Periscopic Dofing device

Abstract

The present disclosure provides a periscopic doffing apparatus. [Solution] The system includes a traveling mechanism including a frame, running wheels, and a traveling motor; a first lifting mechanism including a first lifting lever set, a first drive motor, and a first platform, where the first lifting lever set is fixed to the frame and the tip of the first lifting lever set is connected to the first platform; a second lifting mechanism including a second lifting lever set, a second drive motor, and a second platform, where the second lifting lever set is installed on the first platform and the tip of the second lifting lever set is connected to the second platform; a rotation mechanism including a rotation motor and a rotation frame fixed to the second platform, where the rotation motor is fixed to the second platform and connected to a rotation table at the bottom of the rotation frame; and a wound yarn package receiving mechanism including a receiving rod and a translation assembly.

Description

Technical Field

[0001] The present disclosure relates to the technical field of chemical fiber production, and particularly to a periscopic doffing device.

Background Art

[0002] The process of removing the wound bobbin that has completed the winding operation from the working position of the winder is called doffing, and the wound bobbin that has completed the winding is called a winding package. Generally, when taking out the winding packages together with the rod from the winder, it is necessary to abut the receiving rod corresponding to the width of all the winding packages on the rod in the same direction as the winding rod of the winder.

Summary of the Invention

Problems to be Solved by the Invention

[0003] The width of the winding package receiving and doffing device is too wide, significantly occupying the working passage during operation, making it impossible for personnel and other material receiving mechanisms to pass through.

Means for Solving the Problems

[0004] An embodiment of the present disclosure provides a periscopic doffing device for solving or alleviating one or more technical problems of the prior art.

[0005] In one aspect of an embodiment of the present disclosure, a periscopic doffing device is provided, and the device includes: A traveling mechanism including a frame, traveling wheels, and a traveling motor, the traveling mechanism being installed in an underground trench under the ground, the underground trench being installed along a first straight line, the first straight line being parallel to a second straight line formed by a plurality of material receiving stations, the traveling mechanism; A first lifting mechanism comprising a first lifting lever set, a first drive motor, and a first platform, wherein the first lifting lever set is fixed to a frame, the tip of the first lifting lever set is connected to a first platform, and the first lifting lever set adjusts the height of the first platform by the drive of a first drive motor, A second lifting mechanism comprising a second lifting lever set, a second drive motor, and a second platform, wherein the second lifting lever set is installed on the first platform, the tip of the second lifting lever set is connected to the second platform, and the second lifting lever set adjusts the height of the second platform by the drive of the second drive motor, A rotating mechanism comprising a rotating motor and a rotating frame fixed to a second platform, wherein the rotating motor is fixed to the second platform, the rotating motor is connected to a rotating table at the bottom of the rotating frame, the rotating frame is provided with a horizontally mounted slide rail assembly, and the orientation of the rotating frame is switched between a first direction and a second direction by the drive of the rotating motor, A winding package receiving mechanism comprising a receiving rod and a translational assembly, wherein the first end of the receiving rod is connected to the translational assembly, the translational assembly is connected to a slide rail assembly, and the receiving rod is extended and retracted along the orientation of a rotating frame by the drive of the translational assembly so that the second end of the receiving rod reaches a target material receiving station to receive the material to be transported.

[0006] In one possible embodiment, the first lifting lever set includes a plurality of hydraulic lifting levers, the bottoms of which are fixed to the center of the frame, and the tips of which are uniformly arranged along the edge of the first platform.

[0007] In one possible embodiment, the second lifting lever set includes multiple sets of screw threads and slide rods, the slide rods being fixedly connected to one of the first and second platforms and slidably connected to the other, the bottom of the screw threads passing through the first platform and connected to a second drive motor installed beneath the first platform, the second drive motor rotating the screw threads to raise and lower the second platform.

[0008] In one possible embodiment, a pair of vertical plates are provided on both sides of the longitudinal direction of the rotating mechanism, the bottoms of the pair of vertical plates are connected to a rotary table via a bottom plate, the vertical plates are provided with horizontally oriented elongated holes, a slide rail assembly is fixed inside the vertical plates below the elongated holes, a translation assembly is installed between the pair of vertical plates, the translation motor of the translation assembly is connected to the slide rail assembly, and the slider of the translation assembly is connected through the elongated holes to the first end of a receiving rod located outside the vertical plates.

[0009] In one possible embodiment, the slide rail assembly includes a rack rail and an H-rail, the H-rail being fixed to the bottom plate and the rack rail being fixed to the inside of the vertical plate, the bottom of the translation motor being connected to the H-rail via wheels, the output end of the translation motor being connected to the rack rail via gears, and the slider being connected to the translation motor.

