CN110371788B

CN110371788B - Intelligent conveying device for spinning production line

Info

Publication number: CN110371788B
Application number: CN201910570866.9A
Authority: CN
Inventors: 梅剑香; 鄢芙蓉; 周双琴; 刘建明
Original assignee: Wuhan Yudahua Textile And Garment Group Co ltd
Current assignee: Wuhan Yudahua Textile And Garment Group Co ltd
Priority date: 2019-06-27
Filing date: 2019-06-27
Publication date: 2021-08-17
Anticipated expiration: 2039-06-27
Also published as: CN110371788A

Abstract

The invention discloses an intelligent conveying device for a spinning production line, which is used for caching and stacking yarn drums and then packaging and stacking the yarn drums, so that the automatic packaging production of the yarn drums with large capacity is realized, the whole packaging and conveying process does not need manual intervention, and unmanned automatic production is realized; according to the invention, the bobbin stacking production system is arranged between the bobbin suspension conveying line and the rear-section packaging and stacking system, so that the requirement of large capacity can be met, when the output of the bobbin at the front end is large, the bobbin is stacked for temporary buffer storage, and the jam paralysis of the rear-end packaging and stacking production line is avoided; the yarn drum collecting device is arranged to take down and collect the yarn drum from the yarn drum retainer on the suspension conveying line, and then the robot drives the mechanical gripper to stack the yarn drum, so that temporary stacking of the yarn drum is realized; according to the invention, the yarn barrel is filled into the woven bag after being coated with the film and packaged, and then the woven bag is bundled and stacked, so that the materials are well protected, and meanwhile, the unstacking is more convenient and faster.

Description

Intelligent conveying device for spinning production line

Technical Field

The invention relates to the technical field of textile machinery, in particular to an intelligent conveying device for a spinning production line.

Background

In the textile field, a finished yarn barrel product formed by processing cotton rolls through the working procedures of opening, carding, combing, drawing, roving, spun yarn and the like needs to be subjected to peritoneal packaging, bagging and stacking. In present actual production process, the linking of each process of packing is transported through the manual work, because the productivity of spinning factory is great, leads to artificial work load and intensity of labour very big, and the bobbin stacks in the factory building in disorder, seriously influences product quality and work efficiency.

The patent with the application number of CN201610464125.9 provides an automatic cheese sorting and discharging device and an automatic cheese sorting and discharging method thereof, and the automatic cheese sorting and discharging device comprises a machine platform of an automatic cheese sorting and discharging device, a control device, a scanning device, a first conveying device, a cheese erecting device, a second conveying device, a first counting sensor, a yarn grabbing mechanical arm, a tray mechanical arm, a tray electronic scale, a cutting and sealing machine, a thermal shrinking machine, a code spraying machine, a stacking device and an automatic winding machine; the scanning, conveying, erecting, counting, cutting and sealing and heat shrinkage packaging of the cheese can be realized through the components, and a cheese packaging product is formed: then code spraying, stacking and automatic winding are completed; the technology basically and automatically completes the rear section packaging and stacking processes of the yarn drum, but a connecting device with yarn drum conveying equipment arranged at the front end is not arranged, and the yarn drum cannot automatically and continuously enter the automatic single-sorting and goods-discharging device; in addition, a yarn drum cache area is not arranged, the requirement of large capacity cannot be met, and when the output of a yarn drum at the front end is large, a large amount of materials are difficult to consume by packaging and stacking equipment at the rear end in a short time, so that the production line is blocked and paralyzed; the yarn barrel is directly stacked in a packaging and stacking link, and then the whole stack is wound, so that the yarn barrels need to be taken down from the whole stack one by one when the stack is disassembled, the workload is large, and the yarn barrels are easy to damage.

Therefore, there is a need for an intelligent conveying device for spinning production line to solve the existing technical problems.

Disclosure of Invention

In view of the defects of the prior art, the invention aims to provide an intelligent conveying device for a spinning production line.

