized in that: The return state is: the yarn taking assembly is located on the upper body of the conveying member, the first section is in a vertical state, and the second section is in a horizontal state; the counterweight block is in a low position, and the hook is in a high position and above the upper body of the conveying member.

6. The circulating type hank automatic yarn taking device according to claim 1, characterized in that: The third section includes two rod-shaped members arranged in parallel, and the fourth section is a U-shaped structure formed by bending the rod-shaped members; one end of the two rod-shaped members is fixed to the second section and the other end is adjacent to the two free ends of the U-shaped structure.

7. The circulating type hank automatic yarn taking device according to claim 3 is characterized in that: The anti-rotation roller is made of a ferromagnetic material or a magnet, and the fixed bracket is provided with a magnetic suction block for sucking the anti-rotation roller when the anti-rotation roller contacts the fixed bracket.

8. A circulating type hank automatic doffing and collecting system, characterized by: It includes a yarn dropping mechanism, a yarn taking device as claimed in claim 1 and arranged beside the yarn dropping mechanism, and an AGV receiving trolley that automatically moves under the yarn taking device; the yarn dropping mechanism includes a hanger that rotates around a horizontal axis; the hanger is L-shaped, one end of which is fixed on a driving shaft, and switches between a yarn taking position, a waiting position and a yarn unloading position as the driving shaft rotates; the yarn dropping mechanism is arranged in a plurality of groups along the conveying direction of the conveying member; the open side of the hanger is the yarn unloading side, and the hook is open toward the yarn unloading side and close to the hanger before taking the yarn; the lower body of the conveying member conveys the yarn taking assembly along the yarn unloading direction.

9. The circulating type hank automatic doffing and collecting system according to claim 8, characterized in that: The yarn dropping mechanism is provided with a first sensor for detecting whether there is a hank of yarn on the hanger; when there is no hank of yarn on the hanger, the hanger is located in an intermediate waiting position, and when the yarn shaking machine completes the yarn twisting, the hanger rotates to the yarn taking position to receive the hank of yarn, and then rotates to the waiting position, and only after the first sensor detects that there is a hank of yarn on the hanger, the hanger rotates to the yarn unloading position, waiting for the yarn taking device to come and take the yarn.

10. The circulating type hank automatic doffing and collecting system according to claim 8, characterized in that: A magnetic guide line is arranged below the yarn taking device, and the AGV material receiving trolley moves along the magnetic guide line in the material taking area below the yarn taking device; a collecting box is arranged on the AGV material receiving trolley, and a mounting bracket is arranged on one side of the collecting box, and a second sensor is arranged on the mounting bracket to sense whether there is a skein of yarn on the hook, a cylinder is started when the second sensor detects the presence of a skein of yarn, and a yarn dropping push rod is driven by the cylinder to perform horizontal telescopic movement.

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