Stacking and unstacking device

Abstract

The utility model relates to a stacking and unstacking device which comprises a feeding frame, a transferring frame, a partition plate stack, a tray stack, a conveying frame and a mechanical arm, a first conveying assembly is arranged on the feeding frame, a second conveying assembly is arranged on the transferring frame, a third conveying assembly is arranged on the conveying frame, and a plurality of clamping assemblies used for clamping wire cylinders are arranged on the mechanical arm. Automatic operation of the wire cylinder unstacking and stacking process is achieved, and manual operation is not needed in the whole process. The stacking and unstacking device has the effect of improving the stacking and unstacking efficiency.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of textile equipment processing, and particularly relates to a stacking and unstacking device. BACKGROUND

[0002] A twisting machine, also known as a twisting machine, is a textile mechanical equipment for twisting multiple yarns into one. Its function is to process yarn or combined yarn products into linear products for weaving and knitting. The product after twisting by the twisting machine is a silk tube. The twisted silk tube is output from the end of the twisting machine and then manually stacked on a cart, and then transferred to a tray and transported to the next yarn hanging link by a forklift.

[0003] In the prior art, the yarn hanging is manually completed by workers. In the process of hanging the yarn, in addition to the need to unstack and hang the silk tube raw materials on the yarn hanging frame, the workers also need to arrange and collect the partition plates and the trays. Since a large number of silk tubes are required in the warping process, the manual stacking and unstacking method is time-consuming and labor-intensive, and has obvious deficiencies. CONTENT OF THE UTILITY MODEL

[0004] In order to improve the stacking and unstacking efficiency, the present application provides a stacking and unstacking device.

[0005] The stacking and unstacking device provided by the present application adopts the following technical scheme:

[0006] A stacking and unstacking device comprises

[0007] A feeding frame is provided with a first conveying assembly on the feeding frame;

[0008] A transfer frame is provided at the outlet end of the first conveying assembly, the transfer frame is rotatably connected with a plurality of first conveying rollers in the conveying direction of the first conveying assembly, the transfer frame is provided with a second conveying assembly, and the conveying direction of the second conveying assembly is perpendicular to the first conveying assembly;

[0009] A partition plate stack is used to collect idle partition plates, the partition plate stack is provided with a tray for supporting the partition plates, and the partition plate stack is provided with a lifting assembly for driving the tray to lift in the vertical direction;

[0010] A tray stack is used to collect idle trays, and the tray stack is provided with a stacking assembly for stacking the trays;

[0011] A conveying frame is provided at the outlet end of the second conveying assembly, the conveying frame is rotatably connected with a plurality of second conveying rollers in the length direction, the plurality of second conveying rollers are perpendicular to the first conveying rollers, the conveying frame is provided with a third conveying assembly corresponding to the partition plate stack and the tray stack, and the conveying direction of the third conveying assembly is parallel to the first conveying assembly; and

[0012] The mechanical arm is provided with a connecting frame, and a plurality of clamping assemblies for clamping the silk can are arranged on the connecting frame.

[0013] By adopting the technical scheme, the AGV forklift first places the tray loaded with the silk can group on the loading rack, the first conveying assembly conveys the tray and the silk can to the transfer rack, then the mechanical arm clamps a plurality of silk cans through the clamping assembly and hangs the silk cans at the yarn hanging rack.

[0014] During the process of hanging the silk can, the mechanical arm places the idle partition plate on the tray of the partition plate stack, when the height of the partition plate stack is too high, the lifting assembly drives the tray to move downward, the tray drives the collected partition plates to move downward, so as to facilitate the subsequent placement of the mechanical arm, after the partition plates are completely collected, the partition plate forklift takes away the partition plates.

[0015] When the silk can is hung up, the second conveying assembly transfers the idle tray to the conveying rack, the second conveying roller moves the idle tray along the length direction of the conveying rack, when the idle tray is conveyed to the tray stack, the third conveying assembly conveys the tray to the tray stack, as the number of trays increases, the stacking assembly stacks the trays on the tray stack, when the trays are collected to a certain number, the tray forklift takes away the trays.

[0016] The arrangement realizes the automatic operation of the silk can unstacking and stacking process, the whole process does not need manual operation, and the efficiency of the stacking and unstacking is improved.

[0017] Optionally, the loading rack is provided with a temporary storage rack, a plurality of temporary storage columns are uniformly arranged on the temporary storage rack along the length direction, a pneumatic clamp jaw for clamping the silk can is arranged on the loading rack, and a moving assembly for driving the pneumatic clamp jaw to move along the length and width directions of the loading rack is arranged on the loading rack.

[0018] By adopting the technical scheme, when the number of the silk can group placed on the loading rack is missing, the pneumatic clamp jaw is started and clamps the silk can on the temporary storage column, then the moving assembly drives the pneumatic clamp jaw to move, when the pneumatic clamp jaw moves to the position where the silk can is missing, the pneumatic clamp jaw is loosened to place the silk can, so that the silk can group is timely supplemented, the phenomenon of clamping failure of the clamping assembly caused by the missing of the silk can is avoided, and the loading efficiency of the mechanical arm is improved.