[0010] In one possible embodiment, the periscopic dofing device further comprises an auxiliary support mechanism, The auxiliary support mechanism includes a stopper sleeve, a support rod, a switch assembly, a tension rope, and a locking pin. The stopper sleeve is provided at the first end of the rotating mechanism, and a longitudinal through-hole is formed in the center of the stopper sleeve. The support rod is movably mounted in the longitudinal through-hole, and a locking pin is provided on one side of the longitudinal through-hole. The locking pin is connected to the switch assembly, and the support rod is provided with unidirectional teeth that match the locking pin. The locking pin is separated from or engages with the support rod by the drive of the switch assembly. The first end of the tension rope is connected to the bottom of the support rod, and the second end of the tension rope is connected to a power source to lift the support rod.

[0011] In one possible embodiment, the second end of the tension rope is detachably connected to a claw of the translation assembly via a connecting block, which is provided in a sliding groove parallel to the sliding rail assembly, and the claw moves the connecting block so that the support rod slides to the ground by gravity before the translation assembly extends outward, and so that the claw moves the connecting block so that the support rod lifts up and is retrieved while the translation assembly retracts inward.

[0012] In one possible embodiment, as the doffing device moves toward the target material receiving station, the entire doffing device is located within a tunnel, and when the doffing device reaches the target material receiving station, the spool package receiving mechanism rises from within the tunnel and docks with the target material receiving station by the drive of a first lifting mechanism, a second lifting mechanism and a rotating mechanism to receive the material to be transported, and as the doffing device returns from the target material receiving station, at least a portion of the doffing device is located within the tunnel, and as the travel mechanism of the doffing device moves, the orientation of the rotating frame is in a first direction, and the first direction is parallel to a first straight line.

[0013] In one possible embodiment, after the doffing device reaches the target material receiving station, The first and second lifting mechanisms raise the yarn package receiving mechanism to a height that matches the target material receiving station, the rotating mechanism rotates the rotating frame in a second direction which is the direction of movement of the material to be transported at the target material receiving station, and the second end of the receiving rod is extended horizontally by the drive of the translation assembly to reach the target material receiving station, thereby performing a material receiving operation.

[0014] In one possible embodiment, the first end of the rotating frame is provided with an imaging device for determining the positional difference between the second end of the receiving rod and the target material receiving station. To achieve precise docking, the second lifting mechanism adjusts the longitudinal position of the second end of the receiving rod based on the position difference, and / or The rotating mechanism adjusts the lateral position of the second end of the receiving rod according to the positional difference.

[0015] According to the embodiments of this disclosure, it is possible to reduce the space occupied in passageways and on the ground.

[0016] It should be understood that the information contained herein is not intended to describe any key points or important features of the embodiments of this disclosure, nor is it intended to limit the scope of this disclosure. Further details of other features of this disclosure will be provided in the specification below.

[0017] In the accompanying drawings, unless otherwise stated, the same number across multiple drawings represents the same or similar part or element. These accompanying drawings are not necessarily drawn to scale. It should be understood that these drawings illustrate only some of the embodiments provided in this disclosure and should not be considered to limit the scope of this disclosure. [Brief explanation of the drawing]

[0018] [Figure 1] This is a schematic diagram of the configuration of a periscopic dofing apparatus according to one embodiment of the present disclosure. [Figure 2]It is a schematic diagram of the configuration when the rotating mechanism of the doffing device in FIG. 1 faces the second direction. [Figure 3] It is a partially enlarged schematic diagram of the rotating mechanism and the winding package receiving mechanism part in FIG. 2. [Figure 4] It is a schematic diagram of the configuration in the no-load and diving state of the doffing device according to an embodiment of the present disclosure. [Figure 5] It is a schematic diagram of the configuration when the transfer target material of the doffing device according to an embodiment of the present disclosure is fully loaded.

Embodiments for Carrying Out the Invention

[0019] Hereinafter, only exemplary embodiments of the present disclosure will be described with reference to the accompanying drawings. Those skilled in the art should recognize that various changes and modifications can be made to the embodiments described herein without departing from the scope of the present disclosure. Therefore, the accompanying drawings and description are considered to be essentially exemplary and not restrictive.

