CN109516302A - A kind of spindle loading and unloading robot system - Google Patents
A kind of spindle loading and unloading robot system Download PDFInfo
- Publication number
- CN109516302A CN109516302A CN201811644416.1A CN201811644416A CN109516302A CN 109516302 A CN109516302 A CN 109516302A CN 201811644416 A CN201811644416 A CN 201811644416A CN 109516302 A CN109516302 A CN 109516302A
- Authority
- CN
- China
- Prior art keywords
- track
- spindle
- empty
- axis
- outlet
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 239000000463 material Substances 0.000 claims description 63
- 230000008676 import Effects 0.000 claims description 30
- 238000009987 spinning Methods 0.000 claims description 20
- 230000033001 locomotion Effects 0.000 claims description 10
- 230000005540 biological transmission Effects 0.000 claims description 8
- 230000007423 decrease Effects 0.000 claims description 4
- 238000005096 rolling process Methods 0.000 claims description 3
- 238000003860 storage Methods 0.000 claims description 2
- 230000002459 sustained effect Effects 0.000 claims description 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims 1
- 238000005516 engineering process Methods 0.000 abstract description 4
- 239000004753 textile Substances 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 21
- 238000009730 filament winding Methods 0.000 description 9
- 230000007246 mechanism Effects 0.000 description 6
- 238000000034 method Methods 0.000 description 5
- 230000000694 effects Effects 0.000 description 4
- 230000005484 gravity Effects 0.000 description 4
- 238000010330 laser marking Methods 0.000 description 4
- 230000009471 action Effects 0.000 description 3
- 230000003447 ipsilateral effect Effects 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 230000000007 visual effect Effects 0.000 description 2
- 230000004888 barrier function Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000007664 blowing Methods 0.000 description 1
- 210000004556 brain Anatomy 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 230000000052 comparative effect Effects 0.000 description 1
- 230000004069 differentiation Effects 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 239000004744 fabric Substances 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 230000002035 prolonged effect Effects 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
- 238000009941 weaving Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H67/00—Replacing or removing cores, receptacles, or completed packages at paying-out, winding, or depositing stations
- B65H67/04—Arrangements for removing completed take-up packages and or replacing by cores, formers, or empty receptacles at winding or depositing stations; Transferring material between adjacent full and empty take-up elements
- B65H67/0405—Arrangements for removing completed take-up packages or for loading an empty core
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G61/00—Use of pick-up or transfer devices or of manipulators for stacking or de-stacking articles not otherwise provided for
Landscapes
- Specific Conveyance Elements (AREA)
- Replacing, Conveying, And Pick-Finding For Filamentary Materials (AREA)
Abstract
The present invention relates to a kind of robot or textile technology fields, more particularly to a kind of spindle loading and unloading robot system, including AGV robot, palletizing apparatus and spindle frame, AGV robot includes AGV trolley and the manipulator that is fixed on AGV trolley, empty axis and yarn axis are arranged on AGV trolley in a manner of it can move up and down and move horizontally with respect to AGV trolley, the hanging end of empty axis and/or yarn axis is provided with camera, the mark that can be set by camera is provided in spindle frame, to allow AGV trolley to control the relative position of yarn axis and spindle frame according to camera and mark, to which the spindle on yarn axis can be moved to spindle frame, the mark that can be set by camera is provided on palletizing apparatus, to allow AGV trolley to control the relative position of empty axis and palletizing apparatus according to camera and mark, to Empty cylinder on palletizing apparatus can be moved to empty cylinder, and compared to the mode of artificial loading and unloading, cost is relatively low, more efficient.
Description
Technical field
The present invention relates to a kind of robot or textile technology fields, and in particular to a kind of spindle loading and unloading robot system.
Background technique
In field of textiles, need to form the yarn being able to use on the empty cylinder that square braided wire is wrapped in a cylindrical position
Ingot, (the empty cylinder that braided wire is wound, also known as spinning cake), only needs to draw braided wire when to use.At present by braided wire
The equipment being wrapped on empty cylinder is the technology of comparative maturity, referred to as spinning cake machine (also known as filament winding machine or spindle machine), general spinning cake machine
It is that multiple empty cylinders are placed on a shaft simultaneously while carrying out curled hair (braided wire is wrapped on empty cylinder), ultrahigh in efficiency.
But it is in a row that empty cylinder is placed on shape on filament winding machine, is artificial loading and blanking at present, i.e., using artificial
Mode places empty cylinder on filament winding machine, removes spinning cake after curled hair forms spinning cake, then by the way of artificial, is produced into
This is higher also, relatively inefficient.
Summary of the invention
The purpose of the present invention is weaved filament winding machine feeding blanking high production cost and the problem of low efficiency, is provided on a kind of spindle
Feeding robot system.
In order to achieve the above-mentioned object of the invention, the present invention provides following technical schemes:
A kind of spindle loading and unloading robot system, including AGV robot, palletizing apparatus and spindle frame, the spindle frame is for hanging
Storage spindle is held, the palletizing apparatus is used to empty cylinder at random being organized into columnar arrangement state, and the AGV robot includes
AGV trolley and the manipulator being fixed on the AGV trolley, the manipulator includes for the yarn axis of hanging support spindle and for hanging
Hold the empty axis of empty cylinder, the sky axis and the yarn axis are with being capable of the relatively described AGV trolley side that moves up and down and move horizontally
Formula is arranged on the AGV trolley, and the hanging end of the sky axis and/or the yarn axis is provided with camera, the spindle frame
On be provided with the mark that can be set by the camera, with allow the AGV trolley according to the camera and it is described mark come
The relative position of the yarn axis and spindle frame is controlled, so that the spindle on the yarn axis can be moved to the spindle frame, the code
The mark that can be set by the camera is provided on pile device, to allow the AGV trolley according to the camera and described
It identifies to control the relative position of the empty axis and palletizing apparatus, so that the empty cylinder on the palletizing apparatus can be moved to the sky
Cylinder.
Preferably, spindle loading and unloading robot system includes the channel AGV for the AGV carriage walking, the AGV
Spinning cake machine is arranged in the side in channel, and the palletizing apparatus and the spindle frame, the sky axis are arranged in the other side in the channel AGV
With the yarn axis can be pivotably arranged on the AGV trolley, to allow the empty axis and the yarn axis can
The two sides in the channel AGV are directed toward, so that AGV trolley is turned to without whole, whole handling efficiency is higher, and loading and unloading efficiency is more
It is high.
Preferably, the spindle frame includes at least two yarn bars, the yarn bar be in tilted layout and the yarn bar it is hanging
End is higher, and thereby, it is possible to more firm to live spindle hanging support.