[0019] Optionally, the moving assembly comprises two linear guides, the two linear guides are arranged on opposite sides of the loading rack respectively, a sliding frame is slidably connected in the two linear guides, the sliding frame is slidably connected with a mounting frame along the length direction, the pneumatic clamp jaw is arranged on the mounting frame, a driving motor is arranged on the mounting frame, a gear is coaxially arranged on the output shaft of the driving motor, a rack plate engaged with the gear is arranged on the sliding frame, and the rack plate is parallel to the sliding frame.

[0020] By adopting the technical scheme, the control system controls the driving motor to start, the driving motor drives the gear to rotate, the gear drives the mounting frame to move along the length direction of the rack plate in the process of rotating, so that the position adjustment of the pneumatic clamping jaw in the width direction of the feeding frame is realized.

[0021] The control system controls the sliding frame to move in the length direction of the linear guide rail, the sliding frame drives the mounting frame and the pneumatic clamping jaw to move, so that the position adjustment of the pneumatic clamping jaw in the length direction of the feeding frame is realized. Such an arrangement facilitates accurate control of the movement of the pneumatic clamping jaw according to the missing position of the silk tube, and ensures the smooth operation of the silk tube filling operation.

[0022] Optionally, the first conveying assembly comprises a support frame arranged on the feeding frame, a plurality of first sprocket and chain assemblies are arranged on the support frame, each first sprocket and chain assembly comprises first sprockets arranged on opposite sides of the support frame, and the outer surfaces of the two first sprockets are jointly sleeved with a first chain. A conveying plate is jointly arranged on the plurality of first sprocket and chain assemblies, the conveying plate is used to support a tray loaded with silk tubes, and a conveying motor is arranged on the feeding frame to drive the plurality of first sprockets to rotate synchronously.

[0023] By adopting the technical scheme, the AGV places the tray loaded with the silk tube group on the conveying plate, and then the control system controls the plurality of first sprockets to rotate synchronously through the conveying motor. In the process of rotating, the plurality of first sprockets drives the plurality of first chains to move, the first chains drive the conveying plate to move, and the conveying plate drives the tray to move towards the direction of the transfer frame, so that the tray is smoothly transferred.

[0024] Optionally, an adjusting assembly is arranged on the feeding frame, the adjusting assembly comprises two first connecting rods arranged on the bottom surface of the feeding frame, the two first connecting rods are oppositely arranged, one end of the two first connecting rods is jointly provided with a driving shaft, the other end of the two first connecting rods is respectively hinged with a second connecting rod, the ends of the two second connecting rods close to the driving shaft are jointly provided with a moving shaft, the center of each first connecting rod is hinged with a third connecting rod through a connecting shaft, the center of each second connecting rod is hinged with a fourth connecting rod through a connecting shaft, one end of the third connecting rod and the fourth connecting rod is hinged with each other through a connecting shaft, the other end of the third connecting rod is hinged on the feeding frame, and the other end of the fourth connecting rod is hinged on the support frame.

[0025] The bottom surface of the feeding frame is provided with an adjusting cylinder, the output shaft of the adjusting cylinder is arranged on the driving shaft, the feeding frame is provided with a driving groove, the driving shaft is slidably connected in the driving groove, and the support frame is provided with a moving groove, and the moving groove is slidably connected in the moving groove.

[0026] By adopting the technical scheme, when the bobbin on the creel is insufficient, the manipulator can clamp the bobbin on the feeding rack to fill in, and in the prior art, the working range of the manipulator on the feeding rack is limited to the top layer of the bobbin, when the top layer of the feeding rack is missing, the output shaft of the adjusting cylinder is extended, the driving shaft slides in the driving groove along the pushing direction of the adjusting cylinder, the driving shaft moves to drive the first connecting rod to rotate around the center point connected with the second connecting rod, at this time, the included angle between the first connecting rod and the bottom surface of the feeding rack increases, at the same time, the second connecting rod drives the third connecting rod to rotate, the third connecting rod drives the fourth connecting rod to rotate, and the fourth connecting rod drives the support frame to move upward in the process of rotating, the support frame moves to drive the top surface of the bobbin group to rise to the grabbing range of the manipulator, thereby expanding the grabbing range of the manipulator on the feeding rack, facilitating the replenishment when a plurality of bobbins are missing on the creel, and thereby improving the efficiency of the creel.

[0027] Optionally, the stacking assembly comprises a lifting motor arranged at the bottom of the tray stack, an output shaft of the lifting motor is provided with a supporting frame, and opposite sides of the tray stack are provided with clamping cylinders, and output shafts of the clamping cylinders are provided with plug-in plates.

