CN106120071B - Warping fills yarn system - Google Patents
Warping fills yarn system Download PDFInfo
- Publication number
- CN106120071B CN106120071B CN201610705034.XA CN201610705034A CN106120071B CN 106120071 B CN106120071 B CN 106120071B CN 201610705034 A CN201610705034 A CN 201610705034A CN 106120071 B CN106120071 B CN 106120071B
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- China
- Prior art keywords
- yarn
- cheese
- transfer rack
- transfer
- warping
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Classifications
-
- D—TEXTILES; PAPER
- D02—YARNS; MECHANICAL FINISHING OF YARNS OR ROPES; WARPING OR BEAMING
- D02H—WARPING, BEAMING OR LEASING
- D02H3/00—Warping machines
-
- D—TEXTILES; PAPER
- D02—YARNS; MECHANICAL FINISHING OF YARNS OR ROPES; WARPING OR BEAMING
- D02H—WARPING, BEAMING OR LEASING
- D02H1/00—Creels, i.e. apparatus for supplying a multiplicity of individual threads
-
- D—TEXTILES; PAPER
- D02—YARNS; MECHANICAL FINISHING OF YARNS OR ROPES; WARPING OR BEAMING
- D02H—WARPING, BEAMING OR LEASING
- D02H13/00—Details of machines of the preceding groups
Abstract
The present invention relates to a kind of warpings to fill yarn system.Warping dress yarn system includes Cun Sha mechanisms, transfer mechanism, grasping mechanism, feed mechanism and control mechanism.The warping fills yarn system and the warping system containing warping dress yarn system can fill cheese on creel automatically, and the entire yarn process that fills substantially can have the advantageous effect for saving manpower, reducing employee work intensity, improving production efficiency by machine independent operating.
Description
Technical field
The present invention relates to field of textile machinery, and yarn system is filled more particularly, to a kind of warping.
Background technology
In field of textiles, warping is the preparatory process of woven fabric, and it is an important step in warping production process to fill yarn.
Traditional warping dress yarn, which generally relies on, to be accomplished manually.During artificial dress yarn, employee is needed frequently to bend over to operate, labor intensity is big, and
It is low to fill yarn efficiency, is unfavorable for automated production.
Invention content
Based on this, it is necessary to provide a kind of time saving and energy saving warping dress yarn system.
A kind of warping fills yarn system, including：
Cun Sha mechanisms, for placing cheese；
Transfer mechanism, close to the Cun Sha mechanisms set, the transfer mechanism be equipped with for place cheese first
Insert yarn bar；
Grasping mechanism is set close to the Cun Sha mechanisms and the transfer mechanism, and the grasping mechanism is used to deposit from described
Yarn mechanism captures the cheese, and the cheese of crawl is inserted into the first slotting yarn bar；
Feed mechanism is erected at including feeding guide, cradle, the second slotting yarn bar and feeding driving device, the feeding
On the feeding guide, the second slotting yarn bar is located on the cradle, and the feeding driving device is used to drive described send
Rack is moved along the feeding guide, and the feeding driving device can drive the cradle to be moved at the transfer mechanism
And make in the cheese that the described second slotting yarn bar is inserted on the described first slotting yarn bar to remove institute from the transfer mechanism
Cheese is stated, the feeding driving device also is able to that the cradle is driven to be moved at creel and makes to be inserted in the described second slotting yarn
Cheese on bar is inserted on the yarn axis of creel the cheese being transferred on the yarn axis from the described second slotting yarn bar；
And
Control mechanism is electrically connected with the grasping mechanism and the feeding driving device, to control the crawl respectively
Mechanism and feeding driving device action.
The Cun Sha mechanisms include depositing creel, roller and drum drive, the roller in one of the embodiments,
Have it is multiple, multiple rollers be disposed side by side on it is described deposit on creel, the drum drive is electrically connected with the control mechanism,
The drum drive is used to that the roller rotation to be driven to send the pile plate yarn on the roller to close to the gripper
Structure, the grasping mechanism capture the cheese from the pile plate yarn；Or
The Cun Sha mechanisms include depositing creel, conveyer belt and conveyor drive arrangement, and the conveyer belt, which is located at, to be deposited on creel,
The conveyor drive arrangement is electrically connected with the control mechanism and can be controlled by the control mechanism described for driving
Conveyer belt moves, and the conveyer belt is equipped with multiple cheese spindle positions.