The palletizing apparatus includes reason material component and the first track, and the reason material component includes reason material section and several sections of limit, institute
It states reason material section to be gradually become smaller by import to outlet, the reason material section outlet is in rectangle, and the reason material section exit width is less than empty cylinder
Twice of height；The outlet of several sections of the limit is in rectangle, and the reason material section exit width is less than twice of empty cylinder height, the reason
Expect several sections of imports of limit described in section outlet, so that empty cylinder is run from reason material section to several sections of outlets of the limit, several sections of the limit goes out
Mouth the first track of connection, first track include conveyer belt and the first limit plate, and first limit plate is arranged in the fortune
Defeated band two sides are rolled with limiting empty cylinder.
Preferably, palletizing apparatus further includes the second track and the third track that connect with second track, described
Several sections of outlets of the import connection limit of two tracks, the outlet of the third track connects the import of first track；It is described
Second track is in tilted layout by import to the mode that outlet gradually decreases, and the import of first track is higher than second track
Outlet, the third track includes lifting part so that empty cylinder is promoted to the first track；Second track includes inclination cloth
The baffle fit of the bottom plate set and the baffle that the bottom plate two sides are arranged in, the bottom plate and two sides forms what empty cylinder rolled
Channel.
Preferably, laser marking machine is provided on first track, in empty cylinder inner ring print label.
Preferably, the reason material component includes the limit number case of the sheathed setting of the relatively described reason material section outlet, the limit
The top of number case, which is opened wide, forms open top, and the corresponding side of a width edge of the limit number case, which is opened wide, forms side opening,
Limit number bottom face is obliquely installed and lower close to one end of several sections of imports of the limit, and the limit number case is with being capable of reason material relatively
The mode that component moves up and down in the reason material knockdown export is arranged, the import pair of the side opening and several sections of the limit
It answers, to allow empty cylinder to run from the side opening of limit number case to the import of several sections of the limit.
Preferably, the reason material section exports in the corresponding medial surface in side, one in two opposite medial surfaces is anti-
Card face, the anti-sticking face be vertically arranged or anti-sticking face more than interior lower outer mode be obliquely installed.
Preferably, palletizing apparatus includes two reasons material components and two the second tracks, two second tracks out
It mouthful is connect with the import of a third track, the outlet of second track is provided with limiting component to allow from described the
The empty cylinder of two tracks enters the third track one by one.
Preferably, the limiting component includes the first locating part being arranged in a manner of it can stretch and the second limit
The telescopic direction of part, first locating part and second locating part and the channel extending direction of second track tilt,
When so that the stretch mode of first locating part and second locating part changing, first locating part and second limit
Position part can limit movement of the empty cylinder in second track, the distance of first locating part and second locating part
Greater than empty cylinder diameter.
Preferably, the lifting part includes that lifting support and lifters, the lifters are belt driving part or are
Chain drive component is provided with multiple liftings supports in the lifters, when the lifters operate, multiple liftings hold in the palm one by one with institute
The channel outlet for stating the second track is corresponding to allow the empty cylinder from the second track to move to the lifting support, multiple liftings hold in the palm also by
One is corresponding with the import of third track to allow the empty cylinder in the lifting support that can move to the third under the promotion of push rod
In transmission belt on track.
Preferably, the lifters are that two chains being arranged side by side are formed, and two chain syn-chro-step drivings, two
Strut is arranged in the sustained height position of the chain, and two struts cooperatively form the lifting support.
Preferably, the side open top of limit number case is provided with connecting rod, the connecting rod two end respectively with limit number case two
A relative inner face is fixed, and connecting rod and limit number bottom identity distance are from the diameter for being greater than empty cylinder and be less than empty cylinder diameter twice to only
An empty cylinder can allow for pass through.
Compared with prior art, empty cylinder or silk beneficial effects of the present invention: are carried according to both fixed tracks using AGV robot
Cake, and feeding and blanking are carried out to spinning cake machine using AGV robot, compared to artificial mode, cost is relatively low, and efficiency is more
It is high；Further, since the empty cylinder shaft diameter on spinning cake machine is smaller, and the diameter of empty cylinder is also smaller, not using conventional AGV robot
It can make the empty cylinder axis on sky axis alignment spinning cake machine, i.e., routine AGV robot can not be used to the loading and unloading of spinning cake machine, and the application
Coarse positioning is carried out using the positioning system of conventional AGV, then is more accurately positioned using image recognition, allows sky axis and spinning cake machine
The location error of empty cylinder axis within the allowable range so that spinning cake machine loading and unloading machine chemical conversion for reality, it is high-efficient.
Detailed description of the invention:
Fig. 1 is the structural schematic diagram of the application spindle loading and unloading robot system；
Fig. 2 is the F of Fig. 1 to schematic diagram；
Fig. 3 is the structural schematic diagram of the application AGV robot；
Fig. 4 is the structural schematic diagram of the application manipulator；
Fig. 5 is another working state schematic representation for being different from Fig. 4 the application manipulator；
Fig. 6 is the operation logic schematic diagram of the application palletizing apparatus；
Fig. 7 is the half section structure diagram of the application palletizing apparatus；
Fig. 8 is the partial enlargement diagram of B in Fig. 7；
Fig. 9 is the partial enlargement diagram of C in Fig. 7；
Figure 10 is the partial enlargement diagram of D in Fig. 7；
Figure 11 is E in Fig. 7 to half-section diagram；
Figure 12 is the partial enlargement diagram of F in Figure 11；
Figure 13 is the structural schematic diagram that the application manages material component；
Figure 14 is the partial enlargement diagram of A in Figure 13；
Figure 15 is the structural schematic diagram of the application lifting part；
Figure 16 is the structural schematic diagram that the application limits number case；
Figure 17 is the structural schematic diagram of another visual angle state for the lifting part that the application is different from Figure 15；
Figure 18 be in Figure 17 G to diagrammatic cross-section；
Figure 19 is another structural schematic diagram for being different from the application lifting part of Figure 18；
Figure 20 is empty cylinder caught state schematic diagram；
Figure 21 is anti-sticking face principle explanatory diagram；
Figure 22 is anti-sticking face principle explanatory diagram；
Marked in the figure: 100- reason material component, 110- vertical section, 120- reason material section, the anti-sticking face 121-, 122- increase block inclined-plane, 130-
Number case is limited, 131- limits number bottom face, and 132- open top, the side 133- is open, 134- supporting plate, 135- connecting rod, and 140- limits several sections,
150- limits number driving mechanism, the first track of 200-, the second track of 300-, 311- limit number baffle, 400- third track, 410- lifting
Component, 411- sprocket wheel, 412- lifters, 413- lifting support, 500- limiting component, the first locating part of 511-, 512- second are limited
Part, 600- spindle frame, 700- palletizing apparatus, 800-AGV robot, 810- manipulator, 811- fixed frame, 812- stay,
813- horizontal member, 814- revolving member, 815- sky axis, 816- yarn axis, 817- camera, 820-AGV trolley, 900- sky cylinder,
910- laser marking machine, 920- push rod, 930- spindle, 940- spinning cake machine, the channel 950-AGV.
Specific embodiment
Below with reference to test example and specific embodiment, the present invention is described in further detail.But this should not be understood
It is all that this is belonged to based on the technology that the content of present invention is realized for the scope of the above subject matter of the present invention is limited to the following embodiments
The range of invention.
Referring to Fig. 1 and Fig. 2, a kind of 930 loading and unloading robot system of spindle, including AGV robot 800, palletizing apparatus 700
With spindle frame 600, spindle frame 600 stores spindle 930 for hanging support, and palletizing apparatus 700 is for empty cylinder 900 at random to be organized into
Columnar arrangement state, AGV robot 800 include AGV trolley 820 and the manipulator 810 being fixed on AGV trolley 820, manipulator
810 include the yarn axis 816 for hanging support spindle 930 and the empty axis 815 for hanging support sky cylinder 900, and empty axis 815 and yarn axis 816 are equal
It is arranged on AGV trolley 820 in a manner of it can move up and down and move horizontally with respect to AGV trolley 820, empty axis 815 and/or yarn
The hanging end of axis 816 is provided with camera 817, and the mark that can be set by camera 817 is provided in spindle frame 600, with
AGV trolley 820 is allowed to control the relative position of yarn axis 816 Yu spindle frame 600 according to camera 817 and mark, thus yarn axis 816
On spindle 930 can be moved to spindle frame 600, the mark that can be set by camera 817 is provided on palletizing apparatus 700, with
AGV trolley 820 is allowed to control the relative position of empty axis 815 and palletizing apparatus 700 according to camera 817 and mark, thus stacking
Empty cylinder 900 on device 700 can be moved to empty cylinder 900.
Referring to 1 and Fig. 2,930 loading and unloading robot system of spindle includes the channel AGV walked for AGV trolley 820
Spinning cake machine 940, the other side arrangement palletizing apparatus 700 and spindle frame in the channel AGV 950 are arranged in the side in 950, AGV channels 950
600, empty axis 815 and yarn axis 816 are can be pivotably arranged on AGV trolley 820, to allow sky axis 815 and yarn axis 816
It can point at the two sides in the channel AGV 950, so that AGV trolley 820 is turned to without whole, whole handling efficiency is higher, loading and unloading
It is more efficient.Spindle frame 600 includes at least two yarn bars, and yarn bar is in tilted layout and the hanging end of yarn bar is higher, thereby, it is possible to
More firm lives 930 hanging support of spindle.
AGV robot includes the yarn axis 816 of AGV trolley 820,815 side by side parallel of control unit, empty axis 815 and empty axis, empty
Axis 815 is arranged on AGV trolley 820 in a manner of it can move up and down and move horizontally with respect to AGV trolley 820, moves up and down
It is not merely vertical motion, but starting point has displacement in vertical direction to halt, this type games is the application meaning
Up and down motion, horizontal movement is also such；One end of empty axis 815 is fixed on AGV trolley 820, and the other end is vacantly arranged, should
Hanging end is provided with camera 817, and the angular error of the extension line of the visual angle axis of the camera 817 and empty axis 815 is not
More than 5 °；It is slidably provided with push plate on AGV trolley 820, so that push plate is slided along the extension track of empty axis 815, push plate
With empty 815 distance 148mm-316mm of axis, push plate and 816 distance 294mm-462mm of yarn axis, so that moving push plate can incite somebody to action
Spindle 930 on empty cylinder 900 or yarn axis 816 on empty axis 815 pushes so that they are removed from AGV trolley 820, the application machine
Device people includes control unit, and similar control system is the brain of the application AGV robot, it controls the walking of AGV trolley 820
Track controls the movement of push plate, obtains the video image of camera 817, handles the video image of camera 817 to reach this Shen
Purpose please.
Empty axis 815 and yarn axis 816 are arranged on AGV trolley 820 in a manner of it can rotate relative to AGV trolley 820.By
It is not together in empty 900 stacking machine of cylinder and filament winding machine, generally stacks distant, general sky 900 stacking machine of cylinder and filament winding machine are all
It is bigger, if it is ipsilateral and if being emitted on the same side of pedestrian, AGV trolley 820 empty 900 stacking machine of cylinder and filament winding machine it
Between walk is n shape track, what is walked between spinning cake machine 940 and spindle stacking machine is also n shape track；If empty 900 yards of cylinder
Stack machine and filament winding machine be not placed on it is ipsilateral and be located in the different two sides of pedestrian side by side, then AGV trolley 820 is in empty cylinder 900
What is walked between stacking machine and filament winding machine is straight path, and operational efficiency is higher；Empty axis 815 and yarn axis 816 can be with respect to AGV
Trolley 820 rotates in perpendicular, and referring specifically to Fig. 2 and Fig. 3, not needing 180 ° of the turning of AGV trolley 820 as a result, can
Realize commutation, in conjunction with the mode that above-mentioned heteropleural is placed, entire handling efficiency is higher.
The hanging end of yarn axis 816 is provided with range sensor, is prolonged with obtaining the hanging end of yarn axis 816 in yarn axis 816
It stretches on direction at a distance from barrier.
Specifically, AGV trolley 820 includes AGV trolley 820 and the manipulator being fixed on AGV trolley 820 referring to Fig. 3-5
810, manipulator 810 includes fixed frame 811, stay 812, horizontal member 813 and revolving member 814, is set on fixed frame 811
It is equipped with upright slide rail, the component of cooperation upright slide rail is provided on stay 812 so that stay 812 can be slided up and down
Mode be arranged on fixed frame 811, horizontal member 813 is arranged on stay 812 in a manner of it can move horizontally, turn
Dynamic component 814 is arranged on horizontal member 813 in a manner of it can rotate in perpendicular, and empty axis 815 and yarn axis 816 are with energy
The mode enough moved horizontally is arranged on revolving member 814, and opposed vertical component 812 moves horizontal member 813 in the X direction,
Empty axis 815 and yarn axis 816 relatively rotate the movement of component 814 in the Y direction, and X is not parallel with Y, the relatively fixed frame of stay 812
811 can move along Z-direction, and particularly, X, Y and Z are mutually perpendicular to.Push plate is fixed on guide rail slide block along the x-axis direction, guide rail
It is fixed on electric cylinders sliding block along the z-axis direction, electric cylinders are fixed on AGV trolley.
When carrying out feeding using AGV robot, setting can allow the first of video camera identification to mark on empty 900 stacking machine of cylinder
Know, control unit is moved to the predeterminated position of empty 900 stacking machine of cylinder using tradition AGV control method control AGV trolley 820, takes the photograph
There is first identifier, control unit obtains empty according to the image with first identifier that video camera obtains in the image that camera obtains
The first distance and first direction of the empty cylinder 900 to be removed, control unit make sky axis on the hanging end of axis 815 and stacking machine
815 move first distance in a first direction, and the mechanism urges sky cylinder 900 on empty 900 stacking machine of cylinder makes the sky of preset quantity
Cylinder 900 is moved to sky axis 815.
When carrying out blowing using AGV robot, setting can allow video camera to identify on 940/ spindle stacking machine of spinning cake machine
Second identifier, control unit using tradition AGV control method control AGV trolley 820 be moved to the 940/ spindle stacking of spinning cake machine
The predeterminated position of machine, has second identifier in the image that video camera obtains, control unit according to video camera obtains with second
It is intended to place empty cylinder 900/ on the hanging end of the image acquisition 815/ yarn axis 816 of empty axis of mark and 940/ spindle stacking machine of spinning cake machine
The second distance and second direction of 930 position of spindle, control unit make 815/ yarn axis 816 of sky axis move second in a second direction
Distance, then push plate is mobile so that 900/ spindle 930 of empty cylinder on 815/ yarn axis 816 of empty axis is moved to 940/ spindle code of spinning cake machine
Stack machine.
Referring to Fig. 6, a kind of empty cylinder palletizing apparatus of weaving, including successively reason interconnected expects component 100, the first track
200, the second track 300 and third track 400, the first track 200 is horizontal positioned, 300 slant setting of the second track, and third is vertical
It places, empty cylinder 900 passes sequentially through the second track 300 and third track 400 is finally reached first after managing material component 100 out
Track 200.
Referring to Figure 13 and Figure 14, reason material component 100 includes that successively vertical section 110 interconnected, reason expect section 120 and limit number
Section 140,110 inner wall of vertical section is vertically arranged, and reason material section 120 is gradually become smaller by import to outlet.The outlet of reason material section 120 is in square
Shape, wide 79mm, due to 900 diameter 73mm of empty cylinder, empty 900 length 83mm of cylinder, the width make to have leisure cylinder 900 only can it is single from
It manages material section 120 to come out, is not in that two empty cylinders 900 are stuck in the outlet of reason material section 120 stem for stem；Several sections 140 of outlet is limited in square
Shape, long 103mm, wide 83mm come out for several sections 140 to can only run an empty cylinder 900 every time from limit.
It manages and expects corresponding four medial surfaces in four sides of the outlet of section 120, in two opposite medial surfaces in four medial surfaces
One be two adjacent medial surfaces in anti-sticking face 121, that is, four medial surfaces be anti-sticking face 121, anti-sticking face 121 is perpendicular
The interior lower outer mode of straight setting or 121 or more anti-sticking face is obliquely installed.Specifically, referring to Figure 12-14, reason material section 120 includes
Four medial surfaces, two adjacent medial surfaces in four medial surfaces are anti-sticking face 121, and anti-sticking face 121 is vertically arranged, referring to
Figure 17 and Figure 18 is perpendicular there are two adjacent face, is anti-sticking face 121, the inner wall opposite with anti-sticking face 121 is oblique
Face, so that reason material section 120 becomes narrow gradually from top to bottom, so that empty cylinder 900 can be under the action of self-weight after entering reason material section 120
Toward reason material 120 exit movement of section.Referring to Figure 12, setting increases block in resonable material section 120, increases a block closely anti-sticking face 121, increases block
A side form anti-sticking face 121, be also perpendicular with the opposite block face that increases in block anti-sticking face 121 closely is increased, formed anti-sticking
Face 121, the top surface inclination for increasing block, which is arranged to be formed, increases block inclined-plane 122.If reason material 120 two opposite inner walls of section are oblique
The problem of face, such as Figure 19, this inner wall will appear two empty 900 clampings of cylinder, can block reason material section 120 and export.If two
Opposite inner wall, one of inner wall are perpendiculars, such as Figure 16, are at this time not in asking for two empty 900 clampings of cylinder
Topic, the empty cylinder 900 by perpendicular can overlay on another sky cylinder 900, will not clamping, reason material section 120 will not be blocked and gone out
Mouthful, such as Figure 12 and 13, it is anti-sticking face 121 that reason, which expects that two that section 120 exports in corresponding four inner walls are perpendiculars,.
Certainly, anti-sticking face 121 not necessarily have to vertically, as long as the problem of can be avoided two empty 900 clampings of cylinder is i.e.
Can, such case needs two opposite inner walls to be equipped with.Another way such as Figure 22 and 19, anti-sticking 121 or more face are interior
Mode outside lower is obliquely installed, and upper and lower distinguish is distinguished according to gravity direction, and inside and outside differentiation is to expect 120 direction of section towards reason
In being, the direction far from reason material section 120 be it is outer, it is upper it is interior it is lower outside be inclined-plane inclined direction, it is upper it is interior be that opposed facets issue
For, i.e., the direction above inclined-plane below opposed facets is expected in section 120 towards reason, such as Figure 19 and Figure 22, illustrates state
Even if being more biased towards the left side above inclined-plane, it is lower it is outer be direction below inclined-plane above opposed facets be towards outside reason material section 120, such as
Figure 14 and Figure 17, diagram state are to be more biased towards the right below inclined-plane above opposed facets.
Referring to Figure 13 and Figure 14, reason material component 100 includes limit counting apparatus, and limit counting apparatus includes limit 150 He of number driving mechanism
The limit number case 130 of sheathed setting is exported with reason hopper reason material component 100, is opened wide at the top of limit number case 130 and is formed open top 132,
Open top 132 forms the outlet of reason material component 100, and the corresponding side of a width edge of limit number case 130, which is opened wide, forms side
Opening 133, side opening 133 is corresponding with a vertical anti-sticking face 121, is also connected with the import of the second track 300, this reality
The import of the second track 300 in applying forms limit several sections 140.Limit number bottom face 131 be obliquely installed and close to limit several sections 140 into
One end of mouth is lower, limits number case 130 referring specifically to Figure 11.
Referring to Figure 14 and Figure 16,133 top of side opening for limiting number case 130 is provided with connecting rod 135,135 both ends of connecting rod point
The medial surface opposite with two is not fixed, and since limit number case 130 does not have side in the side, intensity is relatively low, is connected by increasing
Two sides are fixed together by bar 135, so that limit 130 good integral strength of number case.Connecting rod 135 and limit 131 distance of number bottom face
It is mutually stuck and block limit number case 130 to avoid the occurrence of multiple empty cylinders 900 to only allow an empty cylinder 900 to pass through every time by 53mm
The problem of.
Referring to Figure 13 and Figure 14, limits number case 130 and slided by limit number driving mechanism 150 with material component 100 opposite can be managed
Mode be arranged in resonable material section 120 exports, limit number driving mechanism 150 includes cylinder and guide rod, cylinder driving limit number case 130
Lifting, lifting of the guide rod for several casees 130 that are limited are oriented to.Limit 130 outer wall of number case is matched with reason material 120 outlet gap of section
It closes, the side opening for limiting number case 130 is corresponding with several sections 140 of limit of import, to make the side of empty cylinder 900 from limit number case 130 open
It runs to the import for limiting several sections 140.When 900 quantity of empty cylinder in reason material component 100 is more, multiple sky cylinders 900 are easy to appear
The problem of mutual clamping, use at this time Xian Shuo mechanism driving limit the resonable material component 100 of number case 130 in move up and down it is multiple to destroy
Roller caught state, so that roller enters in reason hopper according to preset posture, hence into the second track 300, so that arranging effect
Rate is higher.A side of reason material component 100 is omitted in Figure 13 and Figure 14, also omits a side of limit number case 130.Figure
10, the limit number case 130 in Figure 13 and Figure 14 is in low-end trim, this time limit number bottom face 131 is higher than limit number baffle 311, limits number
Roller in case 130, which moves along limit number bottom face 131 under the effect of gravity and crosses limit number baffle 311, enters the second track 300.
Limit number case 130 in Fig. 3 is in high-end trim, this time limit number bottom face 131 cannot cross gear lower than limit number baffle 311, roller
Plate enters the second track 300.Limit number baffle 311 cooperates the limit number case 130 that can be gone up and down, and is able to enter the sky of the second track 300
900 quantity of cylinder and time are controllable.Second track 300 is obliquely installed, although 300 exit of the second track is provided with limiting component
500, but 900 weight of part sky cylinder managed in material component 100 can be transferred to the limiting component 500, make to limiting component 500
At biggish bearing capacity, and increase limit number baffle 311,900 weight transmitting of empty cylinder that can be isolated in reason material component 100 extremely limits
Component 500, mitigate limiting component 500 stress so that limiting component 500 work it is relatively reliable.Also, if limiting component
500 failures, due to limiting the limitation of number baffle 311, the empty cylinder 900 in reason material component 100 will not be directly entered the second track 300 simultaneously
It is detached from the application palletizing apparatus, the empty cylinder 900 in only the second track 300 can be detached from, highly-safe.
Referring to Fig. 6,7,9,11 and 12, palletizing apparatus includes that two reasons expect components 100 and two the second tracks 300, and two
The outlet of second track 300 is connect with the import of a third track 400, specific such as Fig. 1 and Fig. 4, two 300 Hes of the second track
In " a " font after one connection of third track 400, the outlet of the second track 300 is provided with limiting component 500 and is come from allowing
The empty cylinder 900 of second track 300 enters third track 400 one by one.Using two reason material components 100 simultaneously to first track
200 provide empty cylinder 900, can be improved stacking efficiency.Using limiting component 500 to avoid the sky from two the second tracks 300
Cylinder 900 is in intersection's clamping.
Specifically, limiting component 500 includes the first locating part 511 and the second locating part being arranged in a manner of it can stretch
512, the channel extending direction of the telescopic direction and the second track 300 of the first locating part 511 and the second locating part 512 tilts, with
When changing the stretch mode of the first locating part 511 and the second locating part 512,512 energy of the first locating part 511 and the second locating part
Enough movements for limiting empty cylinder 900 in the second track 300, it is preferred that the first locating part 511 and the second locating part 512 it is flexible
Direction that is to say, first locating part vertical with the channel extending direction of the second track 300 as the axis direction of empty cylinder 900
511 and the distance of second locating part be greater than empty 900 diameter of cylinder.Preferably, referring to Figure 12, the first locating part 511 and the second limit
The telescopic direction of position part 512 that is to say and hang down with the channel extending direction of the second track 300 as the axis direction of empty cylinder 900
Directly, it is contacted after the stretching, extension of the first locating part 511 with the outer wall of empty cylinder 900, the inner wall after the stretching, extension of the second locating part 512 with empty cylinder 900
Contact, in this way, 512 state of the second locating part is constant to still maintain extended state when the first locating part 511 is shunk, one at this time
Empty cylinder 900 rolls into third track 400, and then the first locating part 511 stretches, and still protects after 511 full extension of the first locating part
Extended state is held, then the second locating part 512 is shunk, another sky cylinder 900 is detached from the second locating part 512 in the second track 300
It is interior to roll until contacted with the first locating part 511, it is blocked by the first locating part 511 and does not enter third track 400, this another
Empty cylinder 900 after empty cylinder 900 is also followed by another sky cylinder 900 and rolls until being blocked, at this time the second locating part
512 stretching, extensions are contacted with empty 900 inner wall of cylinder after another sky cylinder 900 to limit its rolling.In this way, realizing from second
The control for 900 quantity of empty cylinder that track 300 comes out.The limitation mode of empty 900 quantity of cylinder can be it is a variety of, in addition to the above method with
Outside, the first locating part 511 can also be contacted with the inner wall of empty cylinder 900, and only such mode needs to combine the rolling speed of empty cylinder 900
Degree, it is not easy to control.Second locating part 512 can also be contacted with the outer wall of empty cylinder 900 to limit empty cylinder 900 and roll, Ci Zhongfang
Method will increase 300 length of the second track or reduce 900 quantity of empty cylinder in the second track 300, can reduce entire palletizing apparatus
Temporary quantity.First locating part 511 and the second locating part 512 can drive a bar to be formed using cylinder.
Referring to Fig. 6, Figure 11 and Figure 12, third track 400 is vertically arranged and is connected to the second track 300 and the first track 200,
Second track 300 is obliquely installed, and the first track 200 is horizontally disposed, and empty cylinder 900 comes out rear first along the second rail from reason material component 100
Road 300 declines, then rises along third track 400, finally completes stacking movement in the first track 200.Second track 300 inclination with
Allow empty cylinder 900 to move under the action of self-weight, do not need additional driving force, increase the third track 400 being vertically arranged, be for
The height for improving the first track 200, the empty cylinder 900 for facilitating stacking to complete operate, and the reason material component 100 that is yet does not need to be arranged
Must be excessively high, so that empty cylinder 900 at random can manually be poured into reason material component 100.Increase the second track 300 and third track
400, the buffer memory of entire palletizing apparatus hollow 900 can be increased, the no situation of the empty cylinder 900 in resonable material component 100
Under, buffer memory still allows for continuing stacking, to manually toppling over reserved enough time, enable palletizing apparatus continuously not intermittently
Stacking improves production efficiency.
Referring to Fig. 6,7,9,12 and 13, the second track 300 is in tilted layout by import to the mode that outlet gradually decreases, and first
The import of track 200 is higher than the outlet of the second track 300, and the second track 300 includes the bottom plate being in tilted layout and is arranged the bottom of at
The baffle of plate two sides, the baffles of bottom plate two sides at a distance of 63mm, the baffle fit of bottom plate and two sides formed empty cylinder 900 roll it is logical
Road, empty cylinder 900 can roll under the effect of gravity in the second track 300 along the channel, from the entrance of second channel
It rolls to the outlet of second channel.
Referring to Fig. 9, Figure 12 and Figure 15, third track 400 includes lifting part 410 so that empty cylinder 900 is promoted to the first rail
Road 200, lifting part 410 include that lifting support 413 and lifters 412, lifters 412 are belt driving part or are chain drive
Component is provided with multiple lifting supports 413 in lifters 412, and referring specifically to Figure 10, lifters 412 are chain drive component, two circles
Chain parallel arrangement, a chain and two sprocket wheels 411 cooperate, and the sprocket wheel 411 that one end of two chains uses is fixed together,
Two chains are driven relative to a sprocket wheel 411, realize the synchronous rotation of two chains, the parallel position punishment of two chains
It is not provided with a strut, which forms lifting support 413, and the distance 98mm side by side of two chains makes
Two side-by-side strut distance 58mm is obtained, which is less than 900 diameter of empty cylinder, so that empty cylinder 900 is rolled to two struts compositions
Lifting support 413 after will not directly fall, meanwhile, empty cylinder 900 is trapped in the gap of two struts, will not be rolled, as a result, two
A strut also has the function of baffle.When lifters 412 operate, channel of multiple lifting supports 413 one by one with the second track 300 goes out
It is mouthful corresponding to allow the empty cylinder 900 from the second track 300 to move to lifting support 413, multiple lifting supports 413 also one by one with third rail
The import in road 400 is corresponding to allow the empty cylinder 900 in lifting support 413 that can move to third track 400 under the promotion of push rod 920
On transmission belt on, push rod 920 is arranged in the top of lifting part 410, is arranged between two chains, can be from two chains
Centre pass through, referring to Fig. 7 and Figure 10, the head of push rod 920 vertical direction size than empty cylinder 900 greatly to push it is entire
Empty cylinder 900, push rod 920 are driven by the cylinder, thus when empty cylinder 900 rises to predetermined position under the driving of two chains, gas
Cylinder starts push rod 920 and passes through two chains advances sky cylinders 900, until empty cylinder 900 is pushed to the transmission belt on the first track 200,
Such as Fig. 7, even if a roller is pushed into transmission belt by push rod 920, rear push-rod 920 under return waits under the driving of cylinder
One empty cylinder 900 rises to predeterminated position.
Reason material 120 outlet of section limits several sections of 140 imports, so that empty cylinder 900 is from reason material section 120 operation to several sections 140 of limit
Outlet, limit as a result, several sections 140 outlet length make to have leisure cylinder 900 only can one by one from limit several sections 140 come out, and go out
The position mode come is also determining, thus by a large amount of mixed and disorderly empty cylinders 900 by reason material component 100 one by one according to a certain determination
Position mode eject, since several sections 140 outlets of limit with third track 400 are connected to the first track by the second track 300
200, the first track 200 includes conveyer belt and the first limit plate, and the first limit plate is arranged in conveyer belt two sides to limit empty cylinder 900
Roll, therefore, from reason material component 100 according to a certain determination position mode come out empty cylinder 900 one by one be transferred to transmission
It takes, on a moving belt in a row by the arrangement of the first limit plate, transmission belt is at the uniform velocity operated according to a certain speed, which makes
It obtains upper one empty cylinder 900 to fall in transmission belt after operation certain distance, next sky cylinder 900 is fallen again, the two empty cylinders 900
It is not in superposition.Several sections of 140 the first tracks of outlet 200 of limit described herein, including several sections 140 outlets of limit are directly connected to
First track 200 further includes several sections 140 outlets of limit by other tracks or other modes the first track 200 of connection, as long as empty
Cylinder 900 can be run by several sections 140 outlets of limit to the first track 200.
Second track 300 is in tilted layout by import to the mode that gradually decreases of outlet, and the import of the first track 200 is higher than the
The outlet of two tracks 300, the second track 300 include the bottom plate being in tilted layout and the baffle that bottom plate two sides are arranged in, bottom plate two
The baffle of side is at a distance of 63mm, and the baffle fit of bottom plate and two sides forms the channel that empty cylinder 900 rolls, and empty cylinder 900 is in the second rail
It can be rolled under the effect of gravity along the channel in road 300, roll going out to second channel from the entrance of second channel
Mouthful.
It is provided with laser marking machine 910 on first track 200, in empty 900 inner ring franking of cylinder, laser marking machine
910 refer to the equipment for stamping permanent label in a variety of different material surfaces with laser beam.
Claims (10)
1. a kind of spindle loading and unloading robot system, which is characterized in that including AGV robot (800), palletizing apparatus (700) and
Spindle frame (600), for the spindle frame (600) for hanging support storage spindle (930), the palletizing apparatus (700) is used for will be at random
Empty cylinder (900) be organized into columnar arrangement state,
The AGV robot (800) includes AGV trolley (820) and the manipulator that is fixed on the AGV trolley (820)
(810), the manipulator (810) includes the yarn axis (816) for hanging support spindle (930) and the sky for being used for hanging support sky cylinder (900)
Axis (815), the sky axis (815) and the yarn axis (816) with can the relatively described AGV trolley (820) move up and down and water
The dynamic mode of translation is arranged on the AGV trolley (820),
The hanging end of the sky axis (815) and/or the yarn axis (816) is provided with camera (817), the spindle frame
(600) mark that can be set by the camera (817) is provided on, to allow the AGV trolley (820) according to the camera shooting
It head (817) and described identifies to control the relative position of the yarn axis (816) and spindle frame (600), thus the yarn axis (816)
On spindle (930) spindle frame (600) can be moved to,
The mark that can be set by the camera (817) is provided on the palletizing apparatus (700), to allow the AGV trolley
(820) the opposite position of empty axis (815) and palletizing apparatus (700) is controlled according to the camera (817) and the mark
It sets, so that the empty cylinder (900) on the palletizing apparatus (700) can be moved to the empty cylinder (900).
2. spindle loading and unloading robot system according to claim 1, which is characterized in that including being used for the AGV trolley
(820) spinning cake machine (940) are arranged in the side in the channel AGV (950) walked, the channel AGV (950), the channel AGV
(950) palletizing apparatus (700) and the spindle frame (600), the sky axis (815) and the yarn axis are arranged in the other side
(816) can be pivotably arranged on the AGV trolley (820), to allow the empty axis (815) and the yarn axis
(816) two sides of the channel AGV (950) be can point at.
3. spindle loading and unloading robot system according to claim 1, which is characterized in that the spindle frame (600) includes
At least two yarn bars, the yarn bar is in tilted layout and the hanging end of the yarn bar is higher.
4. spindle loading and unloading robot system according to claim 1, which is characterized in that the palletizing apparatus includes reason material
Component (100) and the first track (200), reason material component (100) include several sections (140) of reason material section (120) and limit, the reason
Material section (120) is gradually become smaller by import to outlet, and reason material section (120) outlet is in rectangle, and reason material section (120) goes out mouth width
Degree is less than twice of empty cylinder height；The outlet of the limit several sections (140) is in rectangle, and the outlet of the limit several sections (140) is less than sky
Twice of cylinder height, the reason expect several sections of (140) imports of limit described in section (120) outlet, so that empty cylinder (900) expects section from reason
(120) operation to several sections of the limit (140) exports, several sections of the first tracks of (140) outlet (200) of the limit, and described first
Track (200) includes conveyer belt and the first limit plate, and first limit plate is arranged in the conveyer belt two sides to limit empty cylinder
(900) it rolls.
5. spindle loading and unloading robot system according to claim 4, which is characterized in that the palletizing apparatus further includes
The import of two tracks (300) and the third track (400) connecting with second track (300), second track (300) connects
Several sections of limit (140) outlet is connect, the outlet of the third track (400) connects the import of first track (200)；
Second track (300) is in tilted layout by import to the mode that gradually decreases of outlet, first track (200) into
Mouthful it is higher than the outlet of second track (300), the third track (400) includes lifting part (410) with by empty cylinder (900)
It is promoted to the first track (200)；
Second track (300) includes the bottom plate being in tilted layout and the baffle that the bottom plate two sides are arranged in, the bottom plate
And the baffle fit of two sides forms the channel of empty cylinder (900) rolling.
6. spindle loading and unloading robot system according to claim 4, which is characterized in that reason material section (120) outlet
In the corresponding medial surface in side, one in two opposite medial surfaces is anti-sticking face (121), and the anti-sticking face (121) sets vertically
Set or anti-sticking face (121) more than interior lower outer mode be obliquely installed.
7. spindle loading and unloading robot system according to claim 4, which is characterized in that the palletizing apparatus includes two
Reason material component (100) and two the second tracks (300), the outlet of two second tracks (300) and a third rail
The import in road (400) connects, and the outlet of second track (300) is provided with limiting component (500) to allow and come from described second
The empty cylinder (900) of track (300) enters the third track (400) one by one.
8. spindle loading and unloading robot system according to claim 7, which is characterized in that limiting component (500) packet
Include the first locating part (511) and the second locating part (512) being arranged in a manner of it can stretch, first locating part (511)
It is tilted with the telescopic direction of second locating part (512) and the channel extending direction of second track (300), so that described
When the stretch mode of first locating part (511) and second locating part (512) changes, first locating part (511) and institute
Movement of the empty cylinder (900) in second track (300), first locating part can be limited by stating the second locating part (512)
(511) and the distance of second locating part is greater than empty cylinder (900) diameter.
9. spindle loading and unloading robot system according to claim 5, which is characterized in that lifting part (410) packet
Lifting support (413) and lifters (412) are included, the lifters (412) are belt driving part or are chain drive component, described
Multiple lifting supports (413) are provided in lifters (412), when the lifters (412) operate, multiple lifting supports (413) are one by one
It is corresponding with the channel outlet of second track (300) with allow come from the second track (300) empty cylinder (900) move to the liter
Drop support (413), multiple lifting supports (413) are also corresponding with the import of third track (400) to allow the lifting to hold in the palm on (413) one by one
Empty cylinder (900) can be moved under the promotion of push rod (920) in the transmission belt on the third track (400).
10. spindle loading and unloading robot system according to claim 9, which is characterized in that the lifters (412) are two
A chain being arranged side by side is formed, and strut is arranged in two chain syn-chro-step drivings, the sustained height position of two chains,
Two struts cooperatively form the lifting support (413).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811644416.1A CN109516302B (en) | 2018-12-29 | 2018-12-29 | Spindle feeding and discharging robot system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811644416.1A CN109516302B (en) | 2018-12-29 | 2018-12-29 | Spindle feeding and discharging robot system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109516302A true CN109516302A (en) | 2019-03-26 |
| CN109516302B CN109516302B (en) | 2024-02-20 |
Family
ID=65798740
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811644416.1A Active CN109516302B (en) | 2018-12-29 | 2018-12-29 | Spindle feeding and discharging robot system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109516302B (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110171745A (en) * | 2019-06-14 | 2019-08-27 | 无锡旭洲智能科技有限公司 | Take-up winding falls a system automatically |
| CN111498610A (en) * | 2020-04-02 | 2020-08-07 | 浙江理工大学 | Yarn bobbin head yarn tail yarn capturing and knotting device and method |
| CN112010112A (en) * | 2019-05-30 | 2020-12-01 | 绍兴市民诚针纺织品有限公司 | Automatic bobbin winder and control method thereof |
| CN112061799A (en) * | 2020-09-29 | 2020-12-11 | 闽江学院 | Nylon spinning cake stacking device |
| CN115467179A (en) * | 2022-10-08 | 2022-12-13 | 江苏亚盛金属制品有限公司 | Stainless steel wire multi-strand twisting device |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH1161575A (en) * | 1997-08-07 | 1999-03-05 | Toyota Autom Loom Works Ltd | Roving frame |
| CN102414353A (en) * | 2009-11-04 | 2012-04-11 | 铜陵市松宝机械有限公司 | Automatic doffer for ring spinning machine |
| CN102431849A (en) * | 2011-10-10 | 2012-05-02 | 北京机械工业自动化研究所 | Spooling transport vehicle and automatic spindle conveying system and method |
| CN106078208A (en) * | 2016-07-28 | 2016-11-09 | 平湖拓伟思自动化设备有限公司 | A kind of intelligent manufacturing system based on industrial robot |
| CN108688913A (en) * | 2018-05-09 | 2018-10-23 | 芜湖慧盈自动化设备有限公司 | The dry Packaging Box automatic stacking processing line of one plant tea |
| CN108840171A (en) * | 2018-07-27 | 2018-11-20 | 苏州震纶棉纺有限公司 | Blanking device for spinning frame |
| CN209635630U (en) * | 2018-12-29 | 2019-11-15 | 重庆朗正科技有限公司 | A kind of spindle loading and unloading robot system |
-
2018
- 2018-12-29 CN CN201811644416.1A patent/CN109516302B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH1161575A (en) * | 1997-08-07 | 1999-03-05 | Toyota Autom Loom Works Ltd | Roving frame |
| CN102414353A (en) * | 2009-11-04 | 2012-04-11 | 铜陵市松宝机械有限公司 | Automatic doffer for ring spinning machine |
| CN102560764A (en) * | 2009-11-04 | 2012-07-11 | 铜陵市松宝机械有限公司 | Doffing trolley traveling and sliding device |
| CN102431849A (en) * | 2011-10-10 | 2012-05-02 | 北京机械工业自动化研究所 | Spooling transport vehicle and automatic spindle conveying system and method |
| CN106078208A (en) * | 2016-07-28 | 2016-11-09 | 平湖拓伟思自动化设备有限公司 | A kind of intelligent manufacturing system based on industrial robot |
| CN108688913A (en) * | 2018-05-09 | 2018-10-23 | 芜湖慧盈自动化设备有限公司 | The dry Packaging Box automatic stacking processing line of one plant tea |
| CN108840171A (en) * | 2018-07-27 | 2018-11-20 | 苏州震纶棉纺有限公司 | Blanking device for spinning frame |
| CN209635630U (en) * | 2018-12-29 | 2019-11-15 | 重庆朗正科技有限公司 | A kind of spindle loading and unloading robot system |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112010112A (en) * | 2019-05-30 | 2020-12-01 | 绍兴市民诚针纺织品有限公司 | Automatic bobbin winder and control method thereof |
| CN110171745A (en) * | 2019-06-14 | 2019-08-27 | 无锡旭洲智能科技有限公司 | Take-up winding falls a system automatically |
| CN111498610A (en) * | 2020-04-02 | 2020-08-07 | 浙江理工大学 | Yarn bobbin head yarn tail yarn capturing and knotting device and method |
| CN111498610B (en) * | 2020-04-02 | 2022-03-18 | 浙江理工大学 | Yarn bobbin head yarn tail yarn capturing and knotting device and method |
| CN112061799A (en) * | 2020-09-29 | 2020-12-11 | 闽江学院 | Nylon spinning cake stacking device |
| CN112061799B (en) * | 2020-09-29 | 2021-09-07 | 闽江学院 | Nylon spinning cake stacking device |
| CN115467179A (en) * | 2022-10-08 | 2022-12-13 | 江苏亚盛金属制品有限公司 | Stainless steel wire multi-strand twisting device |
| CN115467179B (en) * | 2022-10-08 | 2023-12-15 | 江苏亚盛金属制品有限公司 | Stainless steel wire stranded device |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109516302B (en) | 2024-02-20 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109516302A (en) | A kind of spindle loading and unloading robot system | |
| CN209635630U (en) | A kind of spindle loading and unloading robot system | |
| ES2279682B2 (en) | PALETIZATION MACHINE OF OBJECTS SUCH AS PACKING BOXES. | |
| EP3305978A1 (en) | Device for processing for object to be processed | |
| CN106435856A (en) | Intelligent combing machine material conveying device | |
| CN103826996A (en) | Apparatus and method for separating piece goods which are to be stored in an automated store | |
| CN112141822B (en) | Nylon spinning cake transfer device | |
| CN101395079A (en) | Apparatus for bobbin removal | |
| KR20190008524A (en) | A high-rise solid warehouse comprising in-and-out devices provided therein for loading and unloading or moving goods, | |
| CN209635432U (en) | A kind of empty cylinder palletizing apparatus of weaving | |
| CN107336938B (en) | A kind of material intelligent storage system | |
| US5002176A (en) | Suspension transport system | |
| CN108974741A (en) | A kind of automatic intelligent Storage and circulation equipment | |
| ITRM930852A1 (en) | METHOD AND DEVICE FOR THE CHANGE OF FEED YARN. | |
| CN206204513U (en) | Intelligent combing machine device for transporting objects | |
| CN109516223A (en) | A kind of empty cylinder palletizing apparatus of weaving | |
| CN116216341A (en) | Automatic doffing stacking system for production line of twisting machine | |
| CN1048767C (en) | Fine spinning frame with roving bobbin transfer apparatus | |
| CN217296774U (en) | Spinning cake connects cake frame and spinning cake switching-over device | |
| CN213621886U (en) | Fine collateral connecting device | |
| CN106976755A (en) | The threading method of silk thread winding machine, repiece part and silk thread winding machine | |
| CN210854766U (en) | Deformable material receiving platform movable mechanical arm yarn feeding device based on vision | |
| CN107557926A (en) | A kind of tube for spinning machine transmits storage device | |
| CN221017097U (en) | Driving roller mechanism and coating machine | |
| CN213894097U (en) | Working end equipment for fine network contact system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| CB02 | Change of applicant information | ||
| CB02 | Change of applicant information |
Address after: Floors 8 and 9, No. 274 Xuecheng Avenue, Huxi Street, High tech Zone, Shapingba District, Chongqing, 401331 Applicant after: CHONGQING LANGZHENG TECHNOLOGY Co.,Ltd. Address before: 400039 No.1, 8th Floor, Overseas Chinese Entrepreneurship Park, Erlang Science and Technology Innovation Road, Jiulongpo District, Chongqing Applicant before: CHONGQING LANGZHENG TECHNOLOGY Co.,Ltd. |
|
| GR01 | Patent grant | ||
| GR01 | Patent grant |