Automatic stacking compound machine for automatic joint

Abstract

The utility model discloses an automatic jointing and stacking compound machine, which comprises a main belt line, batch yarn rolls needing jointing are a plurality of first yarn rolls, batch yarn rolls without jointing are a plurality of second yarn rolls, and after the plurality of first yarn rolls are stacked, inner joints and outer joints of two adjacent upper and lower first yarn rolls are connected. A branch conveying line is arranged on the downstream portion of the main belt line and comprises a first branch conveying line and a second branch conveying line, the first branch conveying line is used for conveying a plurality of first yarn rolls, the second branch conveying line is used for conveying a plurality of second yarn rolls, the stacking connector part is arranged on the downstream portion of the first branch conveying line and used for stacking and jointing, and the transferring part is arranged on the downstream portion of the first branch conveying line and used for transferring the second yarn rolls. The controller is electrically connected with a main motor for driving the main belt line, a first motor for driving the first branch conveying line, a second motor for driving the second branch conveying line, a stacking connector part and a transplanting part. Automatic connector stacking is achieved, and the working efficiency is greatly improved.

Description

TECHNICAL FIELD

[0001] The utility model relates to glass fiber technical field, concretely relates to a kind of automatic joint automatic stacking compound machines. BACKGROUND

[0002] When glass fiber is produced, two or several yarn rolls need to be connected to ensure the continuity of product use when used by downstream customers, without reconnection, yarn roll joint and stacking in glass fiber industry currently rely on manual operation, and there are the following deficiencies:

[0003] 1. Low efficiency: manual operation speed and accuracy are limited by the skill and fatigue of workers, resulting in unstable joint production efficiency;

[0004] 2. High cost: relying on manual operation, labor is an important component of production cost, and with the change of labor market, labor cost is rising;

[0005] 3. Unstable quality: human operation may have large errors, resulting in unstable yarn joint tension, high proportion of missing connection and high probability of flowing into terminal customers;

[0006] 4. High labor intensity: workers need to work for a long time, which may affect work efficiency and worker health;

[0007] 5. Great influence on personal safety: in the working environment, glass fiber has small diameter and much dust, which is harmful to the respiratory system and skin of workers.

[0008] Therefore, how to provide an automatic joint automatic stacking compound machine to avoid the above defects has become a technical problem urgently needed to be solved by the technical personnel in the field. CONTENT OF UTILITY MODEL

[0009] To achieve the above purpose, the utility model provides an automatic joint automatic stacking compound machine for realizing automatic joint and automatic stacking, and the specific technical scheme is as follows:

[0010] An automatic joint automatic stacking compound machine, comprising a main belt line for conveying a plurality of single yarn reels arranged in an alternating manner, the single yarn reels being formed into batches of yarn reels requiring joints or not requiring joints with each other, the batches of yarn reels requiring joints being a plurality of first yarn reels, the batches of yarn reels not requiring joints being a plurality of second yarn reels, the joints being inner joints and outer joints of adjacent upper and lower first yarn reels after stacking of the plurality of first yarn reels, a downstream of the main belt line being provided with branch conveying lines, which are a first branch conveying line and a second branch conveying line, the first branch conveying line being used for conveying the plurality of first yarn reels, the second branch conveying line being used for conveying the plurality of second yarn reels, further comprising a stacking joint part provided downstream of the first branch line for stacking and jointing the plurality of first yarn reels, a moving part for moving the second yarn reels on the second branch conveying line to a desired position or for moving the plurality of first yarn reels after completion of jointing in the stacking joint part to a desired position, and a controller electrically connected to drive a main motor driving the main belt line, a first motor driving the first branch conveying line, a second motor driving the second branch conveying line, the stacking joint part and the moving part.

[0011] Preferably, the stacking joint part comprises:

[0012] a transmission belt line and a third motor driving the transmission belt line, a starting end of the transmission belt line being connected to an end of the first branch conveying line for receiving the plurality of first yarn reels, the inner joint and the outer joint of each yarn reel of the plurality of first yarn reels being oppositely arranged and respectively exposed to the outer side walls of the respective first yarn reel, in two first yarn reels adjacent in front and back: the inner joint of the upstream first yarn reel and the outer joint of the downstream first yarn reel are exposed to the outer side walls of the respective first yarn reel in the same orientation, and the outer joint of the upstream first yarn reel and the inner joint of the downstream first yarn reel are exposed to the outer side walls of the respective first yarn reel in the same orientation;

[0013] a yarn reel stack conveying belt line and a fourth motor driving the yarn reel stack conveying belt line, the yarn reel stack conveying belt line being used for conveying the yarn reel stacks after stacking of the plurality of first yarn reels, the yarn reel stack conveying belt line having opposite first and second sides, a direction towards the first side being perpendicular to a conveying direction of the yarn reel stack conveying belt line, in the direction towards the first side: the inner and outer joints of the first yarn reels adjacent in up and down are arranged in turn alternately, and in the direction towards the second side: the inner and outer joints of the first yarn reels adjacent in up and down are distributed in turn alternately;

[0014] a stacking mechanism for moving the first yarn reels on the transmission belt line to the yarn reel stack conveying belt line for stacking;

[0015] a plurality of joint mechanisms, the number of the plurality of joint mechanisms is less than the number of the first yarn packages in the yarn package stack, and the difference between the two numbers is 1, the plurality of joint mechanisms are arranged in sequence along the conveying direction of the yarn package stack conveying belt line, and the sequential arrangement is alternately distributed along the first side and the second side of the yarn package stack conveying belt line, and the alternately distributed is sequentially staggered in height;

[0016] a plurality of yarn package stack pressing mechanisms, the number of the plurality of yarn package stack pressing mechanisms is the same as the number of the plurality of joint mechanisms, the plurality of yarn package stack pressing mechanisms are arranged in sequence along the direction of the yarn package stack conveying belt line and are located above the conveyed yarn package stack, and each yarn package stack pressing mechanism can synchronously move reciprocally in the horizontal direction and synchronously move reciprocally in the vertical direction, so that the yarn package stack conveying belt line can press the top of the corresponding yarn package stack when conveying the yarn package stack;

[0017] The controller is electrically connected to the third motor, the fourth motor, the stacking mechanism, the plurality of joint mechanisms, and the plurality of yarn package stack pressing mechanisms.