The Cun Sha mechanisms further include position correction apparatus in one of the embodiments, the position correction apparatus with
The control mechanism is electrically connected, and the position correction apparatus is used to detect the cheese on current pile plate yarn upper strata to be captured
Position, and the current pile plate yarn to be captured of drum drive adjustment is passed through according to the position of the remaining cheese in upper strata
Position；Or
The Cun Sha mechanisms further include stepping sensing device, and the stepping sensing device electrically connects with the control mechanism
It connects, whether the stepping sensing device has cheese in the most front-seat cheese spindle position of automatic sensing, when the step
When sensing into sensing device without cheese, the control mechanism controls the conveyor drive arrangement to drive the conveyer belt stepping
One row's spindle position.
The transfer mechanism includes the first transfer rack and the first transfer rack rotation driving dress in one of the embodiments,
It puts, the first transfer rack device of rotation driving is electrically connected with the control mechanism；Wherein,
First transfer rack is equipped with multiple first slotting yarn bars, and the grasping mechanism is by the cheese according to the
On the first slotting yarn bar that one direction is inserted on first transfer rack, the first transfer rack device of rotation driving is used to drive institute
State the rotation of the first transfer rack.
At least two sides of first transfer rack are equipped with the described first slotting yarn bar in one of the embodiments, and
The first slotting yarn bar is arranged in rows on the corresponding side of first transfer rack.
The transfer mechanism further includes the second transfer rack, the second transfer rack rotation driving dress in one of the embodiments,
It puts and the second transfer rack mobile drive deivce, the second transfer rack device of rotation driving and the second transfer rack mobile drive deivce
It is electrically connected respectively with the control mechanism；Wherein,
The second transfer is put up a set of described in each two, and each second transfer rack is equipped with multiple first slotting yarns
Bar, on the first slotting yarn bar that the cheese is inserted on second transfer rack according to second direction by the grasping mechanism, institute
The second transfer rack device of rotation driving is stated for second transfer rack to be driven to rotate, the second transfer rack mobile drive deivce
For adjusting the distance between two described second transfer racks in often covering with by the cheese on one of them second transfer rack
It shifts and is plugged with first direction to another the second transfer rack, the second direction is opposite to the first direction.
At least two opposite sides of second transfer rack are equipped with the described first slotting yarn in one of the embodiments,
Bar, and the first slotting yarn bar is arranged in rows in the respective side of second transfer rack.
The control mechanism controls the grasping mechanism by major part court in the Cun Sha mechanisms in one of the embodiments,
Under the cheese capture and be inserted on first transfer rack, the small head-down cheese is captured and is inserted into
On second transfer rack.
The grasping mechanism is six axis robot in one of the embodiments,.
The grasping mechanism has a variety of gripping heads in one of the embodiments, to capture cheese and bobbin respectively
Yarn partition board.
Warping dress yarn system further includes protection mechanism in one of the embodiments, the protection mechanism with it is described
Control mechanism is electrically connected, and the protection mechanism has in pre-determined distance whether have operative employee for detecting with the grasping mechanism
Or obstacle, if detected operative employee or obstacle, the control mechanism controls the grasping mechanism stopping action.
The warping dress yarn system further includes Material moving device in one of the embodiments, and the Material moving device includes moving
Expect seat, move material guide rail, move material driving device and move material positioning device；The material driving device of moving electrically connects with the control mechanism
It connects and can be by the control mechanism control action；The material seat that moves is located on the shifting material guide rail and can be driven by the material that moves
Dynamic device driving is moved in described move on material guide rail；The material positioning device of moving is used to position the shifting in described move on material guide rail
Expect the position of seat；
The Cun Sha mechanisms, the transfer mechanism and the grasping mechanism are located at described move on material seat, and can be by described
Material driving device driving is moved to move between different creel feeding areas.
The feeding guide includes the first feeding guide and hangs down with first feeding guide in one of the embodiments,
Direct-connected the second feeding guide connect；The feeding driving device includes the first feeding driving device and the second feeding driving device；
The feeding is erected on second feeding guide；First feeding driving device is used to drive second feeding guide
It is moved on first feeding guide, second feeding driving device is used to drive the cradle in second feeding
It is moved on guide rail.
The feed mechanism further includes yarn shaft position detection device, the yarn shaft position inspection in one of the embodiments,
It surveys device to be electrically connected with the control mechanism, the yarn to be installed that the control mechanism is detected according to the yarn shaft position detection device
Creel on yarn shaft position adjust the position of the cradle, it is corresponding with yarn shaft position corresponding on the creel of yarn to be installed.
Above-mentioned warping dress yarn system can fill cheese on creel automatically, and entire dress yarn process substantially can be only by machine
Vertical operation has the advantageous effect for saving manpower, reducing employee work intensity, improving production efficiency.
Description of the drawings
Fig. 1 is the structure diagram of the warping system of an embodiment；
Fig. 2 is the structure diagram of the Cun Sha mechanisms of Tu1Zhong Cun yarns mechanism；
Fig. 3 is the structure diagram of other embodiment Zhong Cun yarns mechanism；
Fig. 4 is the structure diagram of grasping mechanism in Fig. 1；
Fig. 5 is the structure diagram of transfer mechanism and Material moving device in Fig. 1；
Fig. 6 is the structure diagram of feed mechanism in Fig. 1.