[0020] FIG. 1 is a schematic diagram of the configuration of a periscopic doffing device according to an embodiment of the present disclosure. As shown in FIG. 1, this device includes A traveling mechanism 10 including a frame 12, traveling wheels 11 and a traveling motor, wherein the traveling mechanism 10 is installed in an underground trench under the ground, the underground trench is installed along a first straight line, and the first straight line is parallel to a second straight line formed by a plurality of material receiving stations, the traveling mechanism 10, A first lifting lever set 21, a first drive motor and a first platform 22, wherein the first lifting lever set 21 is fixed to the frame 12, the tip of the first lifting lever set 21 is connected to the first platform 22, and the first lifting lever set 21 adjusts the height of the first platform 22 by driving of the first drive motor, the first lifting mechanism, A second lifting mechanism including a second lifting lever set, a second drive motor 34, and a second platform 33, wherein the second lifting lever set is installed on the first platform 22, the tip of the second lifting lever set is connected to the second platform 33, and the second lifting lever set adjusts the height of the second platform 33 by the drive of the second drive motor 34, the second lifting mechanism; A rotating mechanism including a rotating motor 41 fixed to the second platform 33 and a rotating frame 42, wherein the rotating motor 41 is fixed to the second platform 33, the rotating motor 41 is connected to a rotating table 43 at the bottom of the rotating frame 42, a slide rail assembly installed horizontally is provided on the rotating frame 42, and the rotating motor 41 drives the rotating frame 42 to switch the direction between the first direction and the second direction, the rotating mechanism; A winding package receiving mechanism including a receiving rod 51 and a translation assembly, wherein the first end of the receiving rod 51 is connected to the translation assembly, the translation assembly is connected to the slide rail assembly, and the receiving rod 51 is telescopically moved along the direction of the rotating frame 42 by the drive of the translation assembly so that the second end of the receiving rod 51 reaches the target material receiving station to receive the transfer target material, the winding package receiving mechanism, comprising.

[0021] In the embodiments of this disclosure, multiple material receiving stations correspond to multiple winding machines, and the multiple winding machines can be arranged in multiple rows, with a passage between two opposing rows to facilitate the movement of personnel and equipment. When winding is completed on any of the winding machines and it is necessary to remove the wound yarn package formed by the winding, the periscopic doffing device can travel through the tunnel like a submarine, and when it reaches the corresponding target material receiving station of the winding machine, the wound yarn package receiving mechanism can rise from the tunnel and rotate like a periscopic mirror and dock with the target material receiving station. Ground rails are provided at the bottom of the tunnel, and the running wheels 11 of the running mechanism 10 can move on the ground rails driven by a running motor. The running wheels 11 and the running motor are mounted on a frame 12. A movable cover can be installed at the top of the tunnel. The top surface of some sections of the tunnel can be closed off to allow people to stand and walk when the doffing device is not moving through the tunnel.

[0022] The first lifting mechanism is fixed to the frame 12 and is used to control the lifting and lowering of the first platform 22. The second lifting mechanism is fixed to the first platform 22 and is used to control the lifting and lowering of the second platform 33. A rotation mechanism is provided on the second platform 33 and is used to control the orientation of itself and the winding package receiving mechanism in the horizontal direction. The receiving rod 51 of the winding package receiving mechanism can be extended outward along the orientation of the winding package receiving mechanism by the drive of a translation assembly, thereby reaching the target material receiving station and positioning the receiving rod 51 in the same line as the winding rod of the winding machine. When the winding machine pushes the winding packages outward on the winding rod, the receiving rod 51 receives the winding packages one by one. The length of the receiving rod 51 matches the length of the winding rod, meaning that the receiving rod 51 can receive all the winding packages on the winding rod at once.

[0023] Furthermore, in order to receive all the winding packages on the winding rod simultaneously, the receiving rod 51 needs to be long enough. During doffing, the receiving rod 51 is perpendicular to the length of the passage, so it occupies a significant portion of the passage's width. If the receiving rod 51 continues to move perpendicular to the passage without adjusting its orientation after receiving is complete, it may become difficult to pass through the entire passage. For example, an automated guided vehicle may be used for doffing and transportation. Therefore, it is necessary to rotate the receiving rod 51 so that its longitudinal direction aligns with the longitudinal direction of the passage during movement, thereby reducing the space occupied in the width direction of the passage. Related technical proposals usually involve installing fixed rails, i.e., top / bottom rails, on the ground and / or above the passage. While the implementation of a bottom rail is easy, the components of the winding rod in the winding machine need to be removed periodically for maintenance. Since the components of the winding rod can only be removed along a straight line in its longitudinal direction, the presence of a bottom rail tends to hinder the attachment and detachment maintenance work of the winding machine.

[0024] The first direction is the longitudinal direction of the passage and should be understood as the direction in which the doffing device moves along the passage. The second direction is the direction in which the material to be transported (spooled yarn package) 80 moves when it is removed from the winding machine, and should be understood as being perpendicular to the first direction.