[0018] Preferably, the joint mechanism comprises:

[0019] a mounting base having an internal space, the mounting base corresponding to the internal space is open to the inner joint and the outer joint of the two first yarn packages adjacent to each other in the yarn package stack, the side wall of the mounting base corresponding to the internal space and away from the yarn package stack is a first side wall, the side wall adjacent to the first side wall and perpendicular to the first side wall is a second side wall, and two through holes arranged in the up-down direction are formed in the first side wall;

[0020] a telescopic rod reciprocally moving in the horizontal direction is arranged in each through hole, the end of the telescopic rod is fixed with a suction cup capable of sucking the inner joint or the outer joint, and a first air cylinder synchronously driving the two telescopic rods to reciprocally move and a vacuum solenoid valve controlling the suction force of the suction cup are further included;

[0021] The second side wall is provided with a rectangular through hole near the first side wall, the long side of the rectangular through hole extends in the vertical direction and the short side extends in the horizontal direction, the two long sides are respectively a first long side and a second long side, the first long side is close to the first side wall, the inner side wall of the first long side is provided with a telescopic air cylinder, the end of the telescopic air cylinder is provided with a clamping air cylinder, the first telescopic air cylinder is driven to reciprocate up and down along the first long side by a first rodless air cylinder, the inner side wall of the second long side is provided with a telescopic air cylinder, the end of the telescopic air cylinder is provided with a clamping air cylinder, the second telescopic air cylinder is driven to reciprocate up and down along the second long side by a second rodless air cylinder, the second side wall is provided with two through holes distributed in the up and down directions at the boundary away from the first side wall, which are an upper through hole and a lower through hole, the positions of the two through holes correspond to the positions of two through holes on the first side wall in the horizontal direction, the position of the upper through hole is provided with a telescopic air cylinder, the end of the telescopic air cylinder is provided with a clamping air cylinder, the position of the lower through hole is provided with a telescopic air cylinder, the end of the telescopic air cylinder is provided with a clamping air cylinder, in the initial state, the telescopic air cylinders on the first side wall and the upper through hole are at the same height, and the clamping air cylinders at the ends of the two telescopic air cylinders are at the same height and can face the yarn sucked by the suction disc of the telescopic rod above, the telescopic air cylinders on the second side wall and the lower through hole are at the same height, and the clamping air cylinders at the ends of the two telescopic air cylinders are at the same height and can face the yarn sucked by the suction disc of the telescopic rod below;

[0022] The second side wall is provided with a telescopic air cylinder near the upper through hole and flush with the upper through hole, the end of the telescopic air cylinder is provided with a yarn sensor, the second side wall is provided with a telescopic air cylinder near the lower through hole and flush with the lower through hole, the end of the telescopic air cylinder is provided with a yarn sensor, the two yarn sensors are arranged in the up and down directions;

[0023] A telescopic air cylinder is arranged at the middle position between the two yarn sensors, the end of the telescopic air cylinder is fixed with an air splicer controlled by a solenoid valve, a telescopic air cylinder is arranged between the air splicer and the upper yarn sensor, the end of the telescopic air cylinder is fixed with a W-shaped yarn lap joint structure, a telescopic air cylinder is arranged between the air splicer and the lower yarn sensor, the end of the telescopic air cylinder is fixed with a W-shaped yarn lap joint structure, the two slits of the two W-shaped yarn lap joint structures are used for the lap joint of the yarn lap;

[0024] The mounting base further comprises a waste yarn collecting funnel located below the internal space and communicating with the internal space, the waste yarn collecting funnel is located below the protruding air splicer;

[0025] The controller is electrically connected with the first air cylinder, the vacuum solenoid valve, all telescopic air cylinders and clamping air cylinders, yarn sensors and solenoid valves.

[0026] As a preferred, the second branch conveying line comprises a drum conveying line and a main belt extension conveying line, the drum conveying line comprises a support platform and a plurality of drums, the support platform is located at a downstream position of the main belt line, the plurality of drums are arranged in parallel and spaced apart and are at the same height with the main belt line, the axial direction of each drum is perpendicular to the conveying direction of the main belt line, the upper surface of the support platform is provided with a support plate corresponding to the position of the axial direction of each drum, the two ends of each drum in the axial direction are rotatably connected to the corresponding support plate, one end of the plurality of drums on the same side in the axial direction is formed with a transmission section, the drum close to the main belt line in the plurality of drums is a first drum, the transmission section of the first drum is provided with an input sprocket and an output sprocket, and the output end of the fifth motor is fixed with a sprocket, the sprocket and the input sprocket are driven by a chain, the output sprocket and the input sprocket on the transmission section of the second drum adjacent to the first drum are driven by a chain, the transmission section between each two adjacent drums is driven by a chain sprocket transmission mode, the drum away from the main belt line in the plurality of drums is provided with the main belt extension conveying line, and the drum and the main belt extension conveying line are at the same height;

[0027] The first branch conveying line comprises a plurality of sorting belt lines for sorting first yarn rolls, a sorting belt line is arranged between two drums arranged at intervals, and a jacking cylinder and a jacking platform at the end thereof are further arranged, the jacking platform is located above the support platform and below the plurality of drums, a plurality of sorting belt lines are arranged on the jacking platform, a main transmission rod is arranged at a position corresponding to the same end of the plurality of sorting belt lines on the jacking platform, a sixth motor is further arranged and connected to one end of the main transmission rod by a belt drive, one end of each sorting belt line is sleeved on the main transmission rod, and the other end of each sorting belt line is sleeved on a separate rotating rod arranged on the jacking platform;

[0028] The controller is electrically connected to the fifth motor, the sixth motor, the jacking cylinder, and a seventh motor for controlling the start and stop of the main belt extension conveying line;

[0029] When the second branch conveying line conveys a plurality of second yarn rolls, the jacking cylinder is in a retracted state so that the plurality of sorting belt lines are lower than the drums, when the first branch conveying line conveys a plurality of first yarn rolls, the drum conveying line and the main belt extension line stop moving, and the jacking cylinder is in an extended state so that the plurality of sorting belt lines are at the same height with the main belt line and the transmission belt line.

[0030] As a preferred, the number of first yarn rolls in each yarn roll stack is 4.

[0031] As preferred, the joint stacking joint part further comprises a joint support platform, the transmission belt line and the yarn roll stacking conveying belt line are arranged on the joint support platform, and the conveying directions of the two are vertically arranged, the starting end of the yarn roll stacking conveying line is close to the end of the transmission belt line, a first sliding rail is arranged above the end of the transmission belt line, the extending direction of the first sliding rail is perpendicular to the conveying direction of the transmission belt line, a slider is slidingly installed on the first sliding rail, the end of the slider is installed with a mechanical arm capable of rotating 90°, the first sliding rail is vertically arranged and supported by a second sliding rail fixed on the joint support platform, the first sliding rail is slidingly connected to the second sliding rail, the first cylinder driving the first sliding rail to slide up and down along the second sliding rail is further included, and the second cylinder driving the slider to reciprocate along the first sliding rail is further included, and the controller is electrically connected with the mechanical arm, the first cylinder and the second cylinder.