According to the invention, the yarn drums are cached and stacked, and then are packaged and stacked, so that the automatic production of the package of the yarn drums with large capacity is realized, the yarn drum stacking production system is arranged between the yarn drum suspension conveying line and the rear section packaging and stacking system, the requirement of large capacity can be met, when the output of the yarn drum at the front end is large, the yarn drums are stacked for temporary caching, and the jam paralysis of the rear end packaging and stacking production line is avoided; a yarn drum collecting device is arranged to take down and collect the yarn drum from a yarn drum retainer on the suspension conveying line, and then a robot drives a mechanical gripper to stack the yarn drum, so that temporary stacking of the yarn drum is realized; according to the invention, the yarn barrel is filled into the woven bag after being coated with the film and packaged, and then the woven bag is bundled and stacked, so that the materials are well protected, and meanwhile, the unstacking is more convenient and faster.

The invention is realized by the following technical scheme.

An intelligent conveying device for a spinning production line comprises a front section yarn drum caching and stacking production system and a rear section yarn drum bagging and stacking system; the front-section yarn drum cache stacking production system is connected with the front-section yarn drum cache stacking production system in a front-to-back mode; the front-section yarn drum caching and stacking production system is used for caching the yarn drums in a stacking mode; and the back section bobbin bagging and stacking system is used for detecting a bobbin, laminating and packaging the bobbin, packaging a woven bag and stacking the bobbin.

The front-section bobbin cache and stacking production system comprises a bobbin collecting and stacking system, a bobbin cache system and a trolley conveying system;

the yarn drum collecting and stacking system and the yarn drum caching system are respectively arranged on two sides of the trolley conveying system.

The bobbin collecting and stacking system is used for taking the bobbins off the bobbin hanging conveying line, collecting and stacking the bobbins.

The yarn drum buffer system temporarily stores the stacked yarn drums for later-section yarn drum bagging and stacking system to perform subsequent packaging treatment on the yarn drums.

The trolley conveying system comprises a trolley conveying track and a conveying trolley arranged on the trolley conveying track; the conveying trolley travels on the trolley conveying track.

And the trolley conveying system conveys the yarn barrel stacked by the yarn barrel collecting and stacking system to the yarn barrel caching system for temporary storage through a conveying trolley.

The conveying trolley comprises a trolley roller conveyor and a trolley traveling driving device; the trolley traveling driving device is fixedly arranged on the trolley roller conveyor; the trolley roller conveyor is driven by a trolley traveling driving device to travel on the trolley conveying track.

The yarn drum collecting and stacking system comprises a yarn drum collecting device, a yarn drum storing and conveying device, a yarn drum robot stacking system and a partition storing and conveying machine;

the yarn cylinder collecting devices are respectively butted with the yarn cylinder hanging conveying lines and are arranged below the yarn cylinder hanging conveying lines;

the plurality of yarn cylinder storage and conveying devices are arranged on one side of the yarn cylinder collecting device;

the plurality of partition plate storage conveyors are arranged on the other side of the yarn barrel collecting device;

the yarn drum robot stacking system is arranged above the yarn drum collecting device.

The yarn barrel is conical in shape, a core barrel is arranged in the center of the yarn barrel, and cotton threads are wound on the core barrel.

The yarn cylinder collecting device is in butt joint with the yarn cylinder hanging conveying line, the yarn cylinders are taken down from the yarn cylinder hanging conveying line and rotated by 90 degrees, so that the yarn cylinders are in a vertical standing state with the large ends facing downwards and the small ends facing upwards, and the yarn cylinders are arranged on the yarn cylinder collecting device in a straight line.

The yarn drum stacking robot stacking system comprises a yarn drum stacking robot, a yarn drum stacking robot linear guide rail and a yarn drum stacking clamp;

the yarn drum stacking robot is arranged on the yarn drum stacking robot linear guide rail and travels on the yarn drum stacking robot linear guide rail;

and the yarn drum stacking clamp is fixedly arranged at a moving terminal of the yarn drum stacking robot.

The yarn drum stacking robot grabs a plurality of yarn drums arranged on the yarn drum collecting device through a yarn drum stacking clamp; the yarn drum stacking robot walks on the drum stacking robot linear guide rail, when the yarn drum stacking robot reaches the yarn drum storage and conveying device, a plurality of yarn drums are placed on the yarn drum storage and conveying device at the same time, and the yarn drums are arranged on the yarn drum storage and conveying device in an array mode after the operation is repeated for many times.