Specific embodiment
For the ease of understanding the present invention, the present invention is described more fully below with reference to relevant drawings.In attached drawing
Give presently preferred embodiments of the present invention.But the present invention can realize in many different forms, however it is not limited to this paper institutes
The embodiment of description.On the contrary, the purpose for providing these embodiments is to make the understanding to the disclosure more thorough
Comprehensively.
It should be noted that when element is referred to as " being fixed on " another element, it can be directly on another element
Or there may also be elements placed in the middle.When an element is considered as " connection " another element, it can be directly connected to
To another element or it may be simultaneously present centering elements.
Unless otherwise defined, all of technologies and scientific terms used here by the article is with belonging to technical field of the invention
The normally understood meaning of technical staff is identical.Term used in the description of the invention herein is intended merely to description tool
The purpose of the embodiment of body, it is not intended that in the limitation present invention.Term as used herein "and/or" includes one or more phases
The arbitrary and all combination of the Listed Items of pass.
As shown in Fig. 1, Fig. 6, the warping system of an embodiment includes warping dress yarn system 10, creel 20 and warping machine 30.
Warping dress yarn system 10 is used to fill cheese automatically to the yarn axis 22 of creel 20.The head of warping machine 30 is located at the one of creel 20
End, for carrying out warping processing to the cheese on creel 20.
In the present embodiment, creel 20 has multiple rows of, and close in end between adjacent creel 20, and be in the shape of the letter V setting.Often
Two rows of creels 20 form one group, and are equipped with the head of warping machine 30 in end close to each other.Further, in the present embodiment,
Creel 20 has multigroup, and creel region of multigroup creel 20 in workshop is set gradually, correspondingly, the head of warping machine 30 also have it is more
It is a, each group creel 20 is corresponded to respectively to be set.
In the present embodiment, warping dress yarn system 10 also has multigroup.Every group of warping dress yarn system 10 corresponds to two groups of creels 20,
And it can move to supply cheese respectively between two groups of creels 20.Preferably, warping dress yarn system 10 and warping machine 30
Mechanism be respectively provided at the both ends of every group of creel 20, that is, warping dress yarn system 10 is located at two mutually separate one end of creel 20.
Below incorporated by reference to Fig. 1, Fig. 2, Fig. 4, Fig. 5 and Fig. 6, the warping dress yarn system 10 of the present embodiment includes Cun Sha mechanisms
100th, transfer mechanism 200, grasping mechanism 300, Material moving device 400, feed mechanism 500 and control mechanism 600.
Cun Sha mechanisms 100 are used to place cheese 91.In the present embodiment, Cun Sha mechanisms 100 include depositing creel 110, rolling
Cylinder 120 and drum drive (not shown).Roller 120 has multiple.Multiple rollers 120, which are disposed side by side on, to be deposited on creel 110.Rolling
Cylinder driving device is electrically connected with control mechanism 600, by 600 control action of control mechanism.Drum drive rolls for driving
Cylinder 120 rotates to send the pile plate yarn 90 on roller 120 to close to grasping mechanism 300.
Pile plate yarn 90 is folded by 91 pile of multilayer cheese and formed, and the cheese 91 between adjacent layer by cheese partition board 92 every
It opens.There may be the situations that the large and small head of yarn is staggeredly stored upwards in every layer of cheese 91.It can be in each Cun Sha mechanisms 100
Place more pile plate yarns 90.
In the present embodiment, Cun Sha mechanisms 100 further include position correction apparatus.Position correction apparatus and control mechanism 600
It is electrically connected.Position correction apparatus is used to detect the position of the cheese 91 on current 90 upper strata of pile plate yarn to be captured, and according to
The position that the position of the remaining cheese 91 in upper strata passes through the current pile plate yarn 90 to be captured of drum drive adjustment.
As shown in figure 3, in other embodiments, Cun Sha mechanisms 800 can also use conveyor type structure, such as include depositing yarn
Frame 810, conveyer belt 820 and conveyor drive arrangement.Wherein, conveyer belt 820, which is located at, deposits on creel 810.Conveyor drive arrangement
It is electrically connected with control mechanism 600 and can be controlled that conveyer belt 820 is driven to move by control mechanism 600.On conveyer belt 820
Equipped with multiple cheese spindle positions 830.The cheese in cheese spindle position 830 is placed on specific towards placing, preferably with big
Head downwardly direction is placed.Multiple cheese spindle positions 830 are preferably distributed in multiple rows of multiple row.Further, in this embodiment, yarn is deposited
Mechanism 800 further includes stepping sensing device.Stepping sensing device is electrically connected with control mechanism 600.Stepping sensing device is used for
Whether there is cheese 91 in the most front-seat cheese spindle position 830 of automatic sensing, when stepping sensing device senses most front-seat no bobbin
During yarn 91, control mechanism 600 controls conveyor drive arrangement to drive 820 stepping of conveyer belt, one row's spindle position.