[0032] As preferred, each yarn roll stacking pressing mechanism comprises a third cylinder and a circular pressing plate at the end of the third cylinder, the size of the circular pressing plate matches the size of the yarn roll, the extending direction of the third cylinder is the up-down direction, a third sliding rail is provided, the extending direction of the third sliding rail is the same as the conveying direction of the yarn roll stacking conveying belt line, the third sliding rail is supported by a support rod on the joint support platform, three third cylinders are fixed on a moving rod capable of reciprocating along the third sliding rail, a fourth cylinder driving the moving rod to reciprocate is further included, and the controller is electrically connected with the third cylinder and the fourth cylinder.

[0033] As preferred, the transfer part comprises a 6-axis robot and a clamp placing rack, the joint stacking clamp, the non-joint stacking clamp and the paperboard suction clamp are placed on the clamp placing rack, the joint stacking clamp is used for grabbing the yarn roll stack which has completed joint and is conveyed by the yarn roll stacking conveying belt line, the non-joint stacking clamp is used for grabbing the second yarn roll conveyed by the main belt extension line, and the paperboard suction clamp is used for grabbing the paperboard, and the joint stacking clamp, the non-joint stacking clamp and the paperboard suction clamp can be detachably connected with the mechanical arm of the 6-axis robot.

[0034] As preferred, a paperboard placing station is further included, which is used for placing a plurality of mutually stacked paperboards.

[0035] The automatic joint automatic stacking compound machine provided by the utility model has the following technical effects:

[0036] 1. Improve production efficiency: automatic joint and automatic stacking can realize automatic taking, placing and stacking of materials, reduce manual intervention, and improve production efficiency. It can also realize 24-hour uninterrupted operation without rest, further improving production efficiency.

[0037] 2. Reducing labor costs: automatic splicing and automatic stacking can reduce manual handling and stacking, reduce dependence on workers, and reduce labor costs. Moreover, these devices are simple to operate and understand, and only one worker is needed to monitor the entire production process, which helps to reduce the intensity of manual labor.

[0038] 3. Improving product quality: automatic splicing and automatic stacking complete operations through computer program control, avoiding errors caused by human factors, thereby improving product quality. At the same time, automatic stacking according to pre-set rules can ensure that the packaging is neat, compact, and beautiful, increasing the added value of products.

[0039] 4. Saving space: automatic stacking can accurately control the stacking position and height, effectively utilize warehouse space, and reduce space waste.

[0040] 5. Improving safety: There may be some safety hazards in the production process of the glass fiber industry, such as flying glass fibers and dust pollution. Automatic splicing and automatic stacking equipment can reduce manual operation, thereby reducing these safety hazards and improving the safety of the production process.

[0041] In summary, the advantages of automatic splicing and automatic stacking in the glass fiber industry mainly include improving production efficiency, reducing labor costs, improving product quality, saving space, and improving safety. These advantages help to improve the competitiveness and sustainable development ability of glass fiber enterprises. BRIEF DESCRIPTION OF DRAWINGS

[0042] Figure 1 The overall structure of the automatic splicing and automatic stacking composite machine provided by the utility model is shown in the structure diagram;

[0043] Figure 2 The structure diagram of a specific embodiment of the stacking splicing part is shown in the structure diagram;

[0044] Figure 3 The structure diagram of a specific embodiment of the splicing mechanism is shown in the structure diagram;

[0045] Figure 4 The structure diagram of a specific embodiment of the roller conveyor line and the sorting belt line is shown in the structure diagram;

[0046] Figure 5 The structure diagram of a specific embodiment of the splicing stacking clamp, non-splicing stacking clamp, and paperboard suction clamp is shown in the structure diagram.

[0047] Figures 1-5 The reference signs in the drawings are as follows:

[0048] 1 main belt line, 2 first yarn roll, 3 second yarn roll, 4 stacking joint part, 5 transmission belt line, 6 yarn roll stacking conveying belt line, 7 joint mechanism, 8 mounting base, 9 first side wall, 10 second side wall, 11 telescopic rod, 12 suction cup, 13 first long side, 14 second long side, 15-23 telescopic cylinder, 24-27 clamping cylinder, 28 first rodless cylinder, 29 second rodless cylinder, 30 upper through hole, 31 lower through hole, 32 yarn sensor, 33 air twisting connector, 34 W-shaped yarn lap joint structure, 35 waste yarn collecting hopper, 36 supporting platform, 37 roller, 38 supporting plate, 39 first roller, 40 fifth motor, 41 main belt extension conveying line, 42 sorting belt line, 43 jacking cylinder, 44 jacking platform, 45 main transmission rod, 46 sixth motor, 47 joint supporting platform, 48 first sliding rail, 49 mechanical arm, 50 second sliding rail, 51 circular pressing plate, 52 third sliding rail, 536 shaft robot, 54 clamp placing rack, 55 joint stacking clamp, 56 non-joint stacking clamp, 57 paperboard suction clamp, 58 robot quick-change disc, 59 servo clamping jaw, 60 cylinder, 61 yarn roll clamping hand jaw, 62 vacuum generator, 63 aluminum alloy clamp support, 64 vacuum suction cup, 65 paperboard placing station, 66 yarn roll stacking, 67 vacuum pump. DETAILED DESCRIPTION

[0049] As Figures 1-5 shown, the automatic joint automatic stacking compound machine comprises a main belt line 1 used for conveying a plurality of single-yarn rolls arranged in an interval, the single-yarn rolls are formed into batches of yarn rolls which need to be jointed or do not need to be jointed, the batches of yarn rolls which need to be jointed are a plurality of first yarn rolls 2, the batches of yarn rolls which do not need to be jointed are a plurality of second yarn rolls 3, the joint is the inner joint and the outer joint of the adjacent upper and lower two first yarn rolls 2 after the stacking of the plurality of first yarn rolls 2, a downstream of the main belt line 1 is provided with branch conveying lines, which are a first branch conveying line and a second branch conveying line, the first branch conveying line is used for conveying the plurality of first yarn rolls 2, the second branch conveying line is used for conveying the plurality of second yarn rolls 3, further comprising a stacking joint part 4 arranged at the downstream of the first branch line and used for stacking and jointing the plurality of first yarn rolls 2, further comprising a moving part used for moving the second yarn rolls 3 on the second branch conveying line to a required position or used for moving the plurality of first yarn rolls 2 which have completed jointing in the stacking joint part 4 to a required position, further comprising a controller electrically connected with a main motor driving the main belt line 1, a first motor driving the first branch conveying line, a second motor driving the second branch conveying line, the stacking joint part 4 and the moving part.

