Spandex paper tube automatic sorting machine suitable for artificial joint paper tube

Abstract

This utility model discloses an automatic spandex paper tube sorting machine adapted to manual empty paper tube handling, including a paper tube feeding device, a paper tube gripping and sorting device, a paper tube marking device, a paper tube transfer device, and a paper tube storage device. The paper tube gripping and sorting device includes a sorting bin and a paper tube gripping and turning manipulator with a turning mechanism. The sorting bin has a single-layer paper tube storage space that allows only a single layer of paper tubes to pass through in a downward direction. The side walls of the sorting bin, arranged in the upward and downward direction, include an inlet side wall with N paper tube inlet holes and an outlet side wall with one paper tube outlet. The paper tube inlet holes and the paper tube outlet are respectively connected to the single-layer paper tube storage space of the sorting bin. The bottom surface of the single-layer paper tube storage space of the sorting bin is inclined downward towards the paper tube outlet. This utility model improves the adaptability of the automatic spandex paper tube sorting machine to the working environment of old workshops and the efficiency of spandex paper tube sorting operations.

Description

Technical Field

[0001] This utility model relates to the technical field of spandex spinning equipment, specifically to an automatic spandex paper tube handling machine adapted to manual empty paper tube connection. Background Technology

[0002] The process of winding spandex into yarn cakes using a winding machine requires a large number of paper tubes. According to the requirements of downstream textile industry customers, each yarn cake has information printed on the inner wall of the paper tube. Previously, this information was printed and labeled onto the inner wall of the paper tube. A typical workshop uses approximately 250,000 to 400,000 paper tubes per day. These tubes were previously labeled manually, a very labor-intensive and tedious task. Newly planned spandex production workshops are generally equipped with automated equipment such as automatic tube handling machines and automatic doffing machines. The automatic tube handling machines have replaced the tedious manual work of labeling and affixing labels to the inner wall of each paper tube.

[0003] Existing automatic tube sorting machines work in conjunction with automatic doffing machines and are not suitable for scenarios where empty paper tubes need to be manually connected. Furthermore, existing automatic tube sorting machines require buffer shelves, which can lead to insufficient space and inefficient layouts in older workshops. In older spandex spinning workshops, space constraints prevent conversion to an environment suitable for automatic doffing machines. The existing automatic tube sorting machines are ill-suited for environments where automatic doffing machines are not used and manual connection of empty paper tubes is required.

[0004] The existing automatic paper tube sorting machine has the following drawbacks: After the information is printed on the inner wall of the paper tube, it is transferred from the three-axis module to the wire carriage. Each machine has two wire carriage buffer positions, requiring manual intervention. Once a wire carriage is full of printed empty paper tubes, it must be promptly removed and replaced with an empty one. While the purpose of using an automatic paper tube sorting machine is to reduce manual labor, the continued need for manual intervention wastes human efficiency.

[0005] In addition, the existing paper tube sorting machines are configured according to the color and type of paper tubes in a workshop. If there are 16 colors and types of paper tubes in a workshop, then 4 paper tube sorting machines are needed. The customer is concerned about the overall price of the solution, so a more economical solution is needed.

[0006] Furthermore, existing automatic paper tube feeding machines use a tumbling feeding method, where a whole box of empty paper tubes is manually poured into the feeding hopper of the paper tube feeding machine. The feeding hopper is used for tumbling discharge, but the paper tubes are made of hard paper, and after tumbling, paper scraps may fall off and damage the surface of the paper tubes. Moreover, the subsequent paper tube feeding process inside the paper tube feeding machine can also easily cause damage to the paper tubes. Utility Model Content

[0007] To address the aforementioned problems, this utility model proposes an automatic spandex paper tube sorting machine adapted to manual empty paper tube joining, aiming to improve the adaptability of the automatic spandex paper tube sorting machine to the working environment of old workshops and to improve the quality and efficiency of spandex paper tube sorting operations. The specific technical solution is as follows:

[0008] An automatic spandex paper tube sorting machine adapted to manual empty paper tube feeding includes a paper tube feeding device, a paper tube gripping and sorting device, a paper tube marking device, a paper tube transfer device, and a paper tube storage device arranged sequentially according to the spandex paper tube sorting process. The paper tube gripping and sorting device includes a sorting bin and a paper tube gripping and turning manipulator with a turning mechanism. The sorting bin has a single-layer paper tube storage space that allows only a single layer of paper tubes to pass through in a downward direction. The sidewalls of the sorting bin in the upward and downward direction include an inlet sidewall with N paper tube inlet holes and an outlet sidewall with a paper tube outlet. The paper tube inlet holes and the paper tube outlet are respectively connected to the single-layer paper tube storage space of the sorting bin, and the N paper tube inlet holes are distributed in the inlet sidewall of the sorting bin. On the side wall of the material storage bin, the paper tube outlet is located at the lower part of the outlet side wall of the material storage bin. The bottom of the single-layer paper tube storage space of the material storage bin is inclined downward towards the paper tube outlet. The paper tube gripping and turning robot is equipped with a paper tube grouping gripping disc for gripping N paper tubes in the top layer of the whole box of paper tubes. After the paper tube gripping and turning robot grips N paper tubes in the paper tube feeding device at the same time through the paper tube grouping gripping disc, the N paper tubes are sent into the single-layer paper tube storage space of the material storage bin through the N paper tube inlet holes on the inlet side wall of the material storage bin. The N paper tubes are then rolled out sequentially and orderly in the paper tube outlet of the material storage bin and transported to the working area of ​​the paper tube marking device.

[0009] Preferably, the N paper tube feed holes are arranged in a matrix array on the feed sidewall.

[0010] Preferably, the paper tube feeding device includes a paper tube conveyor for transporting whole boxes of paper tubes to the working area of ​​the paper tube gripping and sorting device.

[0011] Preferably, the conveyor is a roller conveyor.