Transfer mechanism 200 is set close to Cun Sha mechanisms 100, for temporarily storing cheese 91.Transfer mechanism 200 is equipped with
For placing the first of cheese 91 the slotting yarn bar 210.Grasping mechanism 300 is set close to Cun Sha mechanisms 100 and transfer mechanism 200.
Grasping mechanism 300 is used to capture cheese 91 from Cun Sha mechanisms 100, and the cheese 91 of crawl is inserted into the first slotting yarn bar 210.
In the present embodiment, transfer mechanism 200 includes the first transfer rack 220, the first transfer rack device of rotation driving, second
Transfer rack 230, the second transfer rack device of rotation driving and the second transfer rack mobile drive deivce.First transfer rack rotation driving dress
Put, the second transfer rack device of rotation driving and the second transfer rack mobile drive deivce are electrically connected respectively with control mechanism 600, and
It can be by 600 control action of control mechanism.
First transfer rack 220 is equipped with the multiple first slotting yarn bars 210.Grasping mechanism 300 is by cheese 91 according to first party
On the first slotting yarn bar 210 being inserted on the first transfer rack 220.Specifically, in the present embodiment, the first transfer rack 220 is length
The cuboid column structure of bar shaped, three of them side is equipped with the first slotting yarn bar 210, and the first slotting yarn bar 210 is in the first transfer
Arranged in rows on the corresponding side of frame 220, such as each side is equipped with the row first being vertically distributed and inserts yarn bar 210.
First transfer rack device of rotation driving is for driving the first transfer rack 220 to rotate, such as 90 ° of rotation every time, to be installed in one side
After cheese 91, rotation switches to next side and continues to fill yarn.It is understood that in other embodiments, the first transfer rack 220
Shape is also not necessarily limited to cuboid column structure, and can also be set on two sides of the first transfer rack 220 or more side
Put the first slotting yarn bar 210, and pass through the first transfer rack device of rotation driving drive the first transfer rack 220 rotate corresponding angle with
Switch between different sides.
The second transfer rack of each two 230 forms a set of.Each second transfer rack 230 is equipped with the multiple first slotting yarn bars 210.
On the first slotting yarn bar 210 that cheese 91 is inserted on the second transfer rack 230 according to second direction by grasping mechanism 300.Specifically,
In the present embodiment, the elongated cuboid column structure of the second transfer rack 230, two opposite side are equipped with first and insert
Yarn bar 210, and the first slotting yarn bar 210 is arranged in rows in the respective side of the second transfer rack 230.Set of two the second transfers
The quantity of the first slotting yarn bar 210 on frame 230 and installation position correspond to.It is understood that in other embodiments, the second transfer rack
230 are also not necessarily limited to cuboid column structure, and can also be set on the side of three or three or more of the second transfer rack 230
Put the first slotting yarn bar 210.
Second transfer rack device of rotation driving is for driving the second transfer rack 230 to rotate, such as 180 ° of rotation every time.In second
Pivoted frame mobile drive deivce is for the distance between two second transfer racks 230 in adjusting often set.The rotation of second transfer rack is driven
Dynamic device can turn to the side that cheese 91 is filled on one of them second transfer rack 230 towards another the second transfer
Frame 230, then under the mating reaction of the second transfer rack mobile drive deivce, make two the second transfer racks 230 close, it will wherein
Cheese 91 on one the second transfer rack 230 is shifted and is plugged with first direction to another the second transfer rack 230.It is described
Second direction it is opposite with the first direction.
In the present embodiment, control mechanism 600 controls grasping mechanism 300 by head-down bobbin big in Cun Sha mechanisms 100
Yarn 91 is captured and is inserted on the first transfer rack 220, and the major part for making cheese 91 is inside, and small head-down cheese 91 is grabbed
It takes and is inserted on wherein one second transfer rack 230, the major part on second transfer rack 230 of cheese 91 is outside at this time.When
Two transfer rack device of rotation driving and the action of the second transfer rack mobile drive deivce coordinate, by the cylinder on second transfer rack 230
After sub- yarn 91 is transferred on set of another second transfer rack 230, it is inside that the cheese 91 after transfer also becomes major part.