[0050] As Figures 1-5 shown, in a specific embodiment, the stacking joint part comprises:

[0051] a third motor driving the transmission belt line 5, the starting end of the transmission belt line 5 is connected to the end of the first branch conveying line for receiving the first yarn rolls 2, the inner joint and the outer joint of each yarn roll of the first yarn rolls 2 are oppositely arranged and respectively exposed to the outer side wall of the first yarn roll 2, among the two first yarn rolls 2 adjacent to each other: the inner joint of the upstream first yarn roll 2 and the outer joint of the downstream first yarn roll 2 are exposed to the outer side wall of the same orientation of the respective first yarn roll 2, the outer joint of the upstream first yarn roll 2 and the inner joint of the downstream first yarn roll 2 are exposed to the outer side wall of the same orientation of the respective first yarn roll 2;

[0052] a fourth motor driving the yarn roll stack conveying belt line 6, the yarn roll stack conveying belt line 6 is used to convey the yarn roll stack 66 after the first yarn rolls 2 are stacked, the yarn roll stack conveying belt line 6 has opposite first and second sides, the direction towards the first side is perpendicular to the conveying direction of the yarn roll stack conveying belt line 6, in the direction towards the first side: the inner and outer joints of the first yarn rolls 2 adjacent to each other are sequentially and alternately arranged, in the direction towards the second side: the inner and outer joints of the first yarn rolls 2 adjacent to each other are sequentially and alternately arranged;

[0053] a stacking mechanism for moving the first yarn rolls 2 on the transmission belt line 5 to the yarn roll stack conveying belt line 6 for stacking;

[0054] a plurality of joint mechanisms 7, the number of the joint mechanisms 7 is less than the number of the first yarn rolls 2 in the yarn roll stack 66, and the difference between the two numbers is 1, the joint mechanisms 7 are sequentially arranged along the conveying direction of the yarn roll stack conveying belt line 6 and the sequential arrangement is sequentially and alternately distributed along the first and second sides of the yarn roll stack conveying belt line 6 and the alternately distribution is sequentially staggered in height; this arrangement improves efficiency by synchronously jointing the yarn roll stacks 66 at different positions on the yarn roll stack conveying belt line 6.

[0055] a plurality of yarn roll stack pressing mechanisms, the number of the yarn roll stack pressing mechanisms is the same as the number of the joint mechanisms 7, the yarn roll stack pressing mechanisms are sequentially arranged along the direction of the yarn roll stack conveying belt line 7 and are all located above the conveyed yarn roll stacks 66, each yarn roll stack pressing mechanism can synchronously move back and forth in the horizontal direction and synchronously move back and forth in the vertical direction, so that the yarn roll stack conveying belt line 6 can press the top of the corresponding yarn roll stack 66 when conveying the yarn roll stack 66;

[0056] the controller is electrically connected to the third motor, the fourth motor, the stacking mechanism, the plurality of joint mechanisms 7 and the plurality of yarn roll stack pressing mechanisms.

[0057] In one specific embodiment, as Figures 1-5The joint mechanism 7 comprises:

[0058] The mounting base 8 has an internal space, and the mounting base 8 corresponding to the internal space faces the inner joint and the outer joint of the two first yarn rolls 2 adjacent in the up-down direction of the yarn roll stack 66, and is open. The side wall of the mounting base 8 corresponding to the internal space away from the yarn roll stack 66 is the first side wall 9, the side wall adjacent to and perpendicular to the first side wall 9 is the second side wall 10, and two through holes arranged in the up-down direction are formed in the first side wall 9;

[0059] A telescopic rod 11 reciprocating in the horizontal direction is arranged in each through hole, and the end of the telescopic rod 11 is fixed with a suction cup 12 capable of sucking the inner joint or the outer joint. The first air cylinder synchronously drives the two telescopic rods 11 to reciprocate, and the vacuum electromagnetic valve controls the suction cup 12 to generate suction force;

[0060] A rectangular through hole is formed in the second side wall 10 close to the first side wall 9, the long sides of the rectangular through hole extend in the vertical direction in the opposite direction, and the short sides extend in the horizontal direction. The two long sides are respectively the first long side 13 and the second long side 14. The first long side 13 is close to the first side wall 9, and a telescopic air cylinder 15 is arranged on the inner side wall of the first long side 13. The end of the telescopic air cylinder 15 is provided with a clamping air cylinder 24. The first rodless air cylinder 28 drives the telescopic air cylinder 15 to reciprocate up and down along the first long side. A telescopic air cylinder 22 is arranged on the inner side wall of the second long side 14. The end of the telescopic air cylinder 22 is provided with a clamping air cylinder 27. The second rodless air cylinder 29 drives the telescopic air cylinder 22 to reciprocate up and down along the second long side 14. Two through holes arranged in the up-down direction are formed in the boundary of the second side wall 10 away from the first side wall 9, which are the upper through hole 30 and the lower through hole 31. The positions of the upper and lower through holes correspond to the two through holes on the first side wall 9 in the horizontal direction. A telescopic air cylinder 16 is arranged at the position of the upper through hole 30. The end of the telescopic air cylinder 16 is provided with a clamping air cylinder 25. A telescopic air cylinder 19 is arranged at the position of the lower through hole 31. The end of the telescopic air cylinder 19 is provided with a clamping air cylinder 26. In the initial state, the telescopic air cylinder 15 on the first side wall 9 and the telescopic air cylinder 16 at the position of the upper through hole 30 are located at the same height, and the clamping air cylinders at the ends of the two are located at the same height and can face the yarn sucked by the suction cup 12 of the upper telescopic rod 11. The telescopic air cylinder 22 on the second long side 14 and the telescopic air cylinder 19 at the position of the lower through hole 31 are located at the same height, and the clamping air cylinders at the ends of the two are located at the same height and can face the yarn sucked by the suction cup 12 of the lower telescopic rod 11;

[0061] A telescopic air cylinder 17 is arranged on the second side wall 10 near the upper through hole 30 and in line with the upper through hole 30, and the end of the telescopic air cylinder 17 is provided with a yarn sensor 32. A telescopic air cylinder 20 is arranged on the second side wall 10 near the lower through hole 31 and in line with the lower through hole 31, and the end of the telescopic air cylinder 20 is provided with a yarn sensor 32. The two yarn sensors 32 are arranged in an up-down direction.