[0012] Considering that a spandex production workshop uses different colors of paper tubes depending on the product, and a workshop usually uses 10 to 20 different colors of paper tubes at the same time, the number of paper tube feeding devices can be configured to be multiple sets to meet the feeding needs of different colored paper tubes.

[0013] Preferably, the paper tube marking device includes an intermittent lifting device disposed vertically at the paper tube outlet of the paper tube hopper, a paper tube bracket disposed vertically on the intermittent lifting device for positioning and lifting the paper tubes, and a paper tube marking machine disposed next to the intermittent lifting device. A first paper tube pusher is disposed near the lower part of the intermittent lifting device for pushing the paper tubes that are sequentially and orderly rolled out from the paper tube outlet of the paper tube hopper onto the paper tube bracket. The paper tube marking machine is disposed above one side of the paper tube bracket, and the marking head of the paper tube marking machine is obliquely pointed towards the inner wall of the paper tube.

[0014] Preferably, the paper tube marking machine can be an inkjet marking machine or a laser marking machine. Based on the tilt angle of the marking head of the inkjet or laser marking machine, tilt angle compensation is performed during marking to ensure that the marked characters are not distorted and conform to standard specifications.

[0015] Preferably, the intermittent lifting device employs a vertically mounted sprocket drive, and the paper tube bracket is mounted on the drive chain of the sprocket drive.

[0016] Preferably, the paper tube holder is a V-shaped holder.

[0017] Preferably, the paper tube gripping and flipping robot includes a paper tube group gripping disk that can be flipped 90 degrees by a flipping mechanism, and N finger cylinders arranged in a matrix array on the paper tube group gripping disk.

[0018] In this invention, the paper tube grouping and falling rhythm controller is provided on the paper tube hopper to control the falling rhythm of paper tubes in groups within the hopper. A discharge pipe is connected to the paper tube outlet of the hopper, and an orderly output rhythm controller is provided on the discharge pipe to control the orderly output of paper tubes according to a set rhythm. The paper tube grouping and falling rhythm controller includes two rows of telescopic blocking columns arranged laterally at the lower part of the side wall of the hopper. The paper tube grouping and falling rhythm controller achieves the grouped falling of paper tubes within the hopper by controlling the alternating extension and retraction of the two rows of telescopic blocking columns. The orderly output rhythm controller includes two sets of telescopic blocking pins spaced apart at the outlet of the discharge pipe. The orderly output rhythm controller achieves the orderly output of paper tubes according to a set rhythm by controlling the alternating extension and retraction of the two sets of telescopic blocking pins.

[0019] Preferably, the telescopic blocking posts and telescopic blocking pins are extended and retracted by short-stroke telescopic cylinders. When the telescopic blocking post extends, it blocks the fall of a group of paper tubes above it; when the telescopic blocking post retracts, the group of paper tubes above it falls, avoiding the retracted telescopic blocking post. By controlling the alternating extension and retraction of the two rows of telescopic blocking posts, the paper tubes in the tube-collecting hopper are grouped and fall. The working principle of the paper tube orderly output rhythm controller is similar, except that the paper tubes are individually rolled laterally from the outlet of the discharge pipe along the bottom inclined surface of the discharge pipe in a rhythmic manner.

[0020] The automatic spandex paper tube sorting machine of this utility model, which is adapted to manual empty paper tube connection, is also equipped with a truss. The full box paper tube conveyor is set next to the truss and extends to the lower part of the truss. An XYZ three-axis moving module is set on the upper part of the truss, and the paper tube gripping and flipping robot is set on the XYZ three-axis moving module.

[0021] In this invention, there are multiple sets of the full-box paper tube conveyor, which are arranged sequentially and adjacently in the left-right direction at the front position of the truss; the paper tube gripping and sorting device and the paper tube marking device are respectively set on the truss, and the paper tube transfer device and the paper tube storage device are sequentially set at the rear position of the truss.

[0022] Preferably, the paper tube conveyor can also be arranged on the left and right sides of the truss.

[0023] In this invention, the paper tube transfer device includes a YZ dual-axis moving module and a paper tube transfer conveying chute horizontally arranged on the YZ dual-axis moving module. A paper tube temporary storage slot is provided at the upper position opposite to the intermittent lifting device for receiving marked paper tubes on the paper tube support. A pair of paper tube transfer docking slots are symmetrically arranged on both sides of the paper tube temporary storage slot. A second paper tube pusher is provided at the upper position near the intermittent lifting device for pushing and transferring marked paper tubes from the paper tube support to the paper tube temporary storage slot. A device is also provided for operating the paper tube temporary storage slot towards the paper tube transfer docking slot. A side-tilting device for the temporary storage tank is used to transfer paper tubes collected in the temporary storage tank to the paper tube transfer docking tank. The paper tube transfer conveying chute is moved to a position opposite to the paper tube transfer docking tank by the YZ dual-axis moving module. One end of the paper tube transfer docking tank is provided with a third paper tube pusher for pushing the paper tubes in the paper tube transfer docking tank into the paper tube transfer conveying chute. One end of the paper tube transfer conveying chute is provided with a fourth paper tube pusher for pushing the paper tubes in the paper tube transfer conveying chute into the paper tube storage device.

[0024] Preferably, the temporary storage tank tilter uses a rotary cylinder to transfer the paper tubes in the temporary storage tank to the paper tube transfer conveying chute.

[0025] Preferably, the first and second paper tube pushers in this utility model can be implemented by using a pushing cylinder to push the paper tube; the third paper tube pusher is mounted on a moving guide rail; and the fourth paper tube pusher is mounted on the moving guide rail via a lifting device.

[0026] In this utility model, the paper tube storage device includes a paper tube storage rack and a plurality of paper tube receiving guide slides arranged at intervals on the paper tube storage rack. The paper tube receiving guide slides are inclined downward in the direction away from the paper tube transfer device.