During the present embodiment transfer mechanism 200 can be not limited to use in warping dress yarn as cheese transfer mechanism, it can match
Close following grasping mechanisms 300 form cheeses arrange to device be used in other need to arrange cheese 91 to occasion.The cylinder
Sub- yarn is arranged automatically can arrange cheese 91 to without human intervention, efficient to device.
It is understood that in other embodiments, when cheese is placed in a certain direction in Cun Sha mechanisms, such as using such as
During conveyor type structure shown in Fig. 3, which can also contain only above-mentioned first transfer rack, 220 and first transfer
Frame device of rotation driving.
In the present embodiment, grasping mechanism 300 is six axis robot.Grasping mechanism 300 has a variety of gripping heads, a variety of to grab
Head is taken to be made of different fixtures or suction tool, to capture cheese 91 and cheese partition board 92 respectively.As in the present embodiment, use
In crawl cheese 91 gripping head by can extend into more in cheese 91 310 structures of (such as two or two or more) column
Into, and the columns driving device such as cylinder is correspondingly provided with, column 310 to be driven to move, column 310 is made to strut or close up, needed
When capturing cheese 91, column 310 struts, and when shifting cheese 91, column 310 closes up；For another example in the present embodiment, for
The gripping head of crawl cheese partition board 92 is made of multiple suckers 320, and sucker 320 is connect with vacuum plant, is inhaled by vacuumizing
Take cheese partition board 92.In the present embodiment, for capturing the gripping head of cheese 91 cheese partition board 92 is captured with being used for
Gripping head is installed on a pedestal 330, the afterbody of the grasping mechanism 300 of the pedestal 330 installation six axis robot structure
It, can be by mechanical arm routing motions at different levels to desired position on mechanical arm.
Grasping mechanism 300 is in the cheese 91 on capturing pile plate yarn 90, after one layer of cheese 91 captures, crawl
300 automatic conversion gripping head of mechanism, to capture cheese partition board 92, and be stored in the partition board deposit position specified.
Grasping mechanism 300 is equipped with device for visual identification.The device for visual identification is electrically connected with control mechanism 600.It should
Device for visual identification can position the cheese in Cun Sha mechanisms 100, to control crawl position by control mechanism 600
It puts, and the initial position of crawl according to recognition result, can be set.
The grasping mechanism 300 of the present embodiment can be widely used in as cheese grabbing device various needs machine automatization to grab
The occasion of cheese is taken, and other gripping heads can also be coordinated, to capture required material, such as sucker 320 can be coordinated to pass through
It vacuumizes and draws the various planks such as cheese partition board.
Further, in the present embodiment, warping system 10 further includes protection mechanism.Protection mechanism and 600 electricity of control mechanism
Property connection.Protection mechanism has in pre-determined distance whether have operative employee or obstacle for detecting with grasping mechanism 300, if detection
To when having operative employee or obstacle, control mechanism 600 controls 300 stopping of grasping mechanism action, to prevent in grasping mechanism 300
Operative employee is caused in operation area to accidentally injure evil or because obstacle damages grasping mechanism 300.Grating etc. may be used in protection mechanism
Device is realized.
Material moving device 400 includes moving material seat 410, moves material guide rail 420, moves material driving device and move material positioning device 440.It moves
Material driving device is electrically connected with control mechanism 600 and can be by 600 control action of control mechanism.It moves material seat 410 and is located at shifting material
It can be moved on guide rail 420 and on material guide rail 420 is moved by moving the driving of material driving device.Move material 440 preferred hydraulic pressure of positioning device
Alignment system, for the position of the positioning shifting material seat 410 on material guide rail 420 is moved.Cun Sha mechanisms 100, transfer mechanism 200 and crawl
Mechanism 300 is located on shifting material seat 410, and can be moved between the feeding area of different creels 20 by moving material driving device driving
It is dynamic, to meet the fitted tube demand that a set of Cun Sha mechanisms 100, transfer mechanism 200 and grasping mechanism 300 supply more warping machines 30.
Feed mechanism 500 includes feeding guide 510, cradle 520, the second slotting yarn bar 530 and feeding driving device.Feeding
Frame 520 is located on feeding guide 510.Second slotting yarn bar 530 is located on cradle 520.Feeding driving device is used to drive feeding
Frame 520 is moved along feeding guide 510.Feeding driving device can drive cradle 520 to be moved at transfer mechanism 200 and make
To remove cheese 91 from transfer mechanism 200 in the cheese 91 that two slotting yarn bars 530 are inserted on the first slotting yarn bar 210.
Feeding driving device also is able to driving cradle 520 and is moved at creel 20 and makes the cheese being inserted on the second slotting yarn bar 530
91 are inserted on the yarn axis 22 of creels 20 cheese 91 being transferred on yarn axis 22 from the second slotting yarn bar 530.
