Lifting and overturning device for bobbin yarn dumper and yarn inserting robot

Abstract

The utility model provides a bobbin yarn dumper lifting and overturning device and a yarn inserting robot, relates to the technical field of textile, is used for transferring bobbin yarn from a bobbin yarn dumper to a stock bin of the yarn inserting robot, and particularly comprises a device support fixed to the side wall of the feeding side of the stock bin, a lifting device, a lifting device and a lifting device, the overturning mechanism is used for overturning the bobbin yarn dumper to a preset position by taking a hinge point on any side of the stock bin as an axis; the fixing mechanism is arranged on the turnover mechanism and is used for fixing the bobbin yarn dumper on the turnover mechanism; and the hoisting mechanism is used for controlling the turnover mechanism to realize in-situ turnover of the cop dumper. The turnover device is simple in principle, the safety of the whole turnover process is improved, the probability of accidents is reduced, and in-situ turnover is carried out, so that space is saved.

Description

Technical Field

[0001] This application relates to the field of textile technology, specifically to a yarn feeding cart lifting and turning device and a yarn insertion robot. Background Technology

[0002] In the textile industry, yarn tube transport carts are used to hold several yarn tubes awaiting processing, replenishing the feed bins of yarn insertion robots as needed. When processing is required on the yarn tubes in the transport cart, they need to be transferred to downstream equipment. This transfer is usually done manually, which incurs high labor costs and is inefficient. Furthermore, the transport carts are heavy, and manually lifting them to empty the yarn tubes into the feed bin requires significant manpower. There is also a risk of accidents, such as workers being injured, during the manual lifting process.

[0003] Therefore, some yarn insertion robots are equipped with a special lifting mechanism to lift the yarn tube transport car above the hopper and pour the yarn tube into the hopper. However, there is a problem that the yarn tube transport car is not fully fixed to the lifting mechanism before the lifting operation is carried out, which can cause the yarn tube transport car to fall during the lifting process, and safety cannot be guaranteed. Summary of the Invention

[0004] This application proposes a lifting and turning device for a yarn tube transport vehicle and a yarn insertion robot, which solves the problems of high labor costs and low safety in the textile industry, and safely pours all the yarn tubes in the yarn tube transport vehicle directly into the hopper.

[0005] This application provides a bobbin transport cart lifting and tilting device for transferring bobbins from the bobbin transport cart to the hopper of a yarn insertion robot. The device includes: a support frame fixed to the side wall of the hopper's feeding side; a tilting mechanism mounted on the support frame for tilting the bobbin transport cart to a predetermined position around the hinge point between the hopper and the support frame; a fixing mechanism disposed on the tilting mechanism for fixing the bobbin transport cart to the tilting mechanism; and a lifting mechanism for controlling the tilting mechanism to achieve in-situ tilting of the bobbin transport cart.

[0006] Specifically, the device support includes two symmetrically arranged mounting side plates on the side wall and a crossbeam connecting the mounting side plates. The flipping mechanism includes a sliding flipping track and a first guide wheel unit that moves within the sliding flipping track, a vertical track and at least one set of second guide wheel units that move within the vertical track, and a flipping plate. The vertical track is arranged on the mounting side plate and is perpendicular to the bottom surface of the device support. The sliding flipping track is arranged at the upper end of the mounting side plate, has a predetermined angle with the horizontal plane, and extends from the edge of the vertical track toward the hopper. The flipping plate moves within the sliding flipping track via the first guide wheel unit, and the flipping plate moves within the vertical track via the second guide wheel unit.

[0007] The lifting mechanism controls the tilting plate to move simultaneously within the sliding tilting track and the vertical track via the first guide wheel unit and the second guide wheel unit, thereby realizing the in-situ tilting of the yarn transport vehicle.

[0008] Specifically, the angle between the body of the overturned yarn transport vehicle and the horizontal plane is 0 to 45°.

[0009] Specifically, the angle between the sliding flipping track and the bottom surface of the device support is 0° to 30°.

[0010] Specifically, the first guide wheel unit includes two first guide wheels and a first link connecting the two first guide wheels, the first link ensuring that the two first guide wheels move synchronously; the second guide wheel unit includes two second guide wheels and a second link connecting the two second guide wheels, the second link ensuring that the two second guide wheels move synchronously.