[0062] A telescopic air cylinder 23 is arranged at the middle position between the two yarn sensors 32, and the end of the telescopic air cylinder 23 is fixed with an air splicer 33 controlled by a solenoid valve. A telescopic air cylinder 18 is arranged between the air splicer 33 and the upper yarn sensor 32, and the end of the telescopic air cylinder 18 is fixed with a W-shaped yarn lapping structure 34. A telescopic air cylinder 21 is arranged between the air splicer 33 and the lower yarn sensor 32, and the end of the telescopic air cylinder 21 is fixed with a W-shaped yarn lapping structure 34. The two slits of the two W-shaped yarn lapping structures 34 are used for lapping of the yarn package.

[0063] The mounting base 8 further comprises a waste yarn collecting funnel 35 located below the internal space and communicating with the internal space, and the waste yarn collecting funnel 35 is located below the protruding air splicer 33.

[0064] The controller is electrically connected with the first air cylinder, the vacuum solenoid valve, all the telescopic air cylinders and the clamping air cylinder, the yarn sensor and the solenoid valve.

[0065] The vacuum suction of the joint mechanism is provided by a vacuum pump 67.

[0066] As Figures 1-5In one embodiment, the second branch conveying line comprises a drum conveying line and a main belt extension conveying line 41. The drum conveying line comprises a support platform 36 located at a downstream position of the main belt line 1 and a plurality of drums 37 arranged in parallel and at the same height as the main belt line 1. The axial direction of each drum 37 is perpendicular to the conveying direction of the main belt line 1. The support platform 36 is provided with a support plate 38 at the position corresponding to the axial ends of each drum 37. The two ends of each drum 37 in the axial direction are rotatably connected to the corresponding support plate 38. The drums 37 on the same side in the axial direction are provided with a driving section at one end. The drum 37 close to the main belt line 1 is a first drum 39. The driving section of the first drum 39 is provided with an input sprocket and an output sprocket. The output sprocket of the fifth motor 40 is fixed with a sprocket. The sprocket and the input sprocket are connected by a chain. The output sprocket and the input sprocket of the driving section of the second drum adjacent to the first drum 39 are connected by a chain. The driving sections of the adjacent two drums 37 are connected by a chain and sprocket. The drum 37 away from the main belt line 1 is provided with the main belt extension conveying line 41 at the downstream position. The drum 37 and the main belt extension conveying line 41 are at the same height.

[0067] The first branch conveying line comprises a plurality of sorting belt lines 42 for sorting the first yarn roll 2. The sorting belt line 42 is arranged between two drums 37 arranged at intervals. The jacking cylinder 43 and the jacking platform 44 at the end thereof are provided. The jacking platform 44 is located above the support platform 36 and below the plurality of drums 37. The jacking platform 44 is provided with a plurality of sorting belt lines 42. The jacking platform 44 is provided with a main driving rod 45 at the position corresponding to the same end of the plurality of sorting belt lines 42. The sixth motor 46 is connected to one end of the main driving rod 45 by a belt. One end of each sorting belt line 42 is sleeved on the main driving rod 45. The other end of each sorting belt line 42 is sleeved on a separate rotating rod arranged on the jacking platform 44.

[0068] The controller is electrically connected to the fifth motor 40, the sixth motor 46, the jacking cylinder 43 and the seventh motor for controlling the start and stop of the main belt extension conveying line 41.

[0069] When the second branch conveying line is conveying the second yarn rolls 3, the jacking cylinder 43 is in the retracted state so that the sorting belt lines 42 are below the drum 37, and when the first branch conveying line is conveying the first yarn rolls 2, the drum conveying line and the main belt extension conveying line 41 are stopped and the jacking cylinder 43 is in the extended state so that the sorting belt lines 42 are at the same height as the main belt line 1 and the transfer belt line 5.

[0070] In this embodiment, the number of the first yarn rolls 2 in each yarn roll stack 66 is four.

[0071] As shown in Figures 1-5 In this embodiment, the docking joint 4 further comprises a joint support platform 47, the transfer belt line 5 and the yarn roll stack conveying belt line 6 are arranged on the joint support platform 47, and the conveying directions of the two are arranged vertically, the starting end of the yarn roll stack conveying line 6 is close to the end of the transfer belt line 5, a first sliding rail 48 is arranged above the end of the transfer belt line 5, the extension direction of the first sliding rail 48 is perpendicular to the conveying direction of the transfer belt line 5, a sliding block is slidingly installed on the first sliding rail 48, the end of the sliding block is installed with a mechanical arm 49 capable of rotating 90°, the first sliding rail 48 is arranged vertically and supported by a second sliding rail 50 fixed on the joint support platform 47, the first sliding rail 48 is slidingly connected to the second sliding rail 50, further comprising a first cylinder driving the first sliding rail 48 to slide up and down along the second sliding rail 50, and a second cylinder driving the sliding block to reciprocate along the first sliding rail 48, the controller is electrically connected to the mechanical arm 49, the first cylinder and the second cylinder.

[0072] In this embodiment, each yarn roll stack pressing mechanism comprises a third cylinder and a circular pressing plate 51 at the end of the third cylinder, the size of the circular pressing plate 51 matches the size of the yarn roll, the extension direction of the third cylinder is the vertical direction, further comprising a third sliding rail 52, the extension direction of the third sliding rail 52 is the same as the conveying direction of the yarn roll stack conveying belt line 6, the third sliding rail 52 is supported by a support rod on the joint support platform 47, the three third cylinders are fixed on a moving rod capable of reciprocating along the third sliding rail 52, further comprising a fourth cylinder driving the moving rod to reciprocate, and the controller is electrically connected to the third cylinder and the fourth cylinder.

[0073] In this embodiment, as shown in Figure 2As shown, the positions of the inner joint and the outer joint of the second yarn roll 3 conveyed by the conveying belt line 5 are already determined positions (the same, the positions of the inner joint and the outer joint of the adjacent second yarn roll 3 on the main belt line 1 are also determined positions, and the orientation of the second yarn roll 3 is rotated by 90 degrees through the sorting belt line 42). As shown, the inner joint is oriented towards the outer joint in a direction perpendicular to the conveying direction of the conveying belt line 5, and then a sensor arranged on one side of the conveying belt line 5 is used to sense whether the second yarn roll 3 passes, and if so, a signal is transmitted to the controller, and then the controller controls the movement of the mechanical arm 49 along the first slide rail 48, and the movement of the first slide rail 48 along the second slide rail 50, and then the mechanical arm 49 is rotated by 90 degrees to grasp the second yarn roll 3, and then reset to place the second yarn roll 3 on the yarn roll stack conveying belt line 6. When four second yarn rolls 3 are formed into a yarn roll stack 66, the controller controls the joint mechanism 7 to act. After the joint action is completed, the controller drives the yarn roll stack pressing mechanism to act, so that the circular pressing plate 51 presses the top of the yarn roll stack 66, and moves along the third slide rail 52 to follow the yarn roll stack moving along the conveying direction of the yarn roll stack conveying belt line 6. It can be understood that the side of the main belt line 1 is also provided with a sensor connected to the controller, which is used to sense whether the first yarn roll 2 passes, and if so, a signal is transmitted to the controller to control the sorting belt line 42 to act and the drum 37 and the main belt extension conveying line 41 to be inactive. Correspondingly, when the second yarn roll 3 is conveyed in batches, the sensor senses the second yarn roll 3, and then the controller controls the drum 37 and the main belt extension conveying line 41 to act and the sorting belt line 42 to be inactive.