The first slotting yarn bar 210, the second slotting yarn bar 530 and grasping mechanism 300 of the present embodiment are used to capture cheese 91
Gripping head is made of more root posts, and is correspondingly provided with column driving device, can be such as made of two root posts, and column and gas
The columns such as cylinder driving device connects, and when shifting cheese 91, column driving device can control more root posts to strut or merge,
Such as when capturing cheese 91 on pile plate yarn 90, the gripping head of grasping mechanism 300 is inserted into the bobbin of cheese 91, corresponding vertical
Column driving device driving column struts, and fixed bobbin yarn 91 is propped up from the bobbin of cheese 91, in grasping mechanism 300 by bobbin
When yarn 91 is inserted on the first slotting yarn bar 210, column driving device drives the column of the first slotting yarn bar 210 to strut, corresponding to capture
Column on head merges, and cheese 91 can be transferred to from gripping head on the first slotting yarn bar 210, turns from the first slotting yarn bar 210
It moves on the second slotting yarn bar 530 similarly.Preferably, for the first slotting (such as the first transfer rack 220 of yarn bar 210 in respective side
And/or the first slotting yarn bar 210 in 230 respective side of the second transfer rack) and the second slotting yarn bar 530, the linkage of column driving device
The on the side first slotting 210 and/or second slotting yarn bar 530 of yarn bar is controlled to act.
In the present embodiment, feeding guide 510 includes the first feeding guide 512 and vertical with the first feeding guide 512 connects
The second feeding guide 514 connect.Feeding driving device includes the first feeding driving device and the second feeding driving device.Cradle
520 are located on the second feeding guide 514.First feeding driving device is led for the second feeding guide 514 of driving in the first feeding
It is moved on rail 512.Second feeding driving device is used to that cradle 520 to be driven to move on the second feeding guide 514.First feeding
Guide rail 512 is matched with the second feeding guide 514 forms two-dimensional movement plane, can be moved to cradle 520 arbitrary required
Position.
In the present embodiment, feed mechanism 510 further includes yarn shaft position detection device.Yarn shaft position detection device and control
Mechanism 600 is electrically connected.Yarn axis 22 on the creel 20 for the yarn to be installed that control mechanism 600 is detected according to yarn shaft position detection device
Position adjusts the position of cradle 520, corresponding with the position of yarn axis 22 corresponding on the creel 20 with yarn to be installed.
Control mechanism 600 and each driving device, position correction apparatus (or stepping sensing device), grasping mechanism 300, vision
The electric connections such as identification device, protection mechanism and yarn shaft position detection device to receive corresponding detection signal, and control corresponding
Mechanism action.The realizations such as computer or programmable logic controller (PLC) (PLC) can be used in control mechanism 600, have interpersonal interaction
Inputting display interface, in order to operative employee monitor and operate.
Specifically, in the present embodiment, when storage has cheese 91 in Cun Sha mechanisms 100, control mechanism 600 is controllable
Cun Sha mechanisms 100, which act, send cheese 91 to grasping mechanism 300 nearby so that grasping mechanism 300 captures, and grasping mechanism 300 will
The cheese 91 of crawl is inserted on the first slotting yarn bar 210 of transfer mechanism 200, and control mechanism 600 controls transfer mechanism 200 dynamic
Make, cheese 91 to be removed on transfer mechanism 200 is made to be inserted on the first slotting yarn bar 210 with major part inward direction, is then controlled
Mechanism 600 processed controls feed mechanism 500 to act, and the cheese 91 on the first slotting yarn bar 210 is made to be transferred to the on cradle 520
On two slotting yarn bars 530, the major part on the second slotting yarn bar 530 of cheese 91 is outside, and then control mechanism 600 is according to the yarn of yarn to be installed
The position of yarn axis 22 on frame 20, control feed mechanism 500 act, and cheese 91 is delivered to the position of yarn to be installed, and by cylinder
Sub- yarn 91 is transferred on yarn axis 22.During yarn is filled, control mechanism 600 can also be according to different 20 grades of warping machines 30 of creel
Yarn demand is filled, control Material moving device 400 acts, and Cun Sha mechanisms 100, transfer mechanism 200 and grasping mechanism 300 are moved to institute
The position needed.
Above-mentioned warping dress yarn system 10 and the warping system containing warping dress yarn system 10 can fill on creel 20 automatically
Cheese 91, it is entire fill yarn process substantially can by machine independent operating, have save manpower, reduce employee work intensity,
Improve the advantageous effect of production efficiency.
Each technical characteristic of embodiment described above can be combined arbitrarily, to make description succinct, not to above-mentioned reality
It applies all possible combination of each technical characteristic in example to be all described, as long as however, the combination of these technical characteristics is not deposited
In contradiction, it is all considered to be the range of this specification record.