[0025] Furthermore, two sets of doffing devices can be installed within a single passage, and each doffing device can be responsible for doffing the winding machine on one side of the passage. Alternatively, only one set of doffing devices may be provided to handle doffing for both the left and right winding machines. In other words, switching from the first direction to the second direction may be achieved by rotating the rotating frame 42 90° clockwise or counterclockwise by driving the rotating motor 41, and specifically depends on the initial orientation of the rotating frame 42 and which side of the passage the target material receiving station is on.

[0026] According to the embodiments of this disclosure, the doffing device can travel through an underground tunnel and rise from the tunnel when receiving the material to be transported 80, thereby reducing its occupation of the passage space.

[0027] In one possible embodiment, the first lifting lever set 21 includes a plurality of hydraulic lifting levers, the bottoms of which are fixed to the central part of the frame 12, and the tips of which are uniformly arranged along the edge of the first platform 22.

[0028] In embodiments of this disclosure, the first lifting lever set 21 includes four or more hydraulic lifting levers, and a first drive motor is connected to an oil pump. The oil pump is connected to the hydraulic cylinders of the hydraulic lifting levers. The upper side of the hydraulic cylinders is connected to the frame 12 to enhance the stability of other components above them. The first drive motor and oil pump are not shown in Figure 1 and may be located in the front or rear housing of the frame 12. The maximum stroke of the first lifting lever set 21 is 50% or more of the difference between the lowest position of the yarn package receiving mechanism and the height of the material receiving station. Preferably, the maximum stroke of the first lifting lever set 21 is 80% or more of the difference between the lowest position of the yarn package receiving mechanism and the height of the material receiving station. That is, the majority of the height stroke is completed by the first lifting mechanism and the small portion of the height stroke is completed by the second lifting mechanism.

[0029] According to the solutions of the embodiments of this disclosure, by using a hydraulic lifting lever as the first stage lifting mechanism, the lifting operation can be made faster and the doffing efficiency can be improved.

[0030] In one possible embodiment, the second lifting lever set includes multiple sets of screw screws 32 and a slide rod 31, the slide rod 31 being fixedly connected to one of the first platform 22 and the second platform 33 and slidably connected to the other, the bottom of the screw screws 32 passing through the first platform 22 and connected to a second drive motor 34 installed below the first platform 22, the second drive motor 34 rotating the screw screws to raise and lower the second platform 33.

[0031] In embodiments of this disclosure, there are at least four slide rods 31, each located at one of the four corners of the platform and offset from the first lifting lever set 21. The ends of the slide rods 31 are fixedly connected to the second platform 33, while the remaining portions can pass through the first platform 22. The length of the slide rods 31 is not longer than the stroke of the screw 32. A stopper may also be provided at the bottom of the slide rods 31. There are at least two screw 32, and the ends of the screw 32 and the second platform 33 are connected by a rotating bearing, i.e., the screw 32 and the second platform 33 do not displace relative to each other. The screw 32 are connected to the output assembly of the second drive motor 34 through a circular hole in the first platform 22. The output assembly includes an output shaft and a gear set. The second drive motor 34 rotationally drives the screw 32, causing the screw 32 to displace relative to the second drive motor 34 and the first platform 22, thereby raising and lowering the second platform 33 connected to the screw 32.

[0032] According to the solutions of the embodiments of this disclosure, by using a screw 32 as the second stage lifting mechanism, more precise height control is achieved and accurate docking of the receiving rod 51 with the target material receiving station is facilitated.

[0033] Figure 2 is a schematic diagram of the configuration when the rotating mechanism of the doffing device in Figure 1 is facing a second direction. As shown in Figure 2, in one possible embodiment, a pair of vertical plates 421 are provided on both sides of the longitudinal direction of the rotating mechanism, the bottoms of the pair of vertical plates 421 are connected to a rotary table 43 via a bottom plate 422, the vertical plates 421 are provided with horizontally oriented elongated holes, a slide rail assembly is fixed inside the vertical plates 421 below the elongated holes, a translation assembly is installed between the pair of vertical plates 421, the translation motor 53 of the translation assembly is connected to the slide rail assembly, and the slider 52 of the translation assembly is connected through the elongated holes to the first end of a receiving rod 51 located outside the vertical plates 421.