[0074] In one embodiment, as shown in Figures 1-5 The transfer part includes a 6-axis robot 53 and a clamp placing rack 54, the clamp placing rack 54 is provided with a joint stacking clamp 55, a non-joint stacking clamp 56 and a paperboard suction clamp 57, the joint stacking clamp 55 is used to grasp the yarn roll stack 66 conveyed by the yarn roll stack conveying belt line 6, the non-joint stacking clamp 56 is used to grasp each second yarn roll 3 conveyed by the main belt extension line 41, and the paperboard suction clamp 57 is used to grasp the paperboard, and the joint stacking clamp 55, the non-joint stacking clamp 56 and the paperboard suction clamp 57 are detachably connected to the mechanical arm of the 6-axis robot 53.

[0075] Further comprising a paperboard placing station 65 for placing a plurality of paperboards stacked with each other.

[0076] The sorting belt line 42 is used to sort and deliver the first yarn roll 2 requiring joint from the main belt line 1 to the joint station. The main belt extension conveying line 41 is mainly used to deliver the second yarn roll 3 not requiring joint to the stacking station of the 6-axis robot 53 for direct stacking by the 6-axis robot 53. As shown in Figures 1-5 different clamps all adopt the robot quick-change disc 58 as a unified interface, the robot quick-change disc 58 has a power supply interface, a signal line interface and a gas source interface, and can provide power supply, gas source and control signal requirements for the clamp. The joint stacking clamp 55 adopts two servo clamps 59 to grab the yarn roll stack 66. The non-joint stacking clamp 56 adopts a pneumatic cylinder 60 as a power to drive the yarn roll clamping jaw 61 to clamp a single second yarn roll 3 for stacking to the required station. The paperboard suction clamp 57 adopts a vacuum generator 62 to generate vacuum degree, and the vacuum suction disc 64 provided on the aluminum alloy clamp support 63 is used to suck the partition plate on the stacking tray 65.

[0077] As shown in Figure 1 the second yarn roll 3 not requiring joint is transported from the main belt line 1, transported by a plurality of rotating rollers 37 (at this time the sorting belt line 42 is in a stopped state) and the main belt extension conveying line 41, and held by the 6-axis robot 53 with the corresponding clamp to stack the second yarn roll 3. After stacking a layer of yarn rolls, the 6-axis robot 53 replaces the clamp to place the paper partition plate on the stacking tray, and then replaces the robot clamp to continue to grab the second yarn roll for stacking, and so on until the stacking is completed. As shown in Figure 1 the first yarn roll 2 requiring joint is transported from the main belt line 1, transported into the joint stacking part by the sorting belt line 42 (at this time a plurality of rollers 37 are in a stopped state) for joint and stacking operation. After the joint operation is completed, the stacked yarn roll is output by the yarn roll stacking conveying line 6, and then the 6-axis robot 53 carries the corresponding clamp to stack the yarn roll to the required station.

[0078] When the joint mechanism is jointing, as shown in Figure 3

[0079] Reset position: all telescopic cylinders retract (15-23), all clamping cylinders open (24-27), the first rodless cylinder 28 stops at the position in the figure (15 and 16 telescopic cylinders are on a line), the second rodless cylinder 29 stops at the position in the figure (19 and 22 telescopic cylinders are on a line), the telescopic rod 11 and the suction disc 12 thereon retract to the style in the figure, and the blowing and vacuum solenoid valves of all air nozzles are closed.

[0080] Action flow:

[0081] ​1. The telescopic rod 11 and the suction cup 12 on it extend (this action can be achieved by configuring a corresponding cylinder) →→→→→ The vacuum solenoid valves that connect the suction cups to generate suction force are opened respectively, wait for N seconds →→→→→ The telescopic rod 11 and the suction cup 12 on it retract.

[0082] 2. Telescopic cylinders 17 and 20 extend. During this process, yarn sensor 32 detects whether yarn is detected. Then telescopic cylinders 17 and 20 retract (if yarn is detected, continue to the next step; if one of the yarn sensors 32 does not detect yarn, the corresponding mechanism needs to repeat step 1).

[0083] 3, 15, 16, 19 and 22 telescopic cylinders extend →→→→→ The corresponding 24-27 clamping cylinders clamp the yarn →→→→→ The vacuum solenoid valves close respectively.

[0084] 4. Telescopic cylinders 19 and 22 retract →→→→→ The action of the first and second rodless cylinders drives telescopic cylinders 15 and 22 to move up and down relative to each other →→→→→ Telescopic cylinders 15 and 16 retract.

[0085] 5. Telescopic cylinders 18 and 21 extend, causing the upper and lower W-shaped yarn overlap structure to extend, so that the yarn overlaps on it, presenting a cross arrangement of two yarns →→→→→ Telescopic cylinder 23 extends, causing the air splicer to extend →→→→→ Telescopic cylinders 18 and 21 retract →→→→→ The air splicer operates (it is activated by a solenoid valve installed on the air intake pipe, i.e., the controller is electrically connected to the solenoid valve, giving an open signal, so that the air intake pipe is connected and the air splicer operates) to achieve the jointing of the inner and outer joints of the adjacent first yarn rolls →→→→→ Telescopic cylinder 23 retracts.

[0086] 6, 16 and 19 telescopic cylinders extend →→→→→ The corresponding 25 and 26 clamping cylinders on them open →→→→→ The air nozzles set on the clamping cylinders here blow air for 2 seconds (which can be controlled by a solenoid valve) →→→→→ Telescopic cylinders 16 and 19 retract.

[0087] 7. Extension cylinder 15 extends →→→→→ The corresponding clamping cylinder 24 opens →→→→→ The nozzle located at the clamping cylinder blows air for 2 seconds (controlled by a solenoid valve) →→→→→ Extension cylinder 15 retracts →→→→→ The first rodless cylinder resets.