[0027] Preferably, each of the paper tube receiving guide chutes includes two pairs of guide support rods arranged in parallel at intervals, and the two pairs of guide support rods are arranged in an up-down position, with the spacing between the upper pair of guide support rods being greater than the spacing between the lower pair of guide support rods; during operation, the paper tube transfer conveying chutes are moved by the YZ dual-axis moving module to a position opposite to the paper tube receiving guide chutes and transfer the paper tubes into the paper tube receiving guide chutes; a liftable paper tube baffle is provided on the paper tube storage rack at the downward inclined end of the paper tube receiving guide chutes to prevent the paper tubes from slipping.

[0028] Preferably, the paper tube storage rack is provided with a baffle placement slot, the paper tube baffle is inserted into the baffle placement slot, and a lifting handle is provided at the upper end of the paper tube baffle. The paper tube baffle is lifted upward by manually operating the lifting handle and lowered back to its original position by gravity or a spring.

[0029] In this invention, a paper tube detection sensor is provided on the paper tube storage rack above each of the paper tube storage guide slides to detect whether a paper tube is stored on the paper tube storage guide slide.

[0030] Preferably, the paper tube detection sensor is one of an infrared ranging sensor, an ultrasonic ranging sensor, or an inductive proximity switch.

[0031] Preferably, the paper tube storage rack can hold the same number of entire strings of paper tubes as the spinning stations in the workshop, thus ensuring that each station has an individual storage location. It also adds a few emergency printing positions, increasing the overall system's operational stability.

[0032] The aforementioned paper tube detection sensor is connected to the control system of the automatic spandex paper tube sorting machine. Through the paper tube detection sensor, the control system can promptly determine which positions in the paper tube storage guide chute contain paper tubes and which positions do not contain paper tubes, thereby enabling reasonable scheduling of paper tube storage and ensuring the automatic and continuous operation of the sorting process.

[0033] Preferably, the number of the tube sorting bins is four per group, and the four tube sorting bins are arranged back-to-back in pairs within the truss. The four tube sorting bins correspond to four different paper tube colors and can be managed by a single paper tube gripping and flipping robot.

[0034] As a further improvement, the automatic spandex paper tube sorting machine adapted to manual empty paper tube receiving of this utility model is equipped with three sets of paper tube gripping and sorting devices. Each set of paper tube gripping and sorting devices includes four sorting bins and a paper tube gripping and flipping robot with a flipping device. The four sorting bins are arranged back to back in the front-back direction, and the two pairs of sorting bins arranged back to back are placed on the left and right sides of the paper tube temporary storage tank.

[0035] In this utility model, a manual paper tube receiving tool is also provided. The operator only needs to align the manual paper tube receiving tool with the paper tube discharge position of the paper tube storage device, lift the paper tube baffle, and the paper tube in the paper tube storage rack will automatically slide down into the manual paper tube receiving tool through the paper tube collection guide chute, and then transfer it to the movable yarn car for use by the spandex spinning winding machine.

[0036] The workflow (paper management method) of this utility model is as follows:

[0037] (1) Feeding: The operator feeds the whole box of paper tubes through the lower part of the paper tube feeding device (roller conveyor) truss;

[0038] (2) Paper tube gripping and sorting: The paper tube gripping and flipping robot moves to the upper position of the paper tube box through the XYZ three-axis moving module, and then grips all or a group of paper tubes in the top layer of paper tubes in the paper tube box through the paper tube group gripping disk. Then, the flipping mechanism flips the paper tube group gripping disk into a vertical state, and then connects with the paper tube feeding hole on the feeding side wall of the tube storage bin. The gripped paper tubes are sent into the single-layer paper tube storage space inside the tube storage bin through the paper tube feeding hole. The paper tubes are grouped and sorted in the vertical direction in the single-layer paper tube storage space inside the tube storage bin, and fall in sequence according to the rhythm of the paper tube group falling rhythm controller set on the tube storage bin. Then, the paper tubes are orderly output rhythm controller set on the discharge pipe, so that the paper tubes are orderly rolled out from the paper tube discharge port and the discharge pipe to the working area of ​​the paper tube marking device.

[0039] (3) Paper tube marking: In the working area of ​​the paper tube marking device, the first paper tube pusher pushes the paper tube and positions it on the paper tube bracket at the bottom of the intermittent lifting device. After it is in place, the intermittent lifting device lifts the paper tube to the upper position of the intermittent lifting device through the paper tube bracket. The marking head of the paper tube marking machine located next to the intermittent lifting device is obliquely pointed to the inner wall of the paper tube to perform marking operation on the inner wall of the paper tube.

[0040] (4) Paper tube transfer: After the marking operation is completed, the second paper tube pusher located next to the intermittent lifting device pushes the paper tube into the paper tube temporary storage slot; after the paper tube in the temporary storage slot is full, the temporary storage slot tilts to the direction of the paper tube transfer docking slot on one side through the temporary storage slot tilter, and the paper tube in the temporary storage slot rolls to the paper tube transfer docking slot, realizing the transfer of the paper tube in the temporary storage slot to the paper tube transfer docking slot; after the paper tube enters the paper tube transfer docking slot, the paper tube transfer conveying chute located on the YZ dual-axis moving module is moved to a position aligned with the paper tube transfer docking slot, and then the third paper tube pusher located at one end of the paper tube transfer docking slot pushes the paper tube into the paper tube transfer conveying chute;

[0041] (5) Paper tube transfer and storage: After the paper tube is transferred into the paper tube transfer conveying chute, the YZ dual-axis moving module moves, so that the paper tube transfer conveying chute moves to be aligned with the paper tube receiving guide chute of the paper tube storage device. After it is in place, the fourth paper tube pusher located at the upper end of the paper tube transfer conveying chute is activated to push and transfer the paper tube into the paper tube receiving guide chute of the paper tube storage device, thus completing the storage of the paper tube in the paper tube storage rack.