[0011] Specifically, the lifting mechanism includes a pneumatic cylinder or a hydraulic cylinder.

[0012] Specifically, a side baffle is provided on the flip plate, which is located above the fixing mechanism. The side baffle is used to prevent the yarn tube from falling from both sides of the flip plate.

[0013] Specifically, the flip plate is also provided with a fixing member, which is used to adjust the angle at which the side baffle is unfolded.

[0014] Specifically, the fixing mechanism includes a sensing unit, a pin, and a control cylinder; the sensing unit is used to sense whether a fixing ear is inserted at a predetermined position, and transmits a signal to the control cylinder after sensing the fixing ear; the control cylinder is used to drive the pin to insert into the fixing ear.

[0015] This application also provides a yarn insertion robot, comprising: a yarn feeding cart lifting and tilting device for transferring yarn from the yarn feeding cart to the yarn insertion robot's hopper; a hopper for receiving yarn from the yarn feeding cart; a yarn loading and lifting device for lifting the yarn from the hopper to a predetermined height; a sorting device for sorting the yarn at the predetermined height so that the large and small ends of the yarn are arranged in a set manner; and a gripping and dispensing device for gripping the yarn sorted by the sorting device and placing it into the yarn storage compartment, wherein the yarn feeding cart lifting and tilting device is any one of the yarn feeding cart lifting and tilting devices described above.

[0016] Compared to existing technologies, this application uses a fixing mechanism to secure the yarn transport cart to a tilting mechanism. The tilting mechanism then lifts and tilts the yarn transport cart, eliminating the need for worker intervention. The tilting mechanism directly tilts the yarn transport cart in place. If the yarn transport cart is not fully secured to the tilting mechanism, tilting will push the cart away on the ground. The cart will not be tilted by the tilting mechanism, and since it remains on the ground throughout the process, it will not fall and injure anyone, thus improving the safety of the entire tilting process and reducing the probability of accidents. The yarn transport cart lifting and tilting device drives the cart to tilt in place, and the trajectory of the tilted cart to the predetermined position is an arc, requiring less space compared to lifting first and then tilting. Attached Figure Description

[0017] To more clearly illustrate the technical solutions of the embodiments of this application, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 This is a schematic diagram of the yarn insertion robot in an embodiment of this application;

[0019] Figure 2 This is a schematic diagram of the bobbin conveying cart lifting and turning device fixing the bobbin conveying cart surface in an embodiment of this application;

[0020] Figure 3 This is a schematic diagram of the fixed hopper surface of the bobbin conveying cart lifting and turning device in an embodiment of this application;

[0021] Figure 4 This is a schematic diagram of the device support in an embodiment of this application;

[0022] Figure 5 This is a schematic diagram of the installation of the sliding flipping track and the vertical track in the flipping mechanism in an embodiment of this application;

[0023] Figure 6 This is a schematic diagram of the fixed hopper surface of the bobbin conveying cart lifting and turning device in an embodiment of this application;

[0024] Figure 7 This is a schematic diagram of the yarn feeding cart lifting and turning device fixed to the yarn insertion robot frame in an embodiment of this application. Detailed Implementation

[0025] The embodiments of this application will now be described in detail with reference to the accompanying drawings.

[0026] The following specific examples illustrate the implementation of this application. Those skilled in the art can easily understand other advantages and effects of this application from the content disclosed in this specification. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of them. This application can also be implemented or applied through other different specific embodiments, and the details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of this application. It should be noted that, in the absence of conflict, the following embodiments and features in the embodiments can be combined with each other. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0027] It should be noted that various aspects of embodiments within the scope of the appended claims are described below. It will be apparent that the aspects described herein can be embodied in a wide variety of forms, and any particular structure and / or function described herein is merely illustrative. Based on this application, those skilled in the art will understand that one aspect described herein can be implemented independently of any other aspect, and two or more of these aspects can be combined in various ways. For example, any number and aspects set forth herein can be used to implement the device and / or practice the method. Additionally, this device and / or method can be implemented using structures and / or functionalities other than one or more of the aspects set forth herein.