[0034] In the embodiments of this disclosure, a pair of vertical plates 421 and a bottom plate 422 connecting the bottoms of the two vertical plates 421 constitute a rotating frame 42. The vertical plates 421 may have radians corresponding to the material to be transported 80. The vertical plates 421 have receiving rods 51 and translational assemblies positioned on either side thereof, i.e., the translational assemblies are positioned between the pair of vertical plates 421. The translational assemblies are connected to the receiving rods 51 via sliders 52 that pass through the vertical plates 421, and the vertical plates 421 are used to separate the material to be transported 80 to avoid unexpected contamination or damage by mechanical parts.

[0035] In one possible embodiment, as shown in Figure 2, the slide rail assembly includes a rack rail 441 and an H-shaped rail 442, the H-shaped rail 442 being fixed to a base plate 422, the rack rail 441 being fixed inside a vertical plate 421, the bottom of a translation motor 53 being connected to the H-shaped rail 442 via a wheel 54, the output end of the translation motor 53 being connected to the rack rail 441 via a gear, and the slider 52 being connected to the translation motor 53.

[0036] In one example, the doffing device includes two sets of winding package receiving mechanisms, and accordingly, two sets of slide rail assemblies are installed on the rotating mechanism, with the two sets of winding package receiving mechanisms and slide rail assemblies installed symmetrically. The two sets of winding package receiving mechanisms can receive winding packages from different winding machines, thereby increasing transport efficiency.

[0037] In the embodiments of this disclosure, the translation motor 53 moves along the rack rail 441 and the H-shaped rail 442 by driving gears. Two wheel holders are symmetrically provided at the bottom of the translation motor 53, and each wheel holder is provided with two layers of wheel sets 54, upper and lower, and the translation motor 53 is fixed vertically by connecting the wheel sets 54 to the upper and lower sides of the top plane of the H-shaped rail 442. The rack rail 441 is provided inside the vertical plate 421, and after the receiving rod 51 has received all the winding packages on the rod at once, the rack rail 441 can share some of the weight as a fulcrum closer to the receiving rod 51.

[0038] Figure 3 is a partially enlarged schematic diagram of the rotating mechanism and the winding package receiving mechanism in Figure 2. In one possible embodiment, referring to Figures 2 and 3, the doffing device further comprises an auxiliary support mechanism. The auxiliary support mechanism includes a stopper sleeve 62, a support rod 61, a switch assembly 63, a tension rope 64, and a locking pin. The stopper sleeve 62 is provided at the first end of the rotating mechanism, and a vertical through-hole is formed in the center of the stopper sleeve 62. The support rod 61 is movably provided in the vertical through-hole, and a locking pin is provided on one side of the vertical through-hole. The locking pin is connected to the switch assembly 63, and the support rod 61 is provided with unidirectional teeth that match the locking pin. The locking pin is separated from or engaged with the support rod 61 by the drive of the switch assembly 63. The first end of the tension rope 64 is connected to the bottom of the support rod 61, and the second end of the tension rope 64 is connected to a power source to lift the support rod 61.

[0039] In the embodiments of this disclosure, the auxiliary support mechanism can support the winding package receiving mechanism when receiving the material to be transported 80, thereby preventing the received material from sliding off during subsequent material receiving or retrieval of the receiving rod 51 due to the increased weight causing its furthest end to droop after the winding package receiving mechanism receives the material to be transported 80.

[0040] During operation, the rotation mechanism adjusts the orientation of the rotating frame 42 to the second direction. Then, the switch assembly 63 of the auxiliary support mechanism separates the locking pin from the support rod 61, causing the support rod 61 to slide to the ground due to gravity, and support legs 65 are provided at the bottom of the support rod 61. The switch assembly 63 re-engages the locking pin with the unidirectional teeth of the support rod 61, ensuring that the support rod 61 cannot move upward. When the rotation mechanism needs to be readjusted to the first direction, the switch assembly 63 separates the locking pin from the support rod 61, and the power source retrieves the support rod 61 by pulling it.

[0041] In one possible embodiment, the second end of the tension rope 64 is detachably connected to the claw 55 of the translation assembly via a connecting block 66, which is provided in a sliding groove parallel to the slide rail assembly, and the claw 55 moves the connecting block 66 so that the support rod 61 slides to the ground by gravity before the translation assembly extends outward, and so that the claw 55 moves the connecting block 66 so that the support rod 61 lifts and retrieves while the translation assembly retracts inward.