Embodiment described above only expresses the several embodiments of the present invention, and description is more specific and detailed, but simultaneously
It cannot therefore be construed as limiting the scope of the patent.It should be pointed out that those of ordinary skill in the art are come
It says, without departing from the inventive concept of the premise, various modifications and improvements can be made, these belong to the protection of the present invention
Range.Therefore, the protection domain of patent of the present invention should be determined by the appended claims.
Claims (14)
1. a kind of warping fills yarn system, which is characterized in that including：
Cun Sha mechanisms, for placing cheese；
Transfer mechanism is set close to the Cun Sha mechanisms, and the transfer mechanism is equipped with the first slotting yarn for placing cheese
Bar；
Grasping mechanism is set close to the Cun Sha mechanisms and the transfer mechanism, and the grasping mechanism is used to deposit yarn machine from described
Structure captures the cheese, and the cheese of crawl is inserted into the first slotting yarn bar；
Feed mechanism, including feeding guide, cradle, the second slotting yarn bar and feeding driving device, the feeding is erected at described
On feeding guide, the second slotting yarn bar is located on the cradle, and the feeding driving device is used to drive the cradle
It is moved along the feeding guide, the feeding driving device can drive the cradle to be moved at the transfer mechanism and make
To remove the cylinder from the transfer mechanism in the cheese that the second slotting yarn bar is inserted on the described first slotting yarn bar
Sub- yarn, the feeding driving device also are able to that the cradle is driven to be moved at creel and make to be inserted on the described second slotting yarn bar
Cheese be inserted on the yarn axis of creel so that the cheese is transferred to from the described second slotting yarn bar on the yarn axis；And
Control mechanism is electrically connected with the grasping mechanism and the feeding driving device, to control the grasping mechanism respectively
And the feeding driving device action.
2. warping as described in claim 1 fills yarn system, which is characterized in that the Cun Sha mechanisms include depositing creel, roller and
Drum drive, the roller have it is multiple, multiple rollers be disposed side by side on it is described deposit on creel, the drum drive with
The control mechanism is electrically connected, and the drum drive is for driving the roller rotation with by the pile plate on the roller
Yarn is sent to close to the grasping mechanism, and the grasping mechanism captures the cheese from the pile plate yarn；Or
The Cun Sha mechanisms include depositing creel, conveyer belt and conveyor drive arrangement, and the conveyer belt, which is located at, to be deposited on creel, described
Conveyor drive arrangement is electrically connected with the control mechanism and can be controlled to drive the transmission by the control mechanism
Band movement, the conveyer belt are equipped with multiple cheese spindle positions.
3. warping as claimed in claim 2 fills yarn system, which is characterized in that the Cun Sha mechanisms further include position correction dress
It puts, the position correction apparatus is electrically connected with the control mechanism, and the position correction apparatus currently is waited to capture for detecting
Pile plate yarn upper strata cheese position, and the drum drive tune is passed through according to the position of the remaining cheese in upper strata
The position of whole current pile plate yarn to be captured；Or
The Cun Sha mechanisms further include stepping sensing device, and the stepping sensing device is electrically connected with the control mechanism, institute
State whether stepping sensing device has cheese in the most front-seat cheese spindle position of automatic sensing, when the stepping senses
When device sensing is without cheese, the control mechanism controls the conveyor drive arrangement to drive one row's ingot of conveyer belt stepping
Position.
4. warping as described in claim 1 fills yarn system, which is characterized in that the transfer mechanism includes the first transfer rack and the
One transfer rack device of rotation driving, the first transfer rack device of rotation driving are electrically connected with the control mechanism；Wherein,
First transfer rack is equipped with multiple first slotting yarn bars, and the grasping mechanism is by the cheese according to first party
On the first slotting yarn bar being inserted on first transfer rack, the first transfer rack device of rotation driving is for driving described the
One transfer rack rotates.
5. warping as claimed in claim 4 fills yarn system, which is characterized in that at least two sides of first transfer rack are set
There is the described first slotting yarn bar, and the first slotting yarn bar is arranged in rows on the corresponding side of first transfer rack.
6. warping as claimed in claim 4 fills yarn system, which is characterized in that the transfer mechanism further include the second transfer rack,
Second transfer rack device of rotation driving and the second transfer rack mobile drive deivce, the second transfer rack device of rotation driving and
Two transfer rack mobile drive deivces are electrically connected respectively with the control mechanism；Wherein,
The second transfer is put up a set of described in each two, and each second transfer rack is equipped with multiple first slotting yarn bars, institute
It states on the first slotting yarn bar that the cheese is inserted on second transfer rack according to second direction by grasping mechanism, described second
For second transfer rack to be driven to rotate, the second transfer rack mobile drive deivce is used to adjust transfer rack device of rotation driving
The distance between two described second transfer racks in often covering are saved so that the cheese on one of them second transfer rack to be shifted simultaneously
It is plugged with first direction to another the second transfer rack, the second direction is opposite to the first direction.