[0028] By adopting the technical scheme, when stacking, the lifting motor is started to drive the supporting frame to move upward, the supporting frame drives the bottom tray to move to the clamping cylinder, the clamping cylinder is started to drive the plug-in plate to be inserted into the insertion slot of the tray, at this time, the bottom tray is hung on the tray rack, the lifting motor drives the supporting frame to reset, after the third conveying assembly conveys a new tray to the tray rack, the clamping cylinder drives the plug-in plate to retract, and the tray is stacked, so that the automatic stacking of the tray on the tray stack is realized, and the storage quantity of the tray stack is improved.

[0029] Optionally, the lifting assembly comprises a second sprocket chain set arranged at opposite sides of the partition stack, the second sprocket chain set comprises second sprockets arranged at opposite sides of the partition stack in the vertical direction, the partition stack is provided with a rotating motor for driving a plurality of second sprockets to rotate synchronously, outer surfaces of two second sprockets are jointly sleeved with second chains, outer surfaces of each second chain are provided with supporting blocks, the supporting blocks are connected to the partition stack in the vertical direction, and the supporting blocks abut on the tray of the partition stack.

[0030] By adopting the above technical scheme, when the height of the number of stacked partitions exceeds the working range of the manipulator, the rotating motor is synchronously started to drive the second sprocket to rotate, the second sprocket drives the plurality of second chains to move along the vertical direction in the process of rotating, the second chains drive the supporting blocks to move downward, and the supporting blocks drive the trays carrying the partitions to move downward until the height of the partitions is within the working range of the manipulator, so that the setting of the lifting assembly realizes the adjustment of the surface height of the partitions, ensures that the manipulator smoothly places the partitions in the partition stack, and ensures the smooth progress of the partition collecting work.

[0031] Optionally, the clamping assembly comprises a clamping box arranged on the connecting frame, opposite ends of the clamping box are slidably connected with clamping rack plates, the clamping rack plates are provided with clamping plates, the clamping box is rotatably connected with a clamping gear, and the two clamping rack plates are respectively arranged at two ends of the clamping gear.

[0032] By adopting the above technical scheme, when the yarn barrel needs to be clamped, the clamping motor drives the clamping gear to rotate, the clamping gear drives the clamping rack plates to move away from each other, and the clamping rack plates drive the clamping plates to abut against the inner side wall of the yarn barrel, so that the clamping of the yarn barrel is realized.

[0033] To sum up, the present application has at least one of the following beneficial technical effects:

[0034] 1. The present application realizes the automatic operation of the yarn barrel unstacking and stacking process by arranging the full-automatic stacking and unstacking device, the whole process does not need manual operation, and the efficiency of stacking and unstacking is improved.

[0035] 2. The present application realizes the timely filling of the yarn barrel group by arranging the pneumatic clamping jaw, the temporary storage column and the moving assembly, avoids the clamping failure of the clamping assembly caused by the lack of yarn barrels, and improves the feeding efficiency of the manipulator.

[0036] 3. The present application adjusts the height of the supporting frame by arranging the adjusting assembly, thereby expanding the grasping range of the manipulator on the feeding frame, facilitating the supplement of the missing yarn barrels on the hank frame, and improving the efficiency of the hank. BRIEF DESCRIPTION OF DRAWINGS

[0037] Figure 1 It is a structural schematic diagram of the present application.

[0038] Figure 2 It is a structural schematic diagram of the first conveying assembly in the feeding frame in the embodiment of the present application.

[0039] Figure 3 It is a structural schematic diagram of the transfer frame in the embodiment of the present application.

[0040] Figure 4 is a structural schematic diagram of a conveying frame in the embodiment of the present application.

[0041] Figure 5 is a structural schematic diagram of a clamping assembly in the embodiment of the present application.

[0042] Figure 6 is a structural schematic diagram of a temporary storage frame, a temporary storage column, a pneumatic clamping jaw and a moving assembly in the embodiment of the present application.

[0043] Figure 7 is a structural schematic diagram of an adjusting assembly in the embodiment of the present application.

[0044] Figure 8 is a schematic diagram of the connection between the first connecting rod, the second connecting rod, the third connecting rod and the fourth connecting rod in the embodiment of the present application.

[0045] Figure 9 is a structural schematic diagram of a stacking assembly in a tray stack in the embodiment of the present application.

[0046] Figure 10 is a structural schematic diagram of a lifting assembly in a partition stack in the embodiment of the present application.

[0047] Legend of reference signs: 1, feeding frame; 101, driving groove; 2, transfer frame; 21, first conveying roller; 22, second conveying assembly; 3, partition stack; 4, tray stack; 5, conveying frame; 51, second conveying roller; 52, third conveying assembly; 6, mechanical hand; 61, connecting frame; 62, clamping assembly; 621, clamping box; 622, clamping rack plate; 623, clamping plate; 624, clamping gear; 7, first conveying assembly; 71, support frame; 711, moving groove; 72, first sprocket chain set; 73, conveying plate; 8, temporary storage frame; 81, temporary storage column; 82, pneumatic clamping jaw; 9, moving assembly; 91, linear guide rail; 92, sliding frame; 93, mounting frame; 94, driving motor; 95, rack plate; 10, adjusting assembly; 1001, first connecting rod; 1002, driving shaft; 1003, second connecting rod; 1004, moving shaft; 1005, third connecting rod; 1006, fourth connecting rod; 1007, adjusting cylinder; 11, third conveying roller; 12, stacking assembly; 121, lifting motor; 122, supporting frame; 123, clamping cylinder; 124, plug-in plate; 13, lifting assembly; 131, second sprocket chain set; 132, rotating motor; 133, supporting block; 14, guide column. DETAILED DESCRIPTION

[0048] The following will be described in detail in combination with the accompanying Figures 1-10 The present application will be further described in detail.

[0049] The embodiment of the present application discloses a palletizing and depalletizing device.

[0050] The application discloses a palletizing and depalletizing device.

[0051] Referring to Figure 1 The palletizing and depalletizing device comprises a feeding frame 1, a transfer frame 2, a baffle stack 3, a tray stack 4, a conveying frame 5 and a mechanical arm 6. The feeding frame 1 is used for receiving a bobbin group. When the bobbin group is hung, the mechanical arm 6 hangs the bobbin group on the transfer frame 2 or the feeding frame 1 on a hanging frame. The baffle stack 3 is provided with a tray for supporting a baffle.

[0052] Referring to Figure 1 and Figure 2 The feeding frame 1 is provided with a first conveying assembly 7 for transferring the tray to the transfer frame 2. The first conveying assembly 7 comprises a support frame 71 fixedly connected to the feeding frame 1. The support frame 71 is provided with a plurality of first sprocket and chain assemblies 72 equidistantly and uniformly arranged along the length direction of the feeding frame 1. In the embodiment, the number of the first sprocket and chain assemblies 72 is three. Each first sprocket and chain assembly 72 comprises first sprockets arranged on opposite sides of the support frame 71 along the width direction. The outer surfaces of the two first sprockets are jointly sleeved with a first chain. A plurality of first chains are jointly and fixedly connected with a conveying plate 73. The conveying plate 73 is used for receiving the tray provided with the bobbin. The feeding frame 1 is provided with a conveying motor (not shown in the figure) for driving the plurality of first sprockets to synchronously rotate.

[0053] Referring to Figure 1 and Figure 3 The transfer frame 2 is rotationally connected with a plurality of first conveying rollers 21 along the conveying direction of the first conveying assembly 7. The transfer frame 2 is provided with a second conveying assembly 22 for transferring the tray to the conveying frame 5. In the embodiment, the second conveying assembly 22 is driven by a rodless cylinder. The output shaft of the rodless cylinder is provided with a pushing block for pushing the tray to move. The conveying direction of the second conveying assembly 22 is perpendicular to the conveying direction of the first conveying assembly 7.

[0054] Referring to Figure 1 and Figure 4 The conveying frame 5 is rotationally connected with a plurality of second conveying rollers 51 along the length direction. The second conveying rollers 51 and the first conveying rollers 21 are arranged perpendicularly. The conveying frame 5 is provided with a third conveying assembly 52 corresponding to the baffle stack 3 and the tray stack 4. In the embodiment, the third conveying assembly 52 is driven by a rodless cylinder. The output shaft of the rodless cylinder is provided with a pushing block for pushing the tray to move. The conveying direction of the third conveying assembly 52 is perpendicular to the second conveying assembly 22. The third conveying assembly 52 is used for transferring the idle tray to the baffle stack 3 or the tray stack 4.

[0055] Referring to Figure 1 and Figure 5The output end of the mechanical arm 6 is fixedly connected with a connecting frame 61, the connecting frame 61 is uniformly provided with a plurality of clamping assemblies 62 for clamping the bobbin along the length direction, in the embodiment, the number of the clamping assemblies 62 is five, the clamping assembly 62 comprises a clamping box 621 fixedly installed on the connecting frame 61, the opposite two ends of the clamping box 621 are both slidably connected with a clamping rack plate 622, the clamping rack plate 622 is fixedly connected with a clamping plate 623, the clamping plate 623 is straightly connected with the clamping rack plate 622, the clamping box 621 is rotatably connected with a clamping gear 624, the two clamping rack plates 622 are respectively engaged with the two ends of the clamping gear 624, the clamping box 621 is provided with a clamping motor (not shown in the figure) for driving the clamping gear 624 to rotate.

[0056] When the bobbin is hung, the AGV forklift first places the tray with the bobbin group on the feeding frame 1, and then the control system controls the plurality of first sprockets to rotate synchronously through the conveying motor, the first sprockets drive the plurality of first chains to move in the process of rotating, the first chains drive the conveying plate 73 to move, and the conveying plate 73 drives the tray to move towards the direction of the transfer frame 2, when the end of the tray moves to the transfer frame 2, the plurality of first conveying rollers 21 rotate synchronously to transfer the tray as a whole to the transfer frame 2, and then the first conveying rollers 21 stop rotating, and the plurality of first sprockets reverse to drive the conveying plate 73 to reset;

[0057] After the bobbin group is transferred to the transfer frame 2, the connecting plate is driven by the mechanical arm 6 to move to the vicinity of the bobbin group, the plurality of clamping motors synchronously drive the clamping gear 624 to rotate, the clamping gear 624 drives the clamping rack plate 622 to move towards the direction of moving away from each other, the clamping rack plate 622 drives the clamping plate 623 to support on the inner side wall of the bobbin, so as to realize the clamping of the bobbin, then the mechanical arm 6 drives the plurality of bobbins to move to the place of the yarn hanging frame and hang, and then the above steps are repeated until the bobbin group on the tray is hung.