[0042] In the embodiments of this disclosure, a translation assembly is used as the power source for the auxiliary support mechanism, and in this manner, a slide groove is provided on the side of the slide rail assembly closest to the auxiliary support mechanism, the slide groove is parallel to the H-shaped rail 442, and the connecting block 66 is movably mounted in the slide groove. A claw 55 and an electric switch are provided on the side of the wheel 54 at the bottom of the translation motor 53, and the electric switch can control the claw 55 to pop outwards or fold inwards. The upper part of the connecting block 66 is on the movement path of the claw 55. The translation assembly can fold the claw 55 by the electric switch before extending outwards and docking with the target material receiving station, thereby separating the claw 55 from the connecting block 66 and preventing the second end of the tension rope 64 from being restrained. While the translation assembly contracts inward, the electric switch ejects the claw 55, which in its movement moves the connecting block 66, thereby towing and pulling to lift and retrieve the support rod 61.

[0043] In one possible embodiment, as the doffing device moves toward the target material receiving station, the entire doffing device is located within the underground tunnel, and when the doffing device reaches the target material receiving station, the spool package receiving mechanism rises from within the underground tunnel and docks with the target material receiving station by the drive of a first lifting mechanism, a second lifting mechanism and a rotating mechanism to receive the material to be transported, and as the doffing device returns from the target material receiving station, at least a portion of the doffing device is located within the underground tunnel, and as the traveling mechanism 10 of the doffing device moves, the orientation of the rotating frame 42 is in a first direction, and the first direction is parallel to a first straight line.

[0044] In embodiments of this disclosure, the doffing task typically includes three steps: moving to a target material receiving station, docking with the target material receiving station, and returning from the target material receiving station. During movement to and from the target material receiving station, the entire doffing device can travel within an underground tunnel, as shown in Figures 4 and 5. During the return from the target material receiving station, the device may also travel without descending or partially descending, leaving the material to be transported 80 above ground. This allows for faster movement to the next target material receiving station to receive the material to be transported 80.

[0045] In one possible embodiment, the doffing device performs a material receiving operation after reaching the target material receiving station, namely, the first and second lifting mechanisms raise the spool package receiving mechanism to a height that matches the target material receiving station, the rotating mechanism rotates the rotating frame 42 in a second direction which is the direction of movement of the material to be transported 80 at the target material receiving station, and the second end of the receiving rod 51 is extended horizontally by the drive of the translation assembly to reach the target material receiving station.

[0046] In the embodiments of this disclosure, the hydraulic lifting lever of the first lifting mechanism rapidly brings the spool package receiving mechanism close to the height of the target material receiving station, and then the height of the spool package receiving mechanism is secondarily adjusted by the second lifting mechanism. When the second end of the receiving rod 51 reaches the target material receiving station, if the second end of the receiving rod 51 is not aligned with the target material receiving station, it can also be finely adjusted by the second lifting mechanism.

[0047] In one possible embodiment, the first end of the rotating frame 42 is provided with an imaging device 71 for determining the positional difference between the second end of the receiving rod 51 and the target material receiving station. To achieve precise docking, the second lifting mechanism adjusts the longitudinal position of the second end of the receiving rod 51 based on the position difference, and / or The rotating mechanism adjusts the lateral position of the second end of the receiving rod 51 according to the positional difference.

[0048] In the embodiments of this disclosure, the positional difference between the second end of the receiving rod 51 and the target material receiving station is determined by image recognition using the imaging device 71. Markers can be installed at the second end of the receiving rod 51 and each target material receiving station, and by calibrating the imaging device 71 using any of the prior art methods, the positional difference between the second end of the receiving rod 51 and the target material receiving station can be identified based on the image information collected by the imaging device 71. This positional difference can be decomposed into a lateral positional difference and a vertical positional difference, which can be adjusted by the second lifting mechanism and the rotation mechanism, respectively, to achieve accurate docking.

[0049] Other configurations of the doffing apparatus according to the above embodiment can employ various current and future technical solutions known to those skilled in the art, which will not be repeated here.

[0050] In this description, terms such as “center,” “longitudinal,” “transverse,” “length,” “width,” “thickness,” “top,” “bottom,” “front,” “back,” “left,” “right,” “vertical,” “horizontal,” “top,” “bottom,” “inside,” “outside,” “clockwise,” “counterclockwise,” “axial,” “radial,” and “circumferential” indicate orientations or positional relationships based on those shown in the accompanying drawings, and are intended solely to facilitate and simplify the description of this disclosure, and do not indicate or suggest that any device or element referred to has a particular orientation, is configured in a particular orientation, or must operate in a particular orientation, and therefore should not be construed as a limitation of this disclosure.

[0051] Furthermore, the terms “First” and “Second” are used solely for descriptive purposes and are not intended to be understood as specifying the number of technical features that indicate or imply relative importance, or that are implicitly represented. Thus, features defined in the terms “First” and “Second” may explicitly or implicitly include one or more such features. In this disclosure, “multiple” means two or more unless explicitly and specifically limited.