[0028] It should also be noted that the illustrations provided in the following embodiments are only schematic representations of the basic concept of this application. The drawings only show the components related to this application and are not drawn according to the actual number, shape and size of the components in the actual implementation. In the actual implementation, the form, quantity and proportion of each component can be arbitrarily changed, and the layout of the components may also be more complex.

[0029] Additionally, specific details are provided in the following description to facilitate a thorough understanding of the examples. However, those skilled in the art will understand that practice can be carried out without these specific details.

[0030] like Figure 1 As shown in the figure, this application provides a yarn insertion robot, including a yarn feeding cart lifting and turning device 1, a material bin 2, a yarn feeding and lifting mechanism 3, a sorting device 4, and a gripping and dispensing device 5.

[0031] The tube yarn transport cart lifting and tilting device 1 is installed on the side wall of the feed side of the hopper 2. The tube yarn transport cart can be tilted to the upper end of the hopper 2 from this side wall.

[0032] like Figure 2 as well as Figure 3 As shown, the tube yarn transport vehicle lifting and turning device 1 includes: device bracket 10, turning mechanism 11, fixing mechanism 12 and lifting mechanism 13.

[0033] The device support 10 is fixed to the side wall on the feed side of the hopper 2, or, as... Figure 7 As shown, the device bracket 10 is set on the frame of the yarn insertion robot and located on both sides of the hopper 2. The flipping mechanism 11, the fixing mechanism 12 and the lifting mechanism 13 are all installed on the device bracket 10.

[0034] The flipping mechanism 11 uses the hinge point between the hopper 2 and the device support 10 as its axis, and drives the yarn conveying car to flip to a predetermined position.

[0035] The fixing mechanism 12 is used to fix the fixed part of the yarn feeding car, and the fixing mechanism 12 fixes the yarn feeding car on the turning mechanism 11.

[0036] The lifting mechanism 13 is used to control the turning mechanism 11 to drive the yarn conveyor to turn in place.

[0037] The upper part of the hopper 2 is equipped with a feeding port, with the feeding side and the discharging side located on opposite sides of the hopper 2. The bobbin conveyor lifting and tilting device 1 is installed on the side wall of the feeding side. The hopper 2 is used to store bobbins from the bobbin conveyor. The bobbin conveyor is tilted in place by the bobbin conveyor lifting and tilting device 1.

[0038] The yarn feeding and lifting device 3 is installed on the discharge side of the hopper 2. The yarn feeding and lifting device 3 includes a feeding side and a discharging side, with the feeding side facing the discharge side of the hopper 2. The yarn feeding and lifting device 3 is used to vertically lift the yarn tubes to a predetermined height.

[0039] The sorting device 4 is used to sort the bobbins of a predetermined height so that the large and small ends of the bobbins are arranged in a set manner.

[0040] The grabbing and dispensing device 5 is used to grab the bobbin that has been processed by the processing device 4, so as to put the bobbin into the yarn warehouse.

[0041] When the yarn insertion robot is in operation, it pushes the yarn feeding cart into the yarn feeding cart lifting and turning device 1.

[0042] The fixing mechanism 12 of the bobbin material transport vehicle lifting and turning device 1 fixes the bobbin material transport vehicle on the turning mechanism 11.

[0043] When the fixing mechanism 12 completely secures the yarn feeding cart to the tilting mechanism 11, the lifting mechanism 13 controls the tilting mechanism 11 to tilt in place. The yarn feeding cart, fixed to the tilting mechanism 11, tilts in place along with the tilting mechanism 11, tilting to a preset position. The yarn in the yarn feeding cart slides along the tilting surface of the tilting mechanism 11 into the material bin 2 of the yarn insertion robot.

[0044] The hopper 2 stores the bobbins and supplies them to the bobbin feeding and lifting device 3.

[0045] The bobbin feeding and lifting device 3 vertically lifts the bobbin to a predetermined height.

[0046] The sorting device 4 sorts the yarn tubes to a predetermined height, so that the large and small ends of the yarn tubes are arranged in a set manner.

[0047] The grabbing and dispensing device 5 is used to grab the bobbin that has been processed by the processing device 4, so as to put the bobbin into the yarn warehouse.