The yarn barrel stacking clamp grabs the yarn barrel in a mode of expanding the core barrel of the yarn barrel.

The bobbin storage and conveying device comprises a bobbin roller conveyor; and a yarn drum stacking tray is placed on the yarn drum channel conveyor in advance.

The core barrel of the yarn barrel is higher than the surface of the cotton thread, so that the yarn barrel is easy to topple when in a vertical standing state, and a layer of yarn barrel partition plate is placed on the yarn barrel stacking tray firstly.

The yarn barrel partition board is provided with through holes which are arranged in an array form, and the center between the through holes is the center distance between two yarn barrels which are placed together.

The yarn barrel stacking robot places a plurality of yarn barrels on the yarn barrel partition plate through the yarn barrel stacking clamp, and a core barrel of the yarn barrel falls into a through hole in the yarn barrel partition plate, so that the yarn barrel is prevented from being toppled.

The bobbin partition plates are stored on the partition plate storage conveyor; the yarn drum stacking robot travels on the linear guide rail of the yarn drum stacking robot to a position above the yarn drum partition storing device; the yarn drum stacking robot grabs the yarn drum partition plate through the yarn drum stacking clamp; and then the yarn drum stacking robot walks on the linear guide rail of the drum stacking robot to the position above the yarn drum storage and conveying device to place the yarn drum partition plate on the yarn drum stacking tray.

After a layer of yarn barrel is placed, the yarn barrel stacking robot grabs a yarn barrel partition plate from the yarn barrel partition plate conveying device and places the yarn barrel partition plate on the stacked yarn barrel.

After the yarn drum partition plates are placed, the yarn drum stacking robot continues to grab the yarn drums from the yarn drum collecting device and stack the yarn drums to the yarn drum storage and conveying device.

After a plurality of layers of yarn drums are stacked on the yarn drum storage and conveying device, the conveying trolley travels to the yarn drum storage and conveying device on a trolley conveying rail; the trolley roller conveyor is in butt joint with a yarn barrel roller conveyor of the yarn barrel storage and conveying device and operates in the same direction, the yarn barrel roller conveyor conveys a whole stack of yarn barrels to the trolley roller conveyor, after the yarn barrels are in place, the trolley roller conveyor stops operating, and the conveying trolley travels on the trolley conveying track to the yarn barrel cache system.

The yarn drum caching system comprises a plurality of caching roller conveyors arranged side by side.

When the conveying trolley conveys the whole stack of yarn drums to the yarn drum caching system, the trolley roller conveyor is in butt joint with one of the caching roller conveyors and operates in the same direction, the whole stack of yarn drums is conveyed to the caching roller conveyors, and the yarn drums are temporarily stored.

A partition plate removing roller conveyor and a yarn drum unstacking roller conveyor are arranged on one side of the partition plate storage conveyor;

a clapboard tray is placed on the clapboard removing roller conveyor;

when the stacked yarn barrel needs to be subjected to a subsequent packaging process, the trolley roller conveyor is butted with the cache roller conveyor and runs in the same direction, the whole stack of yarn barrels is conveyed to the trolley roller conveyor, and the conveying trolley travels on the trolley conveying track to the yarn barrel unstacking roller conveyor; the trolley roller conveyor is in butt joint with the yarn barrel unstacking roller conveyor and runs in the same direction, and the whole yarn barrel stack is conveyed to the yarn barrel unstacking roller conveyor.

The yarn barrel unstacking robot is mounted on the linear guide rail of the yarn barrel stacking robot, and a yarn barrel unstacking clamp is mounted on a motion terminal of the yarn barrel unstacking robot.

When the whole yarn barrel is conveyed to the yarn barrel unstacking roller conveyor, the yarn barrel unstacking robot grabs the yarn barrel to the belt conveyor through the yarn barrel unstacking clamp, and the belt conveyor conveys the yarn barrel to the back section yarn barrel bagging and stacking system for subsequent packaging.

After a layer yarn section of thick bamboo snatchs, yarn section of thick bamboo unstacking robot passes through yarn section of thick bamboo unstacking anchor clamps will yarn section of thick bamboo baffle is grabbed, yarn section of thick bamboo unstacking robot walks on yarn section of thick bamboo pile up neatly machine people linear guide extremely roller conveyor department is demolishd to the baffle, will yarn section of thick bamboo baffle is placed on the baffle tray.