7. warping as claimed in claim 6 fills yarn system, which is characterized in that at least two of second transfer rack are opposite
Side is equipped with the described first slotting yarn bar, and the first slotting yarn bar is arranged in rows in the respective side of second transfer rack.
8. warping as claimed in claim 6 fills yarn system, which is characterized in that the control mechanism controls the grasping mechanism will
The big head-down cheese is captured and is inserted on first transfer rack in the Cun Sha mechanisms, by small head-down institute
Cheese is stated to capture and be inserted on second transfer rack.
9. warping as described in claim 1 fills yarn system, which is characterized in that the grasping mechanism is six axis robot.
10. warping as claimed in claim 9 fills yarn system, which is characterized in that the grasping mechanism has a variety of gripping heads, with
Cheese and cheese partition board are captured respectively.
11. warping as claimed in claim 9 fills yarn system, which is characterized in that further include protection mechanism, the protection mechanism with
The control mechanism is electrically connected, and the protection mechanism has in pre-determined distance whether have behaviour for detecting with the grasping mechanism
Workmanship or obstacle, if detected operative employee or obstacle, the control mechanism controls the grasping mechanism stopping action.
12. the warping dress yarn system as described in any one of claim 1~11, which is characterized in that further include Material moving device, institute
Material moving device is stated to include moving material seat, move material guide rail, move material driving device and move material positioning device；It is described to move material driving device and institute
State control mechanism be electrically connected and can be by the control mechanism control action；It is described move material seat be located at it is described move material guide rail on and
It can expect that driving device driving is moved in described move on material guide rail by described move；The material positioning device of moving is used to move material described
The position for moving material seat is positioned on guide rail；
The Cun Sha mechanisms, the transfer mechanism and the grasping mechanism are located at described move on material seat, and can be expected by described move
Driving device driving is moved between different creel feeding areas.
13. warping as described in claim 1 fills yarn system, which is characterized in that the feeding guide includes the first feeding guide
And with first feeding guide the second feeding guide connected vertically；The feeding driving device includes the first feeding driving dress
It puts and the second feeding driving device；The feeding is erected on second feeding guide；First feeding driving device is used
In second feeding guide is driven to be moved on first feeding guide, second feeding driving device is used to drive institute
Cradle is stated to move on second feeding guide.
14. warping as claimed in claim 13 fills yarn system, which is characterized in that the feed mechanism further includes the inspection of yarn shaft position
Device is surveyed, the yarn shaft position detection device is electrically connected with the control mechanism, and the control mechanism is according to the yarn axle position
Put the position that yarn shaft position on the creel of the yarn to be installed of detection device detection adjusts the cradle, with on the creel of yarn to be installed
Corresponding yarn shaft position corresponds to.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610705034.XA CN106120071B (en) | 2016-08-22 | 2016-08-22 | Warping fills yarn system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610705034.XA CN106120071B (en) | 2016-08-22 | 2016-08-22 | Warping fills yarn system |
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| Publication Number | Publication Date |
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| CN106120071A CN106120071A (en) | 2016-11-16 |
| CN106120071B true CN106120071B (en) | 2018-06-15 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201610705034.XA Active CN106120071B (en) | 2016-08-22 | 2016-08-22 | Warping fills yarn system |
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Families Citing this family (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106702643B (en) * | 2016-12-29 | 2023-05-09 | 立信染整机械(深圳)有限公司 | Automatic cheese conveying, discharging and loading equipment |
| CN107177912A (en) * | 2017-04-10 | 2017-09-19 | 中国地质大学（武汉） | A kind of automatic doffer control system with vision |
| CN107720438A (en) * | 2017-11-03 | 2018-02-23 | 杭州锐冠科技有限公司 | A kind of lick-up control system and control method |
| CA3107082A1 (en) | 2018-07-30 | 2020-02-06 | Shaw Industries Group, Inc. | Automated creel assemblies and systems and methods of making and using same |
| CN110689491B (en) * | 2019-08-27 | 2022-03-29 | 浙江理工大学 | Method for correcting side image of cheese under machine vision |
| CN212245241U (en) * | 2020-01-18 | 2020-12-29 | 立信染整机械(广东)有限公司 | Automatic cheese dress yarn feeding system |
| CN115610786B (en) * | 2022-10-10 | 2023-08-25 | 广州盛原成自动化科技有限公司 | Cheese removes bagging apparatus and warping string yarn equipment |
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| Publication number | Publication date |
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| CN106120071A (en) | 2016-11-16 |
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