[0048] In this embodiment, a fixing mechanism secures the yarn transport cart to the tilting mechanism. The tilting mechanism lifts and tilts the yarn transport cart without requiring worker intervention; the tilting mechanism directly tilts the yarn transport cart in place. If the yarn transport cart is not fully secured to the tilting mechanism, tilting the mechanism will push the yarn transport cart away on the ground. The yarn transport cart will not be tilted by the tilting mechanism, and since it remains on the ground throughout the process, it will not fall and injure anyone, thus improving the safety of the entire tilting process and reducing the probability of accidents. The yarn transport cart lifting and tilting device drives the yarn transport cart to tilt in place, and the trajectory of the tilted yarn transport cart to the predetermined position is an arc, requiring less space compared to lifting first and then tilting.

[0049] like Figure 4 As shown, in one embodiment, the device support 10 includes two mounting side plates 101 symmetrically arranged on the feeding side, and a crossbeam 102 and a crossbeam 103 connecting the two mounting side plates 101. The device support 10 can be installed on the side wall of the hopper 2 first, and then the tilting mechanism 11, the fixing mechanism 12, and the lifting mechanism 13 can be fixed on the device support 10.

[0050] In one embodiment, the two mounting side plates 101 can be connected first via crossbeams 102 and 103 to make the device bracket 10 a single unit. Then, the tilting mechanism 11, the fixing mechanism 12, and the lifting mechanism 13 are fixed onto the integrated device bracket 10 to form the yarn conveying cart lifting and tilting device 1. The yarn conveying cart lifting and tilting device 1 is then directly installed on the hopper 2. This arrangement reduces the number of installation steps and enables rapid installation.

[0051] like Figure 5 As shown, the flipping mechanism 11 includes a sliding flipping track 111 symmetrically mounted on the mounting side plate 101, a first guide wheel unit 112 moving within the sliding flipping track 111, a vertical track 113, and at least one set of second guide wheel units 114 moving within the vertical track 113, and a flipping plate 115.

[0052] A vertical track 113 is mounted on the mounting side plate 101 and is perpendicular to the bottom surface of the device support 10. A sliding tilting track 111 is located at the upper end of the mounting side plate 101, and the ratio of the distance between the sliding tilting track 111 and the upper edge of the mounting side plate 101 to the height of the mounting side plate 101 is 1 to 3:10. The sliding tilting track 111 has a predetermined angle with the horizontal plane and extends from the edge of the vertical track 113 toward the hopper 2.

[0053] The flip plate 115 moves within the sliding flip track 111 via the first guide wheel unit 112, and moves within the vertical track 113 via the second guide wheel unit 114. The first guide wheel unit 112 moves linearly within the sliding flip track 111, so the flip plate 115 moves linearly within the sliding flip track 111 under the drive of the first guide wheel unit 112, and the entire flip plate 115 flips in the direction of the first guide wheel unit 112's movement within the sliding flip track 111. The second guide wheel unit 114 moves linearly within the vertical track 113, and the second guide wheel unit 114 drives the entire flip plate 115 to rise or fall along the vertical track 113.

[0054] The lifting mechanism 13 controls the tilting plate 115 to move simultaneously within the sliding tilting track 111 and the vertical track 113 via the first guide wheel unit 112 and the second guide wheel unit 114. The lifting and tilting actions of the tilting plate 115 are synchronized. The tilting plate 115 drives the yarn conveying car to tilt in place, which requires less space compared to lifting first and then tilting.

[0055] In one embodiment, the tilting plate 115 drives the yarn tube transport vehicle to tilt to a certain angle. When the first guide wheel unit 112 moves to a predetermined position, the angle between the body of the tilted yarn tube transport vehicle and the horizontal plane is 0-45°. The tilt angle of the tilted yarn tube transport vehicle body is sufficient to ensure that all the yarn tubes in the yarn tube transport vehicle roll into the hopper.

[0056] like Figure 6 As shown, in one embodiment, the first guide wheel unit 112 includes two first guide wheels 1121 and a first connecting rod 1122 connecting the two first guide wheels 1121. The two first guide wheels 1121 move in sliding and flipping tracks 111 respectively, which are symmetrically installed on the inner walls of the two side plates 101 of the device bracket 10.