[0042] (6) Manual paper tube connection: The operator holds the manual paper tube connection tool and the front end of the manual paper tube connection tool is aligned with the paper tube discharge position of the paper tube storage guide chute of the paper tube storage device. Then, the paper tube baffle is lifted, and the paper tube located in the paper tube storage guide chute automatically slides down into the manual paper tube connection tool through the paper tube storage guide chute. Then, it is transferred to the movable yarn car for use by the spandex spinning winding machine.

[0043] In this utility model, the paper tubes are fed in a whole box of empty paper tubes together with the box. The arrangement of the tube storage bins is the same as the arrangement of the paper tubes in the box. It can also be rearranged according to customer needs. For example, when there are 20 paper tubes in a whole string, the arrangement is 4*5; when there are 16 paper tubes in a whole string, the arrangement is 4*4.

[0044] In this invention, although manual handling of the paper tubes is still required after manual connection, the paper cart still needs to be manually moved. However, compared with the existing automatic paper handling machine, it reduces the time for manual waiting of the paper cart and is more adaptable to the habits of each operator, allowing for free arrangement on the paper cart.

[0045] The beneficial effects of this utility model are:

[0046] First, this utility model provides an automatic spandex paper tube sorting machine adapted for manual empty paper tube collection. It adopts a specially designed sorting bin and is equipped with a paper tube gripping and turning robot with a turning mechanism. It can grab the paper tubes in the paper tube box in the whole layer and send them into the sorting bin for orderly output. It overcomes the drawback of conventional sorting machines that require rolling and sorting the paper tubes in the bin. It can effectively avoid damage to the paper tubes and paper tube shedding, and improve the quality of the sorting operation.

[0047] Secondly, the automatic spandex paper tube sorting machine of this utility model, which is adapted to manual empty paper tube feeding, paper tube sorting, paper tube marking and paper tube conveying and storage, realizes fully automatic operation, thereby improving the production efficiency of paper tube sorting operation.

[0048] Third, the automatic spandex paper tube sorting machine of this utility model, which is adapted to manual paper tube connection, has a compact layout, reduces the floor space, and can meet the needs of installing automatic paper tube sorting machines in old spandex workshops. It adopts a specially designed paper tube sorting bin and is equipped with a paper tube storage device suitable for manual paper tube connection. After the paper tubes are sorted and marked by the automatic paper tube sorting machine, they are automatically sent into the paper tube storage device, which meets the needs of manual paper tube connection in the working environment of old workshops and has good adaptability.

[0049] Fourth, this utility model provides an automatic spandex paper tube sorting machine adapted for manual empty paper tube handling. By configuring four sorting bins under the truss as a set of sorting bins, it can meet the sorting needs of four different colored paper tubes. Through reasonable layout, only two sets of trusses, three sets of sorting bins (each set containing four sorting bins), three sets of paper tube gripping and flipping robots, and one set of paper tube transfer device are required. Combined with buffering one or more sets of sorting bins on the roller conveyor, it can meet the sorting needs of 16 or more colored paper tubes. Compared with the conventional configuration of four separate automatic paper tube sorting machines required to manage 16 colored paper tubes, this reduces the number of paper tube gripping and flipping robots and paper tube transfer devices, thereby saving equipment costs. Attached Figure Description

[0050] Figure 1 This is a three-dimensional structural diagram of an automatic spandex paper tube sorting machine adapted to manual empty paper tube connection according to this utility model.

[0051] Figure 2 yes Figure 1 A schematic diagram of the layout of an automatic spandex paper tube sorting machine adapted for manual empty paper tube connection. Figure 1 (Top view)

[0052] Figure 3 yes Figure 1 A schematic diagram of the three-dimensional structure after transposition;

[0053] Figure 4 It is Figure 1 A three-dimensional structural diagram of the paper tube feeding device, paper tube transfer device, and part of the truss in the middle;

[0054] Figure 5 yes Figure 4 A magnified view of a portion of the document;

[0055] Figure 6 Is Figure 5 A three-dimensional structural diagram showing the first paper tube pusher and the paper tube marking machine respectively installed next to the intermittent lifting device;

[0056] Figure 7 Is Figure 1 A schematic diagram of the structure of the YZ dual-axis moving module with a paper tube transfer conveying chute and a fourth paper tube pusher;

[0057] Figure 8 Is Figure 1 A three-dimensional structural diagram of a paper tube storage device with a paper tube receiving guide chute above the paper tube discharge end, showing a paper tube detection sensor installed thereon.

[0058] Figure 9 yes Figure 1 This is a schematic diagram of the overall layout of an automatic spandex paper tube sorting machine adapted to manual empty paper tube handling, with three sets of paper tube gripping and sorting devices.

[0059] In the diagram: 1. Paper tube; 2. Paper tube feeding device; 3. Paper tube gripping and sorting device; 4. Paper tube marking device; 5. Paper tube transfer device; 6. Paper tube storage device; 7. Paper tube hopper; 8. Paper tube detection sensor; 9. Paper tube gripping and flipping robot; 10. Paper tube inlet; 11. Inlet side wall; 12. Paper tube outlet; 13. Outlet side wall; 14. Paper tube group gripping disc; 15. Intermittent lifting device; 16. Paper tube support; 17. Paper tube marking machine; 18. First paper tube pusher; 19. Finger cylinder; 20. Outlet tube; 21. Telescopic blocking column; 22. Telescopic blocking nail; 24. Truss; 25. 26. XYZ three-axis moving module, 27. YZ two-axis moving module, 28. Paper tube transfer conveying chute, 29. Paper tube temporary storage chute, 30. Paper tube transfer docking chute, 31. Second paper tube pusher, 32. Third paper tube pusher, 33. Paper tube storage rack, 34. Paper tube storage guide chute, 35. Fourth paper tube pusher, 36. Paper tube baffle, 37. Guide support rod, 39. Lifting handle, 41. Manual paper tube receiving tool, 42. Lifter, 43. Moving guide rail. Detailed Implementation

[0060] The specific embodiments of this utility model will be further described below with reference to the accompanying drawings and examples. The following examples are only used to more clearly illustrate the technical solution of this utility model and should not be construed as limiting the scope of protection of this utility model.