[0052] In this disclosure, unless otherwise expressly provided and limited, the terms “attachment,” “connection,” “linking,” and “fixing” shall be interpreted broadly, and may include, for example, a fixed connection, a detachable connection, a joint, a mechanical connection, an electrical connection or communication, a direct connection, an indirect connection via an intermediate medium, or an internal communication or interaction relationship between two elements. A person skilled in the art will be able to understand the specific meaning of the above terms in this disclosure on a case-by-case basis.

[0053] Unless otherwise expressly provided and limited in this disclosure, the presence of a first feature "above" or "below" a second feature may include direct contact between the first and second features, or it may include contact between them via another feature without direct contact. Furthermore, the presence of a first feature "above," "above," or "on the top surface" of a second feature means that the first feature is directly above or diagonally above the second feature, or simply that the first feature is horizontally higher than the second feature. The presence of a first feature "below," "below," or "on the bottom surface" of a second feature means that the first feature is directly below or diagonally below the second feature, or simply that the first feature is horizontally lower than the second feature.

[0054] The above disclosures have provided numerous different embodiments or examples for carrying out different structures of the Disclosure. For the sake of brevity of the Disclosure, the above describes parts and settings of specific embodiments. Of course, these are illustrative only and are not intended to limit the Disclosure. In addition, the Disclosure may repeat reference figures and / or reference letters in different embodiments, and such repetitions are for the purpose of brevity and clarity and do not in themselves indicate relationships between the various embodiments and / or settings discussed.

[0055] The foregoing describes only specific embodiments of the Disclosure, but the scope of protection of the Disclosure is not limited thereto. A person skilled in the art can easily conceive of various modifications or substitutions within the scope of the technology disclosed herein, and these will be covered within the scope of protection of the Disclosure. Accordingly, the scope of protection of the Disclosure shall be subject to the scope of protection of the claims described herein. [Explanation of Symbols]

[0056] 10 Travel mechanism, 11 Travel wheels, 12 Frame, 21 First lifting lever set, 22 First platform, 31 Slide rod, 32 Screw, 33 Second platform, 34 Second drive motor, 41 Rotary motor, 42 Rotary frame, 421 Vertical plate, 422 Bottom plate, 43 Rotary table, 441 Rack rail, 442 H-shaped rail, 51 Receiving rod, 52 Slider, 53 Translation motor, 54 Wheel, 55 Claw, 61 Support rod, 62 Stopper sleeve, 63 Switch assembly, 64 Tension rope, 65 Support leg, 66 Connecting block, 71 Imaging device, 80 Material to be transported.

Claims

1. A periscopic dofing device, A running mechanism (10) comprising a frame (12), running wheels (11), and a running motor, wherein the running mechanism (10) is installed in an underground trench below ground level, the underground trench is installed along a first straight line, and the first straight line is parallel to a second straight line formed by a plurality of material receiving stations, A first lifting mechanism comprising a first lifting lever set (21), a first drive motor, and a first platform (22), wherein the first lifting lever set (21) is fixed to the frame (12), the tip of the first lifting lever set (21) is connected to the first platform (22), and the first lifting lever set (21) adjusts the height of the first platform (22) by the drive of the first drive motor, A second lifting mechanism comprising a second lifting lever set, a second drive motor (34), and a second platform (33), wherein the second lifting lever set is installed on the first platform (22), the tip of the second lifting lever set is connected to the second platform (33), and the second lifting lever set adjusts the height of the second platform (33) by being driven by the second drive motor (34), A rotating mechanism comprising a rotary motor (41) and a rotating frame (42) fixed to the second platform (33), wherein the rotary motor (41) is fixed to the second platform (33), the rotary motor (41) is connected to a rotary table (43) at the bottom of the rotating frame (42), the rotating frame (42) is provided with a horizontally installed slide rail assembly, and the rotation of the rotating frame (42) is switched between a first direction and a second direction by the drive of the rotary motor (41), A winding package receiving mechanism comprising a receiving rod (51) and a translation assembly, wherein the first end of the receiving rod (51) is connected to the translation assembly, the translation assembly is connected to the slide rail assembly, and the receiving rod (51) is extended and retracted along the orientation of the rotating frame (42) by the drive of the translation assembly so that the second end of the receiving rod (51) reaches a target material receiving station to receive the material to be transported. Periscopic Dofing device.

2. The first lifting lever set (21) includes a plurality of hydraulic lifting levers, the bottoms of which are fixed to the center of the frame (12), and the tips of which are uniformly arranged along the edge of the first platform (22). The periscopic dofing apparatus according to claim 1.