[0057] The first link 1122 ensures that the movements of the two first guide wheels 1121 are synchronized.

[0058] The second guide wheel unit 114 includes two second guide wheels 1141 and a second connecting rod 1142 connecting the two second guide wheels 1141. The two second guide wheels 1141 move in vertical tracks 113 symmetrically installed on the inner walls of the two side plates 101 of the device bracket 10. The first connecting rod 1142 ensures that the movements of the two first guide wheels 1141 are synchronized.

[0059] The first connecting rod 1122 prevents the two first guide wheels 1121 in the first guide wheel unit 112 from moving asynchronously, thus preventing the tilting plate 115 from tilting to the side. The second connecting rod 1142 prevents the two second guide wheels 1141 in the second guide wheel unit 114 from moving asynchronously, thus preventing the tilting plate 115 from getting stuck during lifting. Furthermore, it prevents the tilting plate 115 from tilting excessively to the side and the yarn transport cart from becoming too heavy during the tilting process, thus preventing the first guide wheel unit 112 from falling off the sliding tilting track 111. This, in turn, prevents the tilting mechanism 11 from crashing to the ground along with the yarn transport cart, improving the safety of the yarn transport cart lifting and tilting device.

[0060] In one embodiment, the lifting mechanism 13 includes a pneumatic cylinder or a hydraulic cylinder. A pneumatic cylinder converts the pressure energy of compressed air into mechanical energy, driving the mechanism to achieve reciprocating linear motion, oscillation, or rotation. A hydraulic cylinder is a hydraulic actuator that converts hydraulic energy into mechanical energy, performing linear reciprocating motion (or oscillation). In this embodiment, a pneumatic or hydraulic cylinder drives the tilting mechanism 11 to move simultaneously within the sliding tilting track 111 and the vertical track 113 via the first guide wheel unit 112 and the second guide wheel unit 114. The lifting and tilting actions of the tilting plate 115 are synchronized, and the tilting plate 115 drives the yarn transport vehicle to tilt in place.

[0061] like Figure 5 As shown, in one embodiment, the flip plate 115 is provided with a side baffle 1151. The side baffle 1151 and the surface of the flip plate 115 form a yarn rolling channel, and the yarn can roll down into the hopper 2 along the yarn rolling channel. The side baffle 1151 prevents the yarn from falling from both sides of the flip plate 115.

[0062] In one embodiment, a fixing member is also provided on the flipping plate 115. When the yarn feeding trolley lifting and flipping device is not working, the side baffle 1151 is lowered and stacked on the flipping plate 115. When the yarn feeding trolley lifting and flipping device is working, the side baffle 1151 is raised to a certain angle, and the fixing member fixes the side baffle 1151 to maintain the unfolded angle. Depending on the angle that the side baffle 1151 needs to maintain, the fixing member can adjust the unfolded angle of the side baffle 1151 to meet the requirements. The fixing member improves the adaptability of the unfolded angle of the side baffle 1151 in various situations.

[0063] In one embodiment, the fixing mechanism 12 includes a sensing unit, a pin, and a control cylinder.

[0064] The sensing unit is positioned above the tilting plate 115, and the pin is positioned on the non-contact surface of the yarn feeding cart on the tilting plate 115. The control cylinder is positioned arbitrarily and is used to drive the pin. The height of the preset position on the tilting mechanism is consistent with the height of the fixing ear on the yarn feeding cart, achieving a perfect match. The sensing unit is used to sense the predetermined position, i.e., whether the fixing ear on the yarn feeding cart is inserted into the fixing hole. When the sensing unit senses the fixing ear at the predetermined position, it transmits a signal to the control cylinder, which then reacts, driving the pin to insert into the fixing ear to complete the fixing operation. The fixing mechanism 12 firmly fixes the yarn feeding cart to the tilting mechanism 11, preventing the yarn feeding cart from falling during lifting and tilting, thus improving the safety of lifting and tilting the yarn feeding cart.