[0061] Example 1:

[0062] like Figures 1 to 9 The illustration shows an embodiment of an automatic spandex paper tube sorting machine adapted to manual empty paper tube handling according to the present invention. It includes a paper tube feeding device 2, a paper tube gripping and sorting device 3, a paper tube marking device 4, a paper tube transfer device 5, and a paper tube storage device 6, arranged sequentially according to the spandex paper tube 1 sorting process. The paper tube gripping and sorting device 3 includes a sorting bin 7 and a paper tube gripping and flipping manipulator 9 with a flipping mechanism. The sorting bin 7 has a single-layer paper tube storage space that allows only a single layer of paper tubes to pass through in a top-to-bottom direction. The sidewalls of the sorting bin 7 arranged in the top-to-bottom direction include an inlet sidewall 11 with N paper tube inlet holes 10 and an outlet sidewall with a paper tube outlet 12. The paper tube inlet holes 10 and the paper tube outlet 12 are respectively connected to the single-layer paper tube storage space of the sorting bin 7, and the N paper tube inlet holes 10 are distributed in the sorting bin. On the feeding side wall 11 of the silo 7, the paper tube outlet 12 is located at the lower part of the discharge side wall 13 of the silo 7. The bottom of the single-layer paper tube storage space of the silo 7 is inclined downward towards the paper tube outlet 12. The paper tube gripping and flipping robot 9 is equipped with a paper tube grouping gripping disk 14 for gripping N paper tubes in the topmost layer of paper tubes in the whole box. After the paper tube gripping and flipping robot 9 grips N paper tubes 1 in the paper tube feeding device 2 through the paper tube grouping gripping disk 14, the N paper tubes are sent into the single-layer paper tube storage space of the silo 7 through the N paper tube feeding holes 10 on the feeding side wall 11 of the silo 7. The N paper tubes are then rolled out sequentially and orderly in the paper tube outlet 12 of the silo 7 and transported to the working area of ​​the paper tube marking device 4.

[0063] Preferably, the N paper tube feed holes 10 are arranged in a matrix array on the feed sidewall 11.

[0064] Preferably, the paper tube feeding device 2 includes a paper tube conveyor for conveying whole boxes of paper tubes to the working area of ​​the paper tube gripping and sorting device 3.

[0065] Preferably, the conveyor is a roller conveyor.

[0066] Considering that a spandex production workshop uses different paper tube colors depending on the product, and a workshop generally uses 10 to 20 different paper tube colors at the same time, the number of paper tube feeding devices 2 can be configured to be multiple sets to meet the feeding needs of different colored paper tubes.

[0067] Preferably, the paper tube marking device 4 includes an intermittent lifting device 15 disposed vertically at the paper tube outlet 12 of the paper tube storage bin 7, a paper tube bracket 16 movable vertically on the intermittent lifting device 15 for positioning and lifting paper tubes, and a paper tube marking machine 17 disposed next to the intermittent lifting device 15. A first paper tube pusher 18 is disposed near the lower part of the intermittent lifting device 15 for pushing the paper tubes 1 that are sequentially and orderly rolled out from the paper tube outlet 12 of the paper tube storage bin 7 onto the paper tube bracket 16. The paper tube marking machine 17 is disposed above one side of the paper tube bracket 16, and the marking head of the paper tube marking machine 17 is obliquely pointed towards the inner wall of the paper tube 1.

[0068] Preferably, the paper tube marking machine 17 can be an inkjet marking machine or a laser marking machine. Depending on the tilt angle of the marking head of the inkjet or laser marking machine, tilt angle compensation is performed during marking to ensure that the marked characters are not distorted and conform to standard specifications.

[0069] Preferably, the intermittent lifting device 15 adopts a vertically arranged sprocket drive device, and the paper tube bracket 16 is installed on the drive chain of the sprocket drive device.

[0070] Preferably, the paper tube holder 16 is a V-shaped holder.

[0071] Preferably, the paper tube gripping and flipping robot 9 includes a paper tube group gripping disk 14 that can be flipped 90 degrees by a flipping mechanism, and N finger cylinders 19 arranged in a matrix array on the paper tube group gripping disk 14.

[0072] In this embodiment, the paper tube grouping and falling rhythm controller is provided on the paper tube hopper 7 to control the falling rhythm of paper tubes in the group within the hopper 7. A discharge pipe 20 is connected to the paper tube outlet 12 of the hopper 7, and an orderly output rhythm controller is provided on the discharge pipe 20 to control the orderly output of paper tubes according to a rhythm. The paper tube grouping and falling rhythm controller includes two rows of telescopic blocking columns 21 arranged laterally at the lower part of the side wall of the hopper 7. The paper tube grouping and falling rhythm controller controls the alternating extension and retraction of the two rows of telescopic blocking columns 21 to achieve the grouped falling of paper tubes 1 within the hopper 7. The orderly output rhythm controller includes two sets of telescopic blocking pins 22 spaced apart at the opening of the discharge pipe 20. The orderly output rhythm controller controls the alternating extension and retraction of the two sets of telescopic blocking pins 22 to achieve the orderly output of paper tubes according to a rhythm.

[0073] Preferably, the telescopic blocking post 21 and telescopic blocking pin 22 are extended and retracted by short-stroke telescopic cylinders. When the telescopic blocking post 21 extends, it blocks the falling of a group of paper tubes above it; when the telescopic blocking post 21 retracts, the group of paper tubes above it falls, avoiding the retracted telescopic blocking post 21. By controlling the alternating extension and retraction of the two rows of telescopic blocking posts 21, the paper tubes 1 in the tube handling hopper 7 are grouped and fall. The working principle of the paper tube orderly output rhythm controller is similar, except that the paper tubes 1 are individually rolled laterally along the bottom inclined surface of the discharge pipe 20 from the outlet of the discharge pipe 20 in a rhythmic manner.