3. The second lifting lever set includes multiple sets of screw threads and slide rods, the slide rods being fixedly connected to one of the first platform (22) and the second platform (33) and slidably connected to the other, the bottom of the screw threads passing through the first platform (22) and connected to a second drive motor (34) installed below the first platform (22), the second drive motor (34) rotating the screw threads to raise and lower the second platform (33). The periscopic dofing apparatus according to claim 1.

4. A pair of vertical plates (421) are provided on both sides of the longitudinal direction of the rotation mechanism, the bottoms of the pair of vertical plates (421) are connected to the rotary table (43) via a bottom plate (422), the vertical plates (421) are provided with horizontally oriented elongated holes, the slide rail assembly is fixed inside the vertical plate (421) below the elongated holes, the translation assembly is installed between the pair of vertical plates (421), the translation motor (53) of the translation assembly is connected to the slide rail assembly, and the slider (52) of the translation assembly is connected through the elongated holes to the first end of the receiving rod (51) located outside the vertical plate (421). The periscopic dofing apparatus according to claim 1.

5. The slide rail assembly includes a rack rail (441) and an H-shaped rail (442), the H-shaped rail (442) being fixed to the bottom plate (422), the rack rail (441) being fixed inside the vertical plate (421), the bottom of the translation motor (53) being connected to the H-shaped rail (442) via a wheel (54), the output end of the translation motor (53) being connected to the rack rail (441) via a gear, and the slider (52) being connected to the translation motor (53). The periscopic dofing apparatus according to claim 4.

6. The aforementioned periscopic dofing device further comprises an auxiliary support mechanism, The auxiliary support mechanism includes a stopper sleeve (62), a support rod (61), a switch assembly (63), a tension rope (64), and a locking pin, wherein the stopper sleeve (62) is provided at the first end of the rotating mechanism, a vertical through hole is formed in the center of the stopper sleeve (62), the support rod (61) is movably provided in the vertical through hole, a locking pin is provided on one side of the vertical through hole, the locking pin is connected to the switch assembly (63), the support rod (61) is provided with one-way teeth that match the locking pin, the locking pin is separated from or engages with the support rod (61) by the drive of the switch assembly (63), the first end of the tension rope (64) is connected to the bottom of the support rod (61), and the second end of the tension rope (64) is connected to a power source to lift the support rod (61). The periscopic dofing apparatus according to claim 1.

7. The second end of the tension rope (64) is detachably connected to the claw (55) of the translation assembly via a connecting block (66), the connecting block (66) being provided in a slide groove parallel to the slide rail assembly, and the claw (55) moving the connecting block (66) so as to separate the claw (55) from the connecting block (66) so as to cause the support rod (61) to slide to the ground by gravity before the translation assembly extends outward, and so as to move the connecting block (66) so as to lift and retrieve the support rod (61) while the translation assembly contracts inward. The periscopic dofing apparatus according to claim 6.

8. When the periscopic doffing device moves toward the target material receiving station, the entire periscopic doffing device is located within the underground tunnel, and when the periscopic doffing device reaches the target material receiving station, the spool package receiving mechanism rises from within the underground tunnel and docks with the target material receiving station by the driving of the first lifting mechanism, the second lifting mechanism and the rotation mechanism in order to receive the material to be transported, and when the periscopic doffing device returns from the target material receiving station, at least a part of the periscopic doffing device is located within the underground tunnel, and when the traveling mechanism (10) of the periscopic doffing device moves, the orientation of the rotating frame (42) is the first direction, and the first direction is parallel to the first straight line. A periscopic dofing apparatus according to any one of claims 1 to 7.

9. After the periscopic dofing device reaches the target material receiving station, The first and second lifting mechanisms raise the yarn package receiving mechanism to a height that matches the target material receiving station, the rotating mechanism rotates the rotating frame (42) in a second direction which is the direction of movement of the material to be transported (80) at the target material receiving station, and the second end of the receiving rod (51) is extended horizontally by the drive of the translation assembly to reach the target material receiving station, thereby performing a material receiving operation. The periscopic dofing apparatus according to claim 8.

10. An imaging device (71) is provided at the first end of the rotating frame (42) for determining the positional difference between the second end of the receiving rod (51) and the target material receiving station. To achieve precise docking, the second lifting mechanism adjusts the vertical position of the second end of the receiving rod (51) based on the position difference, and / or The rotation mechanism adjusts the lateral position of the second end of the receiving rod (51) according to the position difference. The periscopic dofing apparatus according to claim 1.

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