[0065] In one embodiment, the sensing unit is a photoelectric sensor, which is a device that converts light signals into electrical signals. Its working principle is based on the photoelectric effect. The photoelectric effect refers to the phenomenon where, when light shines on certain materials, the electrons in the material absorb the energy of the photons, resulting in a corresponding electrical effect.

[0066] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A cop lifting and turning device for a cop carrier for transferring a cop from the cop carrier to a magazine of a threading robot, characterized in that include: The device support is fixed to the side wall on the feed side of the silo; A flipping mechanism, mounted on the device bracket, is used to flip the yarn transport vehicle to a predetermined position with the hinge point between the hopper and the device bracket as the axis. A fixing mechanism is provided on the flipping mechanism for fixing the yarn feeding car on the flipping mechanism; The lifting mechanism is used to control the tilting mechanism to achieve the in-situ tilting of the yarn transport vehicle.

2. A carrier lifting and inverting device according to claim 1, wherein, The device support includes two mounting side plates symmetrically arranged on the side wall and a crossbeam connecting the mounting side plates. The flipping mechanism includes a sliding flipping track and a first guide wheel unit that moves within the sliding flipping track, a vertical track and at least one set of second guide wheel units that move within the vertical track, and a flipping plate. The vertical track is set on the mounting side plate and is perpendicular to the bottom surface of the device bracket; The sliding tilting track is located at the upper end of the mounting side plate, and has a predetermined angle with the horizontal plane, extending from the edge of the vertical track toward the hopper; The flipping plate moves within the sliding flipping track via the first guide wheel unit, and the flipping plate moves within the vertical track via the second guide wheel unit; The lifting mechanism controls the tilting plate to move simultaneously within the sliding tilting track and the vertical track via the first guide wheel unit and the second guide wheel unit, thereby realizing the in-situ tilting of the yarn transport vehicle.

3. A carrier lifting and inverting device according to claim 2, wherein, The angle between the body of the overturned yarn transport vehicle and the horizontal plane is 0 to 45°.

4. A carrier lifting and inverting device according to claim 2, wherein, The angle between the sliding flipping track and the bottom surface of the device support is 0° to 30°.

5. The package lifting and tipping device according to claim 2, wherein The first guide wheel unit includes two first guide wheels and a first link connecting the two first guide wheels, the first link ensuring that the two first guide wheels move synchronously; the second guide wheel unit includes two second guide wheels and a second link connecting the two second guide wheels, the second link ensuring that the two second guide wheels move synchronously.

6. A carrier lifting and inverting device according to claim 2, wherein, The lifting mechanism includes a pneumatic cylinder or a hydraulic cylinder.

7. A carrier lifting and inverting device according to claim 2, wherein, Side baffles are provided on the flip plate, and the side baffles are located above the fixing mechanism. The side baffles are used to prevent the yarn tube from falling from both sides of the flip plate.

8. A carrier lifting and inverting device according to claim 7, wherein, The flip plate is also provided with a fixing component, which is used to adjust the angle at which the side baffle is unfolded.

9. The package lifting and tipping device according to claim 1, wherein, The fixing mechanism includes a sensing unit, a pin, and a control cylinder; The sensing unit is used to sense whether a fixing ear is inserted at a predetermined position, and transmits a signal to the control cylinder after sensing the fixing ear; The control cylinder is used to drive the pin to insert into the fixing lug.

10. A threading robot characterized by, include: The tube yarn conveying trolley lifting and tilting device is used to transfer the tube yarn from the tube yarn conveying trolley to the material bin of the yarn insertion robot; The hopper is used to receive bobbins from the bobbin transport car; A bobbin feeding and lifting device is used to lift the bobbin from the hopper to a predetermined height; A sorting device is used to sort the yarn tubes at a predetermined height so that the larger and smaller ends of the yarn tubes are arranged in a set manner. A gripping and dispensing device is used to grip the yarn tubes that have been processed by the processing device, and to place the yarn tubes into the yarn magazine. The lifting and overturning device of the cheese carrier is the lifting and overturning device of the cheese carrier as claimed in any one of claims 1-9. The lifting and overturning device of the cheese carrier is the lifting and overturning device of the cheese carrier as claimed in any one of claims 1-9.

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