[0088] 8. The second rodless cylinder resets →→→→→22 telescopic cylinder extends →→→→→The corresponding 27 clamping cylinder opens →→→→→The air nozzle located at the clamping cylinder blows air for 2 seconds (controlled by a solenoid valve) →→→→→22 telescopic cylinder retracts.

[0089] The air twister 33 used in the present application is a commercially available product, and its specific structure will not be described in detail here.

[0090] The present application processes batches of first yarn rolls 2 or batches of second yarn rolls 3. For example, if the batches of yarn rolls are all first yarn rolls 2 that need to be jointed, the first yarn rolls 2 are sequentially transported through the main belt line 1 and then enter the stacking jointing part to complete the corresponding actions. If the batches of yarn rolls are all second yarn rolls 3 that do not need to be jointed, the transport is completed through the main belt line 1, the roller 37 and the main belt extension transport line 41.

Claims

1. An automatic splicing and palletizing laminating machine, characterized in that, The system includes a main conveyor belt for conveying a plurality of single yarn rolls arranged at intervals. These single yarn rolls are formed into batches of yarn rolls that may or may not require splicing. The batches of yarn rolls requiring splicing are a plurality of first yarn rolls, and the batches of yarn rolls not requiring splicing are a plurality of second yarn rolls. The splicing is achieved by connecting the inner and outer splices of two adjacent first yarn rolls after stacking. A branch conveyor line is provided downstream of the main conveyor belt, namely a first branch conveyor line and a second branch conveyor line. The first branch conveyor line is used to convey a plurality of first yarn rolls, and the second branch conveyor line is used to convey a plurality of second yarn rolls. The system also includes a stacking splicing section, which is located downstream of the first branch conveyor line for stacking and splicing a plurality of first yarn rolls. It also includes a transfer section, which is used to move a second yarn roll on the second branch conveyor line to a desired position or to move a plurality of first yarn rolls that have been spliced ​​in the stacking splicing section to a desired position. Finally, it includes a controller, which is electrically connected to the main motor driving the main conveyor belt, the first motor driving the first branch conveyor line, the second motor driving the second branch conveyor line, the stacking splicing section, and the transfer section.

2. The automatic splicing and palletizing laminating machine according to claim 1, characterized in that, The palletizing joint includes: The conveyor belt and the third motor that drives its operation are provided. The starting end of the conveyor belt is connected to the end of the first branch conveyor line to receive the plurality of first yarn rolls. The inner and outer joints of each of the plurality of first yarn rolls are arranged opposite to each other and are exposed on both sides of the outer side wall of the first yarn roll. In two adjacent first yarn rolls: the inner joint of the upstream first yarn roll and the outer joint of the downstream first yarn roll are exposed on the outer side wall of the respective first yarn roll in the same position, and the outer joint of the upstream first yarn roll and the inner joint of the downstream first yarn roll are exposed on the outer side wall of the respective first yarn roll in the same position. A yarn roll stacking conveyor belt and a fourth motor driving its operation. The yarn roll stacking conveyor belt is used to transport yarn rolls after several first yarn rolls have been stacked. The yarn roll stacking conveyor belt has a first side and a second side. The direction from the first side to the second side is perpendicular to the conveying direction of the yarn roll stacking conveyor belt. In the direction towards the first side, the inner and outer joints of the upper and lower adjacent first yarn rolls are arranged alternately. In the direction towards the second side, the inner and outer joints of the upper and lower adjacent first yarn rolls are distributed alternately. A stacking mechanism for moving a first yarn roll located on a conveyor belt to a yarn roll stacking conveyor belt for stacking. A plurality of splicing mechanisms, the number of which is less than the number of the first yarn roll in the yarn roll stack, and the difference between the two is 1, the plurality of splicing mechanisms are arranged sequentially along the conveying direction of the yarn roll stack conveyor belt, and the sequential arrangement is alternately distributed along the first side and the second side of the yarn roll stack conveyor belt, and the alternating distribution is staggered in height. A plurality of yarn roll stacking and pressing mechanisms are provided, the number of which is the same as the number of joint mechanisms. The plurality of yarn roll stacking and pressing mechanisms are arranged sequentially along the direction of the yarn roll stacking conveyor belt and are all located above the yarn roll stack being conveyed. Each yarn roll stacking and pressing mechanism can move back and forth synchronously in the horizontal direction and in the vertical direction, so that the yarn roll stacking conveyor belt can press the top of the corresponding yarn roll stack when conveying the yarn roll stack. The controller is electrically connected to a third motor, a fourth motor, a palletizing mechanism, several jointing mechanisms, and several yarn roll stacking and pressing mechanisms.

3. The automatic splicing and palletizing laminating machine according to claim 1, characterized in that, The connector mechanism includes: The mounting base has an internal space. The inner and outer joints of the two adjacent first yarn rolls facing the yarn roll stack are open. The side wall of the mounting base away from the yarn roll stack corresponding to the internal space is the first side wall, and the side wall adjacent to the internal space and perpendicular to the first side wall is the second side wall. Two perforations are opened on the first side wall. Each of the perforations is provided with a telescopic rod that moves back and forth in the horizontal direction. The end of the telescopic rod is fixed with a suction cup that can pick up the inner or outer connector. The system also includes a first cylinder that synchronously drives the two telescopic rods to move back and forth and a vacuum solenoid valve that controls the suction force generated by the suction cup. A rectangular through hole is formed on the second sidewall near the first sidewall. The long side of the rectangular through hole extends vertically in the opposite direction, and the short side extends horizontally. The two long sides are referred to as the first long side and the second long side. The first long side is close to the first sidewall. A telescopic cylinder is provided on the inner sidewall of the first long side. A clamping cylinder is provided at the end of the telescopic cylinder. The device also includes a first rodless cylinder that drives the telescopic cylinder to move up and down reciprocally along the first long side. A telescopic cylinder is also provided on the inner sidewall of the second long side. A clamping cylinder is provided at the end of the telescopic cylinder. The device also includes a second rodless cylinder that drives the telescopic cylinder to move up and down reciprocally along the second long side. Two vertically distributed... The through holes are upper and lower through holes, and their positions in the horizontal direction correspond one-to-one with the two through holes on the first side wall. A telescopic cylinder is installed at the position of the upper through hole, and a clamping cylinder is installed at the end of the telescopic cylinder. A telescopic cylinder is installed at the position of the lower through hole, and a clamping cylinder is installed at the end of the telescopic cylinder. In the initial state: the telescopic cylinder on the first side wall and the telescopic cylinder at the upper through hole are at the same height, and the clamping cylinders at the ends of the two are at the same height and can be directly facing the suction cup of the telescopic rod above to pick up the yarn. The telescopic cylinder on the second side wall and the telescopic cylinder at the lower through hole are at the same height, and the clamping cylinders at the ends of the two are at the same height and can be directly facing the suction cup of the telescopic rod below to pick up the yarn. A telescopic cylinder is provided on the second side wall near the upper through hole and at the same level as the upper through hole. A yarn sensor is provided at the end of the telescopic cylinder. A telescopic cylinder is provided on the second side wall near the lower through hole and at the same level as the lower through hole. A yarn sensor is provided at the end of the telescopic cylinder. The two yarn sensors are arranged in the vertical direction. A telescopic cylinder is installed at the middle position between two yarn sensors. An air splicer controlled by a solenoid valve is fixed to the end of the telescopic cylinder. A telescopic cylinder is installed between the air splicer and the upper yarn sensor. A W-shaped yarn overlap structure is fixed to the end of the telescopic cylinder. A telescopic cylinder is installed between the air splicer and the lower yarn sensor. A W-shaped yarn overlap structure is fixed to the end of the telescopic cylinder. The two gaps in the W shape of the two W-shaped yarn overlap structures are used for the overlap of the yarn rolls. The mounting base also includes a waste yarn collection funnel located below and communicating with its internal space, the waste yarn collection funnel being located below the protruding air splicer; The controller is electrically connected to the first cylinder, the vacuum solenoid valve, all telescopic cylinders and clamping cylinders, the yarn sensor and the solenoid valve.