[0074] An automatic spandex paper tube sorting machine adapted to manual empty paper tube connection in this embodiment is also provided with a truss 24. The whole box paper tube conveyor is located next to the truss 24 and extends to the lower part of the truss 24. An XYZ three-axis moving module 25 is provided on the upper part of the truss 24, and the paper tube gripping and flipping robot 9 is located on the XYZ three-axis moving module 25.

[0075] In this embodiment, there are multiple sets of the full-box paper tube conveyor, which are arranged adjacent to each other in the left-right direction in front of the truss 24; the paper tube gripping and sorting device 3 and the paper tube marking device 4 are respectively installed on the truss 24, and the paper tube transfer device 5 and the paper tube storage device 6 are arranged in sequence at the rear of the truss 24.

[0076] Preferably, the paper tube conveyor can also be arranged on the left and right sides of the truss 24.

[0077] In this embodiment, the paper tube transfer device 5 includes a YZ dual-axis moving module 26 and a paper tube transfer conveying chute 27 horizontally arranged on the YZ dual-axis moving module 26. A paper tube temporary storage slot 28 for receiving the marked paper tubes 1 on the paper tube bracket 16 is provided at the upper position opposite to the intermittent lifting device 15. A pair of paper tube transfer docking slots 29 are symmetrically arranged on both sides of the paper tube temporary storage slot 28. A second paper tube pusher 31 for pushing and transferring the marked paper tubes 1 on the paper tube bracket 16 into the paper tube temporary storage slot 28 is provided at the upper position near the intermittent lifting device 15. A device for operating the paper tube temporary storage slot 28 toward the paper tube transfer docking slots 29 is also provided. A side-tilting device for the temporary storage tank 28 is used to transfer paper tubes collected in the temporary storage tank 28 to the paper tube transfer docking tank 29. The paper tube transfer conveying chute 27 is moved to a position opposite to the paper tube transfer docking tank 29 by the YZ dual-axis moving module 25. One end of the paper tube transfer docking tank 29 is provided with a third paper tube pusher 32 for pushing the paper tubes in the paper tube transfer docking tank 29 into the paper tube transfer conveying chute 27. One end of the paper tube transfer conveying chute 27 is provided with a fourth paper tube pusher 35 for pushing the paper tubes in the paper tube transfer conveying chute 27 into the paper tube storage device 6.

[0078] Preferably, the temporary storage slot tilter uses a rotary cylinder to transfer the paper tube in the paper tube temporary storage slot 28 to the paper tube transfer conveying chute 27.

[0079] Preferably, in this embodiment, the first paper tube pusher 18 and the second paper tube pusher 31 can be pushed by a pusher cylinder; the third paper tube pusher 32 is mounted on a moving guide rail (not shown in the figure); and the fourth paper tube pusher 35 is mounted on a moving guide rail 43 via a lifter 42.

[0080] In this embodiment, the paper tube storage device 6 includes a paper tube storage rack 33 and a plurality of paper tube receiving guide grooves 34 arranged at intervals on the paper tube storage rack 33. The paper tube receiving guide grooves 34 are inclined downward in the direction away from the paper tube transfer device 5.

[0081] Preferably, each of the paper tube receiving guide sleds 34 includes two pairs of guide support rods 37 arranged in parallel at intervals, and the two pairs of guide support rods 37 are arranged in an up-down position, with the spacing between the upper pair of guide support rods 37 being greater than the spacing between the lower pair of guide support rods 37; during operation, the paper tube transfer conveying sled 27 moves to a position opposite to the paper tube receiving guide sled 34 via the YZ dual-axis moving module 26 and transfers the paper tube into the paper tube receiving guide sled 34; a liftable paper tube baffle 36 is provided on the paper tube storage rack 33 at the downward inclined end of the paper tube receiving guide sled 34 to prevent the paper tube 1 from slipping.

[0082] Preferably, the paper tube storage rack 33 is provided with a baffle placement groove, and the paper tube baffle 36 is inserted into the baffle placement groove. The upper end of the paper tube baffle 36 is provided with a lifting handle 39. The paper tube baffle 36 is lifted upward by manually operating the lifting handle 39, and lowered back to its original position by gravity or a spring.

[0083] In this embodiment, a paper tube detection sensor 8 is provided on the paper tube storage rack 33 above each of the paper tube storage guide slides 34, for detecting whether a paper tube 1 is stored on the paper tube storage guide slide 34.

[0084] Preferably, the paper tube detection sensor 8 is one of an infrared ranging sensor, an ultrasonic ranging sensor, or an inductive proximity switch.

[0085] Preferably, the paper tube storage rack 33 can hold the same number of entire strings of paper tubes as the spinning stations in the workshop, thus ensuring that each station has an individual storage location. It also adds a few emergency printing positions, increasing the overall system's operational stability.

[0086] The aforementioned paper tube detection sensor 8 is connected to the control system of the automatic spandex paper tube sorting machine. Through the paper tube detection sensor 8, the control system can promptly determine which positions of the paper tube storage guide chute 34 in the paper tube storage device 6 contain paper tubes and which positions of the paper tube storage guide chute 34 do not contain paper tubes, thereby enabling reasonable scheduling of paper tube storage and ensuring the automatic and continuous operation of the sorting process.

[0087] Preferably, the number of the tube sorting bins 7 is four per group, and the four tube sorting bins 7 are arranged back to back in pairs within the truss 24. The four tube sorting bins 7 correspond to four different paper tube colors and can be managed by a single paper tube gripping and flipping robot 9.

[0088] As a further improvement, an automatic spandex paper tube sorting machine adapted to manual empty paper tube handling in this embodiment is provided with three sets of paper tube gripping and sorting devices 3. Each set of paper tube gripping and sorting devices 3 includes four sorting bins 7 and a paper tube gripping and flipping robot 9 with a flipping device. The four sorting bins 7 are arranged back to back in the front-back direction, and the two pairs of sorting bins 7 arranged back to back are placed on the left and right sides of the paper tube temporary storage tank 28.

[0089] In this embodiment, a manual paper tube receiving tool 41 is also provided. The operator only needs to align the manual paper tube receiving tool 41 with the paper tube discharge position of the paper tube storage device 6, lift the paper tube baffle 36, and the paper tube in the paper tube storage rack 33 will automatically slide down into the manual paper tube receiving tool 41 through the paper tube collection guide chute 34, and then transfer it to the movable yarn car for use by the spandex spinning winding machine.

[0090] Example 2:

[0091] The workflow (paper management method) of this utility model is as follows:

[0092] (1) Feeding: The operator feeds the whole box of paper tubes through the paper tube feeding device 2 (roller conveyor) truss 24 below the position;

[0093] (2) Paper tube gripping and sorting: The paper tube gripping and flipping robot 9 moves to the upper position of the paper tube box through the XYZ three-axis moving module 25, and then grips all or a group of paper tubes in the uppermost layer of paper tubes in the paper tube box through the paper tube group gripping disk 14. Then, the paper tube group gripping disk 14 is flipped into a vertical state through the flipping mechanism, and then it is connected to the paper tube feeding hole 10 on the feeding side wall 11 of the tube storage bin 7. The gripped paper tubes are sent into the single-layer paper tube storage space inside the tube storage bin 7 through the paper tube feeding hole 10. The paper tubes are grouped and sorted in the vertical direction in the single-layer paper tube storage space inside the tube storage bin 7, and are dropped in sequence according to the rhythm by the paper tube group falling rhythm controller set on the tube storage bin 7. Then, the paper tubes are orderly output rhythm controller set on the discharge pipe 20, so that the paper tubes 1 are orderly rolled out from the paper tube discharge port 12 and the discharge pipe 20 to reach the working area of ​​the paper tube marking device 4.

[0094] (3) Paper tube marking: In the working area of ​​the paper tube marking device 4, the first paper tube pusher 18 pushes the paper tube and positions it on the paper tube bracket 16 located at the bottom of the intermittent lifting device 15. After it is in place, the intermittent lifting device 15 lifts the paper tube 1 to the upper position of the intermittent lifting device 15 through the paper tube bracket 16. The marking head of the paper tube marking machine 4 located next to the intermittent lifting device 15 points obliquely to the inner wall of the paper tube 1 and performs marking operation on the inner wall of the paper tube 1.

[0095] (4) Paper tube transfer: After the marking operation is completed, the second paper tube pusher 31 located next to the intermittent lifting device 15 pushes the paper tube 1 into the paper tube temporary storage slot 28; after the paper tube in the paper tube temporary storage slot 28 is full, the paper tube temporary storage slot 28 tilts to the direction of the paper tube transfer docking slot 29 on one side through the temporary storage slot tilter, and the paper tube in the paper tube temporary storage slot 28 rolls to the paper tube transfer docking slot 29, realizing the transfer of the paper tube in the paper tube temporary storage slot 28 to the paper tube transfer docking slot 29; after the paper tube enters the paper tube transfer docking slot 29, the paper tube transfer conveying chute 27 located on the YZ dual-axis moving module 26 is moved to a position that is aligned with the paper tube transfer docking slot 29, and then the third paper tube pusher 32 located at one end of the paper tube transfer docking slot 29 pushes the paper tube into the paper tube transfer conveying chute 27;

[0096] (5) Paper tube transfer and storage: After the paper tube 1 is transferred into the paper tube transfer conveying chute 27, the YZ dual-axis moving module 26 moves, so that the paper tube transfer conveying chute 27 moves to be aligned with the paper tube receiving guide chute 34 of the paper tube storage device 6. After it is in place, the fourth paper tube pusher 35 located at the upper end of the paper tube transfer conveying chute 27 is activated to push and transfer the paper tube into the paper tube receiving guide chute 34 of the paper tube storage device 6, thus completing the storage of the paper tube 1 in the paper tube storage rack 33.

[0097] (6) Manual paper tube connection: The operator holds the manual paper tube connection tool 41, with the front end of the manual paper tube connection tool 41 aligned with the paper tube discharge position of the paper tube storage guide chute 34 of the paper tube storage device 6. Then, the paper tube baffle 36 is lifted, and the paper tube located in the paper tube storage guide chute 34 automatically slides down into the manual paper tube connection tool 41 through the paper tube storage guide chute 34. Then, it is transferred to the movable yarn car for use by the spandex spinning winding machine.

[0098] In this embodiment, the paper tube 1 is fed by feeding the whole box of empty paper tubes together. The arrangement of the tube storage bin is the same as the arrangement of the paper tubes in the box. It can also be rearranged according to customer needs. For example, when the whole string is 20 paper tubes, the arrangement is 4*5; when the whole string is 16 paper tubes, the arrangement is 4*4.

[0099] In this embodiment, although the paper tubes still need to be manually moved after being manually connected, the time for manual waiting for the paper tubes is reduced compared to the existing automatic paper tube handling machine. It is also more adaptable to the habits of each operator and can be freely arranged on the paper tubes.

[0100] The above description is only a preferred embodiment of the present utility model. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the technical principles of the present utility model, and these improvements and modifications should also be considered within the protection scope of the present utility model.