[0058] In the process of hanging the bobbin, the mechanical arm 6 places the idle partition plate on the tray of the partition plate stack 3, it needs to be particularly pointed out that the principle of clamping the partition plate by the clamping assembly 62 is the same as that of clamping the bobbin, which will not be repeated here, when the partition plate is collected, the partition plate forklift takes away the partition plate;

[0059] When the bobbin group on the tray is hung, the second conveying assembly 22 starts to transfer the empty tray to the conveying frame 5, then the plurality of second conveying rollers 51 rotate to move the empty tray along the length direction of the conveying frame 5, when the empty tray is conveyed to the tray stack 4, the third conveying assembly 52 conveys the tray to the tray stack 4, and the tray forklift takes away the tray, it needs to be particularly pointed out that if the empty tray is lacking on the partition plate stack 3, the third conveying assembly 52 close to the partition plate stack 3 conveys the empty tray to the partition plate stack 3, so as to facilitate the support of the subsequent partition plate;

[0060] The arrangement realizes automatic operation of the silk tube unstacking and stacking process, and realizes automatic collection of the tray and the partition plate, the whole process does not need manual operation, and the efficiency of unstacking and stacking is improved.

[0061] With reference to Figure 2 and Figure 6 The temporary storage rack 8 is fixedly connected to one side close to the top end of the feeding rack 1, a plurality of temporary storage columns 81 are fixedly and uniformly installed along the length direction of the temporary storage rack 8, in the embodiment, the number of the temporary storage columns 81 is five, and a spare silk tube is placed on each temporary storage column 81. A pneumatic clamp jaw 82 for clamping the silk tube is slidingly arranged on the feeding rack 1, the starting of the clamp jaw for clamping the silk tube is prior art, and will not be described here. A moving assembly 9 for driving the pneumatic clamp jaw 82 to move along the length and width directions of the feeding rack 1 is arranged on the feeding rack 1.

[0062] With reference to Figure 2 and Figure 6 The moving assembly 9 comprises two linear guides 91, the two linear guides 91 are respectively installed on opposite sides of the feeding rack 1, the linear guides 91 are parallel to the length direction of the feeding rack 1, a sliding rack 92 is slidingly connected inside the two linear guides 91, the sliding rack 92 is perpendicular to the length direction of the linear guides 91, an installation rack 93 is slidingly connected to the sliding rack 92 along the length direction, the pneumatic clamp jaw 82 is fixedly installed on the installation rack 93, a driving motor 94 is fixedly installed on the top of the installation rack 93, a gear (not shown in the figure) is coaxially and fixedly connected to the output shaft of the driving motor 94, a rack plate 95 engaged with the gear is fixedly installed on the sliding rack 92, and the rack plate 95 is parallel to the length direction of the sliding rack 92.

[0063] When the number of the silk tube group placed on the feeding rack 1 is missing, the pneumatic clamp jaw 82 is started and clamps the silk tube on the temporary storage column 81, then the control system controls the driving motor 94 to start, the driving motor 94 drives the gear to rotate, and the gear drives the installation rack 93 to move along the length direction of the rack plate 95 in the process of rotating, and when the installation rack 93 drives the pneumatic clamp jaw 82 and the spare silk tube to move to the row where the missing silk tube is located, the driving motor 94 is turned off.

[0064] Then the control system controls the sliding rack 92 to move along the length direction of the linear guide 91, the sliding rack 92 drives the installation rack 93 and the pneumatic clamp jaw 82 to move, and when the spare silk tube moves to the column where the missing silk tube is located, the pneumatic clamp jaw 82 is loosened to place the spare silk tube, so that the silk tube group is timely filled, the phenomenon of clamping failure of the clamping assembly 62 caused by the missing silk tube is avoided, and the feeding efficiency of the mechanical hand 6 is improved.

[0065] With reference to Figure 2 , Figure 7 and Figure 8When the silk cans on the creeling frame are insufficient, the manipulator 6 can clamp the silk cans on the feeding frame 1 to fill up. In the prior art, the working range of the manipulator 6 on the feeding frame 1 is limited to the top of the feeding frame 1. When the top layer height of the silk can group in the feeding frame 1 is not within the working range of the manipulator 6, the manipulator 6 cannot smoothly fill up the silk cans through the feeding frame 1. At this time, the silk can group on the feeding frame 1 can only be repeatedly transported to the transfer frame 2, and then filled up, thereby reducing the overall creeling efficiency.

[0066] With reference to Figure 2 , Figure 7 and Figure 8 , in order to solve the above technical problems, the bottom of the feeding frame 1 is provided with an adjusting assembly 10. The adjusting assembly 10 comprises two first connecting rods 1001 arranged on the bottom surface of the feeding frame 1. The two first connecting rods 1001 are oppositely arranged on the two sides of the feeding frame 1. One end of the two first connecting rods 1001 is commonly hinged with a driving shaft 1002, and the other end is respectively hinged with a second connecting rod 1003. The driving shaft 1002 is slidingly connected to the bottom surface of the feeding frame 1 along the length direction of the feeding frame 1.

[0067] With reference to Figure 2 , Figure 7 and Figure 8 , the end portions of the two second connecting rods 1003 close to the driving shaft 1002 are commonly hinged with a moving shaft 1004, and the moving shaft 1004 is slidingly connected to the bottom surface of the support frame 71. The center of each first connecting rod 1001 is hinged with a third connecting rod 1005 through a connecting shaft. The center of each second connecting rod 1003 is hinged with a fourth connecting rod 1006 through a connecting shaft. One end of the third connecting rod 1005 and the fourth connecting rod 1006 is hinged with each other through a connecting shaft. The other end of the third connecting rod 1005 is hinged on the feeding frame 1, and the other end of the fourth connecting rod 1006 is hinged on the support frame 71.

[0068] With reference to Figure 2 , Figure 7 and Figure 8 , the bottom surface of the feeding frame 1 is fixedly installed with an adjusting cylinder 1007, and the output shaft of the adjusting cylinder 1007 is fixedly connected to the driving shaft 1002. A driving groove 101 is formed in the feeding frame 1, and the length direction of the driving groove 101 is parallel to the length direction of the feeding frame 1. The driving shaft 1002 is slidingly connected in the driving groove 101. A moving groove 711 is formed in the support frame 71, and the moving groove 711 is slidingly connected in the moving groove 711.

[0069] The output shaft of the adjusting cylinder 1007 is extended, the driving shaft 1002 slides in the driving groove 101 along the pushing direction of the adjusting cylinder 1007, the driving shaft 1002 moves to drive the first connecting rod 1001 to rotate, at this time, the included angle between the first connecting rod 1001 and the bottom surface of the feeding rack 1 is increased, the first connecting rod 1001 drives the second connecting rod 1003 to rotate, the second connecting rod 1003 drives the third connecting rod 1005 to rotate, the third connecting rod 1005 drives the fourth connecting rod 1006 to rotate, the fourth connecting rod 1006 drives the support frame 71 to move upwards in the process of rotating, the support frame 71 drives the top surface height of the bobbin group to rise to the grabbing range of the mechanical hand 6, thereby expanding the grabbing range of the mechanical hand 6 on the feeding rack 1, facilitating the replenishment when a plurality of bobbins are missing on the hank frame, and thereby improving the efficiency of the hank.

[0070] With reference to Figure 9 and Figure 10 , in order to facilitate the transfer of the tray, the partition stack 3 and the tray stack 4 are rotatably connected with a plurality of third conveying rollers 11 along the length direction.

[0071] With reference to Figure 9 , the tray stack 4 is provided with a stacking assembly 12, the stacking assembly 12 comprises a lifting motor 121 fixedly installed at the bottom of the tray stack 4, the output shaft of the lifting motor 121 is fixedly connected with a supporting frame 122, the lifting principle of the lifting motor 121 is the prior art, which will not be repeated here, in this embodiment, the supporting frame 122 is driven to lift in the form of a screw rod, the opposite sides of the tray stack 4 are fixedly installed with clamping cylinders 123, the output shaft of each clamping cylinder 123 is fixedly connected with a plug-in plate 124, and the plug-in plate 124 is plug-in matched with the plug-in groove on the tray.

[0072] When stacking, the lifting motor 121 is started to drive the supporting frame 122 to move upwards, the supporting frame 122 drives the bottom tray to move to the clamping cylinder 123, the clamping cylinder 123 is started to drive the plug-in plate 124 to insert into the plug-in groove inside the tray, at this time, the bottom tray is hung on the tray rack, the lifting motor 121 drives the supporting frame 122 to reset, after the third conveying assembly 52 conveys a new tray to the tray rack, the clamping cylinder 123 drives the plug-in plate 124 to retract, and the tray is stacked, so that the automatic stacking of the tray on the tray stack 4 is realized, and the storage quantity of the tray stack 4 is improved.

[0073] With reference to Figure 10The partition stack 3 is provided with a lifting assembly 13 for driving the tray to lift along the vertical direction, the lifting assembly 13 comprises a second sprocket chain set 131 provided on opposite sides of the partition stack 3, the second sprocket chain set 131 comprises second sprockets provided on opposite sides of the partition stack 3 in the vertical direction, the partition stack 3 is fixedly provided with a rotating motor 132 for driving the second sprockets to synchronously rotate, the outer surfaces of the two second sprockets are jointly sleeved with second chains, the outer surfaces of each second chain are fixedly connected with a supporting block 133, the supporting block 133 is slidably connected to the partition stack 3 in the vertical direction, and the supporting block 133 abuts against the tray of the partition stack 3.

[0074] With reference to Figure 10 The opposite sides of the partition stack 3 are fixedly connected with two guide columns 14, the guide columns 14 are vertically arranged, the two guide columns 14 are arranged on the two sides of the supporting block 133, and the two ends of the supporting block 133 are slidably arranged in the guide columns 14.

[0075] When the height of the stacked partition plates exceeds the working range of the manipulator 6, the rotating motor 132 is synchronously started to drive the second sprockets to rotate, the second sprockets drive the second chains to move along the vertical direction in the process of rotating, the second chains drive the supporting block 133 to move downward, the supporting block 133 drives the tray carrying the partition plates to move downward, until the height of the partition plates is within the working range of the manipulator 6, the setting of the lifting assembly 13 realizes the adjustment of the surface height of the partition plates, ensures that the manipulator 6 smoothly places the partition plates in the partition stack 3, and ensures the smooth progress of the collection work of the partition plates.

[0076] The implementation principle of the stacking and unstacking device is as follows: when the yarn is hung, the AGV forklift first places the tray carrying the silk cylinder group on the feeding frame 1, and then the control system controls the plurality of first sprockets to synchronously rotate through the conveying motor, the first sprockets drive the first chains to move in the process of rotating, the first chains drive the conveying plate 73 to move, the conveying plate 73 drives the tray to move towards the direction of the transfer frame 2, when the end of the tray moves to the transfer frame 2, the plurality of first conveying rollers 21 synchronously rotate to transfer the tray to the transfer frame 2 as a whole, and then the first conveying rollers 21 stop rotating, and the plurality of first sprockets reversely rotate to drive the conveying plate 73 to reset;

[0077] After the silk cylinder group is transferred to the transfer frame 2, the manipulator 6 drives the connecting plate to move to the vicinity of the silk cylinder group, the plurality of clamping motors synchronously drive the clamping gears 624 to rotate, the clamping gears 624 drive the clamping rack plates 622 to move away from each other, the clamping rack plates 622 drive the clamping plates 623 to abut against the inner side walls of the silk cylinders, so that the silk cylinders are clamped, then the manipulator 6 drives the plurality of silk cylinders to move to the yarn hanging frame and is hung, and then the above steps are repeated until the silk cylinder group on the tray is hung.

[0078] In the process of hanging the silk tube, the manipulator 6 places the idle partition plate on the tray of the partition plate stack 3. It is particularly pointed out that the principle of clamping the partition plate by the clamping assembly 62 is the same as that of clamping the silk tube, and will not be repeated here. When the collection of the partition plate is completed, the partition plate forklift takes away the partition plate.

[0079] When the silk tube group on the tray is hung up, the second conveying assembly 22 starts to transfer the empty tray to the conveying frame 5. Then, the plurality of second conveying rollers 51 rotate to move the empty tray along the length direction of the conveying frame 5. When the empty tray is conveyed to the tray stack 4, the third conveying assembly 52 conveys the push plate to the tray stack 4. The tray forklift takes away the tray. It is particularly pointed out that if the empty tray is missing on the partition plate stack 3, the third conveying assembly 52 close to the partition plate stack 3 conveys the empty tray to the partition plate stack 3 to facilitate the support of the subsequent partition plate.

[0080] Such a setting realizes the automatic operation of the silk tube unstacking and stacking process, and realizes the automatic collection of the tray and the partition plate. The entire process does not require manual operation, and the efficiency of unstacking and stacking is improved.

[0081] The above are preferred embodiments of the present application, and are not intended to limit the protection scope of the present application. Therefore, any equivalent changes made according to the structure, shape, principle of the present application should be covered within the protection scope of the present application.

Claims

1. A palletizing and depalletizing device, characterized in that, include, A feeding rack (1) is provided with a first conveying assembly (7); A transfer frame (2) is set at the outlet end of the first conveying assembly (7). The transfer frame (2) is rotatably connected with a plurality of first conveying rollers (21) along the conveying direction of the first conveying assembly (7). A second conveying assembly (22) is set on the transfer frame (2). The conveying direction of the second conveying assembly (22) is perpendicular to the first conveying assembly (7). A partition stack (3) is used to collect idle partitions. The partition stack (3) is provided with a tray for supporting the partitions. The partition stack (3) is provided with a lifting assembly (13) for driving the tray to rise and fall in the vertical direction. A pallet stack (4) for collecting idle pallets, wherein a stacking assembly (12) for stacking pallets is provided on the pallet stack (4); A conveyor frame (5) is disposed at the outlet end of the second conveying assembly (22). The conveyor frame (5) is rotatably connected to a plurality of second conveying rollers (51) along its length. The plurality of second conveying rollers (51) are perpendicular to the first conveying rollers (21). A third conveying assembly (52) is disposed on the conveyor frame (5) corresponding one-to-one with the partition stack (3) and the pallet stack (4). The conveying direction of the third conveying assembly (52) is parallel to the first conveying assembly (7). A robotic arm (6) is provided with a connecting frame (61), and the connecting frame (61) is provided with a plurality of clamping components (62) for clamping the wire spool.