4. The automatic splicing and palletizing laminating machine according to claim 3, characterized in that, The second branch conveyor line includes a roller conveyor line and a main belt extension conveyor line. The roller conveyor line includes a support platform and several rollers. The support platform is located downstream of the main belt conveyor line. The several rollers are arranged in parallel at intervals and are all at the same height as the main belt conveyor line. The axial direction of each roller is perpendicular to the conveying direction of the main belt conveyor line. Support plates are mounted on the upper surface of the support platform at the two ends corresponding to the axial direction of each roller. The two ends of each roller along the axial direction are rotatably connected to the corresponding support plates. A drive section is formed at one end of each roller on the same side along the axial direction. The roller closest to the main belt is the first roller. An input sprocket and an output sprocket are mounted on the transmission section of the first roller. A fifth motor is also included, with a sprocket fixed to its output end. This sprocket is connected to the input sprocket via a chain. The output sprocket is connected to the input sprocket on the transmission section of the second roller adjacent to the first roller via a chain. The transmission sections between any two adjacent rollers are connected via a sprocket and chain drive. A main belt extension conveyor is located downstream of the roller furthest from the main belt. The roller and the main belt extension conveyor are at the same height. The first branch conveyor line includes several sorting belts for sorting the first yarn rolls. One sorting belt is set between two rollers that are spaced apart. It also includes a lifting cylinder and a lifting platform at its end. The lifting platform is located above the support platform and below the rollers. Several sorting belts are set on the lifting platform. A main drive rod is set on the lifting platform at the same end of the sorting belts. It also includes a sixth motor. The sixth motor is connected to one end of the main drive rod via belt drive. One end of each sorting belt is sleeved on the main drive rod, and the other end of each sorting belt is sleeved on a separate rotating rod. The separate rotating rod is set on the lifting platform. The controller is electrically connected to the fifth motor, the sixth motor, the lifting cylinder, and the seventh motor that controls the start and stop of the main belt extension conveyor line; When the second branch conveyor line conveys several second yarn rolls, the lifting cylinder is in a retracted state, causing several sorting belt lines to be lower than the roller. When the first branch conveyor line conveys several first yarn rolls, the roller conveyor line and the main belt extension conveyor line stop operating, and the lifting cylinder is in an extended state, causing several sorting belt lines to be at the same height as the main belt line and the transmission belt line.

5. The automatic splicing and palletizing laminating machine according to claim 4, characterized in that, The number of the first yarn rolls in each of the yarn roll stacks is 4.

6. The automatic splicing and palletizing laminating machine according to claim 5, characterized in that, The palletizing joint also includes a joint support platform. The conveyor belt and the yarn roll stacking conveyor belt are both arranged on the joint support platform, and their conveying directions are perpendicular. The starting end of the yarn roll stacking conveyor belt is close to the end of the conveyor belt. A first slide rail is provided above the end of the conveyor belt. The extension direction of the first slide rail is perpendicular to the conveying direction of the conveyor belt. A slider is slidably installed on the first slide rail. A robotic arm capable of rotating 90° is installed at the end of the slider. The first slide rail is supported by a second slide rail arranged vertically and fixed on the joint support platform. The first slide rail is slidably connected to the second slide rail. The system also includes a first cylinder that drives the first slide rail to slide up and down along the second slide rail, and a second cylinder that drives the slide rail to reciprocate along the first slide rail. The controller is electrically connected to the robotic arm, the first cylinder, and the second cylinder.

7. The automatic splicing and palletizing laminating machine according to claim 6, characterized in that, Each of the yarn roll stacking and pressing mechanisms includes a third cylinder and a circular pressure plate located at the end of the third cylinder. The size of the circular pressure plate matches the size of the yarn roll. The extension and retraction direction of the third cylinder is vertical. It also includes a third slide rail, the extension direction of which is the same as the conveying direction of the yarn roll stacking conveyor belt. The third slide rail is supported by a support rod on the joint support platform. All three third cylinders are fixed on a moving rod that can reciprocate along the third slide rail. It also includes a fourth cylinder that drives the moving rod to reciprocate. The controller is electrically connected to the third cylinder and the fourth cylinder.

8. The automatic palletizing and laminating machine with moving joints according to claim 7, characterized in that, The transfer unit includes a 6-axis robot and a fixture placement rack. The fixture placement rack holds a splicing stacking fixture, a non-splicing stacking fixture, and a cardboard suction fixture. The splicing stacking fixture is used to grab the yarn rolls that have been spliced ​​and are conveyed by the yarn roll stacking conveyor belt. The non-splicing stacking fixture is used to grab each second yarn roll conveyed by the main belt extension conveyor. The cardboard suction fixture is used to grab the cardboard. The splicing stacking fixture, the non-splicing stacking fixture, and the cardboard suction fixture can all be detachably connected to the robotic arm of the 6-axis robot.

9. The automatic splicing and palletizing laminating machine according to claim 8, characterized in that, It also includes a cardboard placement station, which is used to place several stacked cardboards.

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