Claims

1. An automatic spooler for spooling artificial spliced paper tubes, characterized by comprising: The system includes a paper tube feeding device, a paper tube gripping and sorting device, a paper tube marking device, a paper tube transfer device, and a paper tube storage device, arranged sequentially according to the spandex paper tube handling process. The paper tube gripping and sorting device includes a paper tube handling bin and a paper tube gripping and flipping robot with a flipping mechanism. The paper tube handling bin has a single-layer paper tube storage space that allows only a single layer of paper tubes to pass through from top to bottom. The sidewalls of the paper tube handling bin, arranged vertically, include an inlet sidewall with N paper tube inlets and an outlet sidewall with one paper tube outlet. The inlet and outlet are connected to the single-layer paper tube storage space of the paper tube handling bin, and the N inlets are distributed on the inlet sidewall. The material inlet is located at the lower part of the discharge side wall of the tube storage hopper. The bottom of the single-layer paper tube storage space of the tube storage hopper is inclined downwards towards the paper tube discharge outlet. The paper tube gripping and turning robot is equipped with a paper tube grouping gripping disc for gripping N paper tubes in the top layer of the whole box of paper tubes. After the paper tube gripping and turning robot grips N paper tubes in the paper tube feeding device at the same time through the paper tube grouping gripping disc, the N paper tubes are sent into the single-layer paper tube storage space of the tube storage hopper through the N paper tube feeding holes on the inlet side wall of the tube storage hopper. The N paper tubes are then rolled out sequentially and orderly in the paper tube discharge outlet of the tube storage hopper and transported to the working area of ​​the paper tube marking device.

2. The splicing of the artificial paper tube of the Lycra paper tube automatic management machine according to claim 1, wherein, The paper tube storage device includes a paper tube storage rack and a number of paper tube receiving guide slides spaced apart on the paper tube storage rack. The paper tube receiving guide slides are inclined downwards in a direction away from the paper tube transfer device.

3. The automatic spandex paper tube sorting machine adapted for manual empty paper tube connection as described in claim 2, characterized in that, Paper tube detection sensors are respectively installed on the paper tube storage rack above each of the paper tube storage guide slides to detect whether there are paper tubes stored on the paper tube storage guide slides.

4. The automatic spandex paper tube sorting machine adapted for manual empty paper tube connection as described in claim 1, characterized in that, The paper tube feeding device includes a paper tube conveyor for transporting whole boxes of paper tubes to the working area of ​​the paper tube gripping and sorting device.

5. The automatic spandex paper tube sorting machine adapted for manual empty paper tube connection as described in claim 1, characterized in that, The paper tube marking device includes an intermittent lifting device arranged vertically at the paper tube outlet of the paper tube storage bin, a paper tube bracket movable vertically on the intermittent lifting device for positioning and lifting paper tubes, and a paper tube marking machine arranged next to the intermittent lifting device. A first paper tube pusher is arranged near the lower part of the intermittent lifting device to push the paper tubes that are sequentially and orderly rolled out from the paper tube outlet of the paper tube storage bin onto the paper tube bracket. The paper tube marking machine is arranged above one side of the paper tube bracket, and the marking head of the paper tube marking machine is obliquely pointed towards the inner wall of the paper tube.

6. The automatic spandex paper tube sorting machine adapted for manual empty paper tube connection as described in claim 1, characterized in that, The paper tube hopper is equipped with a paper tube grouping and falling rhythm controller for controlling the falling rhythm of paper tubes in groups within the hopper. A discharge pipe is connected to the paper tube outlet of the hopper, and an orderly paper tube output rhythm controller is installed on the discharge pipe to control the orderly output of paper tubes according to a set rhythm. The paper tube grouping and falling rhythm controller includes two rows of telescopic blocking columns arranged laterally at the lower part of the side wall of the hopper. The paper tube grouping and falling rhythm controller controls the alternating extension and retraction of the two rows of telescopic blocking columns to achieve the grouped falling of paper tubes within the hopper. The orderly paper tube output rhythm controller includes two sets of telescopic blocking pins spaced apart at the outlet of the discharge pipe. The orderly paper tube output rhythm controller controls the alternating extension and retraction of the two sets of telescopic blocking pins to achieve the orderly output of paper tubes according to a set rhythm.

7. The automatic spandex paper tube sorting machine adapted for manual empty paper tube connection as described in claim 4, characterized in that, A truss is also provided, and the paper tube conveyor is located next to the truss and extends to the lower part of the truss; an XYZ three-axis moving module is provided on the upper part of the truss, and the paper tube gripping and flipping robot is located on the XYZ three-axis moving module.

8. The automatic spandex paper tube sorting machine adapted for manual empty paper tube connection as described in claim 7, characterized in that, The number of the full-box paper tube conveyor is multiple and arranged sequentially adjacent to each other in the left-right direction at the front position of the truss; the paper tube gripping and sorting device and the paper tube marking device are respectively set on the truss, and the paper tube transfer device and the paper tube storage device are sequentially set at the rear position of the truss.

9. An automatic spandex paper tube sorting machine adapted for manual empty paper tube connection as described in claim 5, characterized in that, The paper tube transfer device includes a YZ dual-axis moving module and a paper tube transfer conveying chute horizontally arranged on the YZ dual-axis moving module. A paper tube temporary storage slot is provided at the upper part, directly opposite the intermittent lifting device, for receiving marked paper tubes from the paper tube support. A pair of paper tube transfer docking slots are symmetrically arranged on both sides of the paper tube temporary storage slot. A second paper tube pusher is provided at the upper part, near the intermittent lifting device, for pushing and transferring marked paper tubes from the paper tube support to the paper tube temporary storage slot. A device is also provided for tilting the paper tube temporary storage slot towards the paper tube transfer docking slot. The temporary storage tank tilter is used to transfer the paper tubes collected in the temporary storage tank to the paper tube transfer docking tank. The paper tube transfer conveying chute is moved to a position opposite to the paper tube transfer docking tank by the YZ dual-axis moving module. One end of the paper tube transfer docking tank is provided with a third paper tube pusher for pushing the paper tubes in the paper tube transfer docking tank into the paper tube transfer conveying chute. One end of the paper tube transfer conveying chute is provided with a fourth paper tube pusher for pushing the paper tubes in the paper tube transfer conveying chute into the paper tube storage device.

10. An automatic spandex paper tube sorting machine adapted for manual empty paper tube connection as described in claim 3, characterized in that, The paper tube detection sensor is one of the following: infrared ranging sensor, ultrasonic ranging sensor, or inductive proximity switch.

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