2. The palletizing and depalletizing device according to claim 1, characterized in that, The feeding rack (1) is provided with a temporary storage rack (8), and the temporary storage rack (8) is provided with a plurality of temporary storage columns (81) evenly spaced along the length direction. The feeding rack (1) is provided with a pneumatic gripper (82) for gripping the wire spool. The feeding rack (1) is provided with a moving component (9) for driving the pneumatic gripper (82) to move along the length and width directions of the feeding rack (1).

3. The palletizing and depalletizing device according to claim 2, characterized in that, The moving component (9) includes two linear guide rails (91), which are respectively arranged on opposite sides of the loading rack (1). A sliding frame (92) is slidably connected inside the two linear guide rails (91). A mounting frame (93) is slidably connected to the sliding frame (92) along its length. A pneumatic gripper (82) is arranged on the mounting frame (93). A drive motor (94) is arranged on the mounting frame (93). A gear is coaxially arranged on the output shaft of the drive motor (94). A rack plate (95) meshing with the gear is arranged on the sliding frame (92). The rack plate (95) is parallel to the sliding frame (92).

4. A palletizing and depalletizing device according to claim 1, characterized in that, The first conveying assembly (7) includes a support frame (71) disposed on the loading rack (1). The support frame (71) is provided with a plurality of first sprocket chain groups (72). Each first sprocket chain group (72) includes a first sprocket disposed on opposite sides of the support frame (71). A first chain is fitted on the outer surface of the two first sprockets. A conveying plate (73) is provided on the plurality of first sprocket chain groups (72). The conveying plate (73) is used to receive a tray containing a spool. The loading rack (1) is provided with a conveying motor that drives the plurality of first sprockets to rotate synchronously.

5. A palletizing and depalletizing device according to claim 4, characterized in that, An adjustment assembly (10) is provided on the loading rack (1). The adjustment assembly (10) includes two first connecting rods (1001) disposed on the bottom surface of the loading rack (1). The two first connecting rods (1001) are disposed opposite to each other. One end of the two first connecting rods (1001) is provided with a drive shaft (1002), and the other end is respectively hinged to a second connecting rod (1003). The ends of the two second connecting rods (1003) near the drive shaft (1002) are provided with a moving shaft (1004). Each of the first connecting rods (1001) has a third connecting rod (1005) hinged at its center via a connecting shaft, and each of the second connecting rods (1003) has a fourth connecting rod (1006) hinged at its center via a connecting shaft. One end of the third connecting rod (1005) and the fourth connecting rod (1006) are hinged to each other via a connecting shaft. The other end of the third connecting rod (1005) is hinged to the loading rack (1), and the other end of the fourth connecting rod (1006) is hinged to the support frame (71). The bottom surface of the loading rack (1) is provided with an adjusting cylinder (1007), the output shaft of the adjusting cylinder (1007) is provided on the drive shaft (1002), the loading rack (1) is provided with a drive groove (101), the drive shaft (1002) is slidably connected in the drive groove (101), the support frame (71) is provided with a moving groove (711), and the moving groove (711) is slidably connected in the moving groove (711).

6. A palletizing and depalletizing device according to claim 1, characterized in that, The stacking assembly (12) includes a lifting motor (121) disposed at the bottom of the pallet stack (4). The output shaft of the lifting motor (121) is provided with a support frame (122). The pallet stack (4) is provided with clamping cylinders (123) on both opposite sides. The output shaft of the clamping cylinders (123) is provided with a plug plate (124).

7. A palletizing and depalletizing device according to claim 1, characterized in that, The lifting assembly (13) includes a second sprocket and chain group (131) arranged on opposite sides of the partition stack (3). The second sprocket and chain group (131) includes second sprockets arranged on opposite sides of the partition stack (3) in a vertical direction. A rotating motor (132) is provided on the partition stack (3) to drive multiple second sprockets to rotate synchronously. The outer surfaces of two second sprockets are fitted with a second chain. Each second chain has a support block (133) on its outer surface. The support block (133) is slidably connected to the partition stack (3) in a vertical direction and abuts against the tray of the partition stack (3).

8. A palletizing and depalletizing device according to claim 1, characterized in that, The clamping assembly (62) includes a clamping box (621) disposed on the connecting frame (61). Both ends of the clamping box (621) are slidably connected to clamping rack plates (622). Each clamping rack plate (622) is provided with a clamping plate (623). A clamping gear (624) is rotatably connected inside the clamping box (621). The two clamping rack plates (622) are respectively meshed at both ends of the clamping gear (624). A clamping motor for driving the clamping gear (624) to rotate is disposed inside the clamping box (621).

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