When the rear section bobbin bagging and stacking system can be matched with the capacity of the intelligent spinning production line conveying device, the conveying trolley can directly convey the whole stack of bobbins on the bobbin storage conveying device to the bobbin unstacking roller conveyor for unstacking.

The rear section bobbin bagging stacking system comprises a detection packaging system and a woven bag robot stacking system; the woven bag robot stacking system is arranged at the rear end of the detection packaging system; detect the package system and detect, tectorial membrane packing and bagging-off a yarn section of thick bamboo, braided bag robot pile up neatly system carries out pile up neatly and the buffer memory to detecting the yarn section of thick bamboo that finishes and pack.

The detection packaging system comprises a conveying belt, a detection rejecting device, a film covering packaging machine, a turnover device, a bagging and bag sewing machine, a finishing device, a code spraying device, a binding machine and a grabbing roller way machine; the conveying belt is in butt joint with the belt conveyor, and the yarn drum is conveyed to a bagging and bag sewing machine; the detection and rejection device, the film covering and packaging machine, the turnover device and the bagging and bag sewing machine are sequentially arranged on the conveying belt; the arranging device is arranged at an outlet of the bagging and bag-sewing machine, and the arranging device, the binding machine, the code spraying device and the grabbing roller machine are sequentially arranged.

The detection and rejection device comprises a visual detection device and a rejection device; the rejecting device is arranged at the rear end of the visual detection device; the visual detection device detects the surface quality of cotton threads on the yarn bobbin, and when the cotton threads are detected to be polluted, the yarn bobbin is removed by the removing device.

And the yarn barrel which is qualified in detection is conveyed to the film covering and packaging machine through a conveying belt, and the film covering and packaging machine is used for covering and packaging the yarn barrel.

The yarn barrel after film covering and packaging is conveyed to a turnover device through a conveying belt, and the turnover device turns the yarn barrel 180 degrees at intervals.

Yarn section of thick bamboo is carried to bagging-off sack closer department through the conveyer belt, and every a plurality of yarn section of thick bamboo is arranged one row, bagging-off sack closer pushes a plurality of rows of yarn section of thick bamboos in the braided bag, accomplishes the bagging-off of a yarn section of thick bamboo, and the bagging-off is accomplished the back, bagging-off sack closer stitches the limit to seal to the braided bag.

Bagging-off sack closer accomplishes the bagging-off and stitches the package after, will fill in the braided bag of a yarn section of thick bamboo and push finishing device, finishing device carries out the top to the braided bag and levels the reason, makes the braided bag level and more smooth.

The finishing device pushes the woven bag filled with the yarn barrel into a binding machine, and the binding machine binds the woven bag, so that the woven bag is more compact.

The strapping machine conveys the woven bag backwards to a code spraying device, and the code spraying device sprays production information such as production date and product number on the woven bag.

The code spraying device conveys woven bags to a grabbing roller machine, and the woven bag robot stacking system grabs and stacks the woven bags on the grabbing roller machine.

Braided bag robot pile up neatly system snatchs the robot track including the braided bag, and the braided bag snatchs robot, braided bag pile up neatly anchor clamps and braided bag pile up neatly roller conveyor.

The woven bag grabbing robot body is arranged on the woven bag grabbing robot track and travels on the woven bag grabbing robot track, and the woven bag stacking clamp is fixedly arranged at an execution terminal of the woven bag grabbing robot body;

the braided bag snatchs the robot setting and is in snatch roller machine top, the braided bag snatchs the robot and passes through braided bag pile up neatly anchor clamps snatch the braided bag.

The woven bag grabbing robot body places the grabbed woven bag on the woven bag stacking roller conveyor for stacking through the woven bag stacking clamp.

Every braided bag pile up neatly roll table conveyer's export is provided with one set of braided bag pile up neatly roll table conveyer of keeping in.

After the stacking is completed, the woven bag stacking roller conveyor conveys the whole stack of woven bags to the woven bag stacking temporary storage roller conveyor, and a forklift is waited to convey the whole stack of woven bags away.

Compared with the prior art, the invention has the beneficial effects that:

1) according to the invention, the yarn barrel is cached and stacked, and then is packaged and stacked, so that the automatic packaging production of the yarn barrel with large capacity is realized, the whole packaging and conveying process does not need manual intervention, and unmanned automatic production is realized;

2) according to the invention, the bobbin stacking production system is arranged between the bobbin suspension conveying line and the rear-section packaging and stacking system, so that the requirement of large capacity can be met, when the output of the bobbin at the front end is large, the bobbin is stacked for temporary buffer storage, and the jam paralysis of the rear-end packaging and stacking production line is avoided; the whole conveying process does not need manual intervention, and an unmanned automatic cache system is realized;

3) the yarn drum collecting device is arranged to take down and collect the yarn drum from the yarn drum retainer on the suspension conveying line, and then the robot drives the mechanical gripper to stack the yarn drum, so that temporary stacking of the yarn drum is realized;

4) the invention is provided with a track conveying trolley and a cache region, wherein the track conveying trolley conveys temporarily stacked yarn drums to the cache region for caching, when materials are needed at the rear section, the track conveying trolley conveys the whole stack of yarn drums to a unstacking region, and then the yarn drums are disassembled by a unstacking robot and placed on a belt conveyor leading to a packaging and stacking system;

5) according to the invention, the yarn barrel is filled into the woven bag after being coated with the film and packaged, and the woven bag is bundled and then stacked, so that the materials are well protected, and meanwhile, the unstacking is more convenient and faster.

Drawings

FIG. 1 is a system layout of the present invention

FIG. 2 is a layout diagram of a front-end bobbin buffer storage stacking production system of the invention

FIG. 3 is a schematic view of the cart transport system of the present invention

FIG. 4 is a schematic view of the conveying cart of the present invention

FIG. 5 is a view showing the arrangement of the bobbin collecting and stacking system of the present invention

FIG. 6 is a schematic view of the structure of the yarn package of the present invention

FIG. 7 is a schematic view of a stacking system of a bobbin robot according to the present invention

FIG. 8 is a schematic view of a bobbin storage and delivery device according to the present invention

FIG. 9 is a schematic view of the structure of the bobbin partition plate of the present invention

FIG. 10 is a schematic structural view of the buffer roller conveyor of the present invention

FIG. 11 is a schematic view of the unstacking section of the present invention

FIG. 12 is a layout diagram of a back section yarn drum bagging and stacking system of the invention

FIG. 13 is a diagram of a packaging system layout for inspection according to the present invention

FIG. 14 is a schematic view of a package arrangement for bobbins in accordance with the present invention

FIG. 15 is a layout diagram of a robot palletizing system for woven bags according to the present invention

In the figure: 1. a bobbin collection and stacking system; 2. a bobbin cache system; 3. a trolley conveying system; 4. a yarn drum suspension conveying line; 5. a bobbin; 6. a front section yarn drum caching and stacking production system; 7. a back section bobbin bagging and stacking system; 8. detecting the packaging system; 9. a woven bag stacking system by a robot; 31. a trolley conveying track; 32. a conveying trolley; 321. a trolley roller conveyor; 322. a trolley walking driving device; 11. a bobbin collection device; 12. a bobbin storage and delivery device; 13. a yarn drum stacking system by a robot; 14. a separator storage conveyor; 51. a core barrel; 52. cotton threads; 131. a bobbin stacking robot; 132. a linear guide rail of a bobbin stacking robot; 133. a bobbin stacking clamp; 121. a spool roller conveyor; 122. a bobbin stacking tray; 123. a bobbin partition; 1231. a through hole; 21. a buffer roller conveyor; 15. detaching the roller conveyor from the partition plate; 16. a bobbin unstacking roller conveyor; 17. a bobbin unstacking robot; 171. a bobbin unstacking clamp; 18. a belt conveyor; 801. a conveyor belt; 802. detecting and rejecting devices; 803. a film covering and packaging machine; 804. a turning device; 805. bagging and sewing the bag machine; 806. a finishing device; 807. a code spraying device; 808. grabbing a roller bed machine; 8021. a visual inspection device; 8022. and a rejecting device.

Detailed Description

The technical solutions of the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings, and it is to be understood that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present invention without any inventive step, are within the scope of the present invention.

The present invention will be described in further detail below with reference to specific embodiments and with reference to the attached drawings.

As shown in fig. 1, an intelligent conveying device for a spinning production line comprises a front section bobbin caching and stacking production system 6 and a rear section bobbin bagging and stacking system 7; the front section yarn drum cache stacking production system 6 is connected with the front section yarn drum cache stacking production system 6 in a front-back mode; the front-section yarn drum caching and stacking production system 6 is used for caching yarn drums in a stacking mode; and the back section bobbin bagging and stacking system 7 is used for detecting a bobbin, laminating and packaging, packaging a woven bag and stacking the bobbin.

Specifically, anterior segment yarn section of thick bamboo buffer memory pile production system 6 carries out the pile up neatly to hanging the constantly yarn section of thick bamboo of carrying coming through a yarn section of thick bamboo and carrying, carries again to back section yarn section of thick bamboo bagging pile up neatly system 7's front end and destacks, carries a yarn section of thick bamboo to back section yarn section of thick bamboo bagging pile up neatly system 7, back section yarn section of thick bamboo bagging pile up neatly system 7 detects, tectorial membrane packing, dress braided bag and pile up neatly to a yarn section of thick bamboo.

As shown in fig. 2, the front-stage bobbin buffer storage and stacking production system 6 comprises a bobbin collecting and stacking system 1, a bobbin buffer storage system 2 and a trolley conveying system 3;

the bobbin collecting and stacking system 1 and the bobbin caching system 2 are respectively arranged on two sides of the trolley conveying system 3.

The bobbin collecting and stacking system 1 is used for taking bobbins off the bobbin suspension conveying line 4, collecting and stacking the bobbins.

The yarn drum buffer system 2 temporarily stores the stacked yarn drums for later-stage yarn drum bagging and stacking system 7 to perform subsequent packaging treatment on the yarn drums.

As shown in fig. 3, the cart conveying system 3 includes a cart conveying rail 31 and a conveying cart 32 disposed on the cart conveying rail 31; the transport cart 32 travels on the cart transport rail 31.

The trolley conveying system 3 conveys the yarn bobbins 5 stacked by the yarn bobbin collecting and stacking system 1 to the yarn bobbin cache system 2 for temporary storage through a conveying trolley 32.

As shown in fig. 4, the conveying trolley 32 includes a trolley roller conveyor 321 and a trolley travel driving device 322; the trolley traveling driving device 322 is fixedly installed on the trolley roller conveyor 321; the trolley roller conveyor 321 is driven by a trolley travel driving device 322 to travel on the trolley conveying track 31.

As shown in fig. 5, the bobbin collecting and stacking system 1 comprises a bobbin collecting device 11, a bobbin storage and conveying device 12, a bobbin robot palletizing system 13 and a partition storage and conveying device 14;

the plurality of bobbin collecting devices 11 are respectively butted with the plurality of bobbin suspension conveying lines 4 and are arranged below the bobbin suspension conveying lines 4;

the bobbin storage and conveying devices 12 are arranged on one side of the bobbin collecting device 11;

a plurality of partition storing conveyors 14 are arranged at the other side of the bobbin collecting device 11;

the bobbin robot palletizing system 13 is arranged above the bobbin collecting device 11.

The bobbin 5 is conical in shape, as shown in fig. 6, a core 51 is arranged in the center of the bobbin 5, and cotton 52 is wound on the core 51.

The yarn bobbin collecting device 11 is in butt joint with the yarn bobbin suspension conveying line 4, the yarn bobbins 5 are taken down from the yarn bobbin suspension conveying line 4 and rotate 90 degrees, so that the yarn bobbins 5 are in a vertical standing state with the large ends facing downwards and the small ends facing upwards, and the yarn bobbins 5 are arranged on the yarn bobbin collecting device 11 in a straight line.

As shown in fig. 7, the bobbin robot palletizing system 13 includes a bobbin palletizing robot 131, a bobbin palletizing robot linear guide rail 132 and a bobbin palletizing jig 133;

the bobbin palletizing robot 131 is mounted on the bobbin palletizing robot linear guide rail 132 and travels on the bobbin palletizing robot linear guide rail 132;

the bobbin palletizing clamp 133 is fixedly installed at a moving terminal of the bobbin palletizing robot 131; the bobbin palletizing robot 131 grabs a plurality of bobbins 5 arranged on the bobbin collecting device 11 through a bobbin palletizing jig 133; the yarn drum stacking robot 131 walks on the drum stacking robot linear guide rail, and when the yarn drums 5 reach the yarn drum 5 storage and conveying device 12, a plurality of yarn drums 5 are placed on the yarn drum 5 storage and conveying device 12 at the same time, and the yarn drums 5 are arranged on the yarn drum storage and conveying device 12 in a bearing and array mode repeatedly.

The bobbin palletizer clamp 133 grabs the bobbin 5 by expanding the core barrel 51 of the bobbin 5.

As shown in fig. 8, the bobbin storage and transport device 12 includes a bobbin roller conveyor 121; a bobbin stacking tray 122 is placed on the bobbin path conveyor in advance.

Since the core tube 51 of the bobbin 5 is higher than the surface of the cotton thread 52, the bobbin 5 is easily toppled when in a vertical standing state, and for this purpose, a layer of bobbin partition 123 is placed on the bobbin palletizing tray 122 in advance by the bobbin palletizing robot 131 through the bobbin palletizing jig 133.

The shape of the bobbin partition board 123 is shown in fig. 9, through holes 1231 arranged in an array form are provided on the bobbin partition board 123, and the center between the through holes 1231 is the center distance between two bobbins.

The bobbin palletizing robot 131 places a plurality of bobbins on the bobbin partition plate 123 through the bobbin palletizing clamp 133, and the core barrel 51 of the bobbin falls into the through hole 1231 on the bobbin partition plate 123, so that the bobbin 5 is prevented from toppling.

The bobbin partition 123 is stored on the partition storage conveyor 14; the bobbin palletizing robot 131 runs on the bobbin palletizing robot linear guide rail 132 to the position above the bobbin partition 123 storage device; the bobbin stacking robot 131 grabs the bobbin partition 123 through the bobbin stacking fixture 133; then the bobbin palletizing robot 131 moves on the bobbin palletizing robot linear guide rail to the position above the bobbin storage and conveying device 12, and places the bobbin partition board 123 on the bobbin palletizing tray 122.

After one layer of yarn barrel 5 is placed, the yarn barrel stacking robot 131 grabs one yarn barrel partition plate 123 from the yarn barrel partition plate 123 conveying device and places the yarn barrel partition plate 123 on the stacked yarn barrel 5.

After the bobbin partition 123 is placed, the bobbin palletizing robot 131 continues to grab the bobbin 5 from the bobbin collecting device 11 and stack the bobbin onto the bobbin storage and conveying device 12.

After a plurality of layers of yarn drums 5 are stacked on the yarn drum storage and conveying device 12, the conveying trolley 32 travels to the yarn drum storage and conveying device 12 on the trolley conveying track 31; the trolley roller conveyor 321 is in butt joint with the yarn drum roller conveyor 121 of the yarn drum storage and conveying device 12 and operates in the same direction, the yarn drum roller conveyor 121 conveys a whole stack of yarn drums to the trolley roller conveyor 321, the trolley roller conveyor 321 stops operating after the yarn drums are in place, and the conveying trolley 32 travels to the yarn drum cache system 2 on the trolley conveying track 31.

As shown in fig. 10, the bobbin buffer system 2 includes several buffer roller conveyors 21 arranged side by side.

When the conveying trolley 32 conveys the whole stack of yarn drums to the yarn drum buffer system 2, the trolley roller conveyor 321 is in butt joint with one buffer roller conveyor 21 and runs in the same direction, the whole stack of yarn drums is conveyed to the buffer roller conveyor 21, and the yarn drums 5 are temporarily stored.

As shown in fig. 11, a partition removing roller conveyor 15 and a bobbin unstacking roller conveyor 16 are provided on one side of the partition storing conveyor 14.

And a clapboard tray is placed on the clapboard removing roller conveyor 15.

When the stacked yarn barrel needs to be subjected to a subsequent packaging process, the trolley roller conveyor 321 is in butt joint with the cache roller conveyor 21 and runs in the same direction, the whole stack of yarn barrels are conveyed to the trolley roller conveyor 321, and the conveying trolley 32 travels on the trolley conveying track 31 to the yarn barrel unstacking roller conveyor 16; the trolley roller conveyor 321 is in butt joint with the yarn tube unstacking roller conveyor 16 and runs in the same direction, and the whole yarn tube stack is conveyed to the yarn tube unstacking roller conveyor 16.

The bobbin unstacking robot 17 is mounted on the bobbin stacking robot linear guide rail 132, and a bobbin unstacking clamp 171 is mounted on a motion terminal of the bobbin unstacking robot 17.

When the whole yarn barrel is conveyed to the 16 part of the yarn barrel unstacking roller conveyor, the yarn barrel unstacking robot 17 grabs the yarn barrel to the belt conveyor 18 through the yarn barrel unstacking clamp 171, and the belt conveyor 18 conveys the yarn barrel to the rear section yarn barrel bagging and stacking system 7 for subsequent packaging.

After a layer of yarn section of thick bamboo 5 snatched, yarn section of thick bamboo machine of breaking a jam 17 passes through yarn section of thick bamboo clamp 171 that breaks a jam will yarn section of thick bamboo baffle 123 is grabbed, yarn section of thick bamboo machine of breaking a jam 17 walk on yarn section of thick bamboo pile up neatly machine people linear guide 132 extremely roller conveyor 15 department is demolishd to the baffle, will yarn section of thick bamboo baffle 123 is placed on the baffle tray.

When the rear section bobbin bagging and stacking system 7 can be matched with the capacity of the front section bobbin caching and stacking production system 6, the conveying trolley 32 can directly convey the whole stack of bobbins on the bobbin storage and conveying device 12 to the bobbin unstacking roller conveyor 16 for unstacking.

As shown in fig. 12, the rear section bobbin bagging and stacking system 7 comprises a detection and packaging system 8 and a woven bag robot stacking system 9; the woven bag robot stacking system 9 is arranged at the rear end of the detection packaging system 8; detect packaging system 8 and detect, tectorial membrane packing and bagging-off to a yarn section of thick bamboo, braided bag robot pile up neatly system 9 carries out pile up neatly and the buffer memory to detecting the yarn section of thick bamboo that finishes and pack.

As shown in fig. 13, the inspection and packaging system 8 includes a conveying belt 801, an inspection and removal device 802, a film covering and packaging machine 803, a turnover device 804, a bagging and bag sewing machine 805, a sorting device 806, a code spraying device 807, a strapping machine 809 and a grabbing roller machine 808; the conveying belt 801 is in butt joint with the belt conveyor 18, and conveys the yarn drum to a bagging and bag sewing machine 805; the detection and removal device 802, the film covering and packaging machine 803, the turnover device 804 and the bagging and bag sewing machine 805 are sequentially arranged on the conveying belt 801; the collating device 806 is arranged at the outlet of the bagging and sewing machine 805, and the collating device 806, the binding machine 809, the code spraying device 807 and the grabbing roller machine 808 are sequentially arranged.

The detection and rejection device 802 comprises a visual detection device 8021 and a rejection device 8022; the rejecting device 8022 is arranged at the rear end of the visual detection device 8021; the visual detection device 8021 detects the surface quality of cotton threads on the bobbin, and when the cotton threads are detected to be polluted, the bobbin is rejected by the rejection device 8022.

The yarn barrel qualified in detection is conveyed to the film covering and packaging machine 803 through the conveying belt 801, and the film covering and packaging machine 803 covers and packages the yarn barrel.

The bobbin after film covering and packaging is conveyed to a turnover device 804 by a conveying belt 801, and the turnover device 804 turns the bobbin at intervals of 180 degrees.

The yarn barrel is conveyed to a bagging and bag sewing machine 805 through a conveying belt 801, every plurality of yarn barrels are arranged in a row, the arrangement form of the yarn barrels is shown in fig. 14, the bagging and bag sewing machine 805 pushes the yarn barrels in the woven bag in the row to complete bagging of the yarn barrels, and after bagging is completed, the bagging and bag sewing machine 805 sews edges of the woven bag and seals the woven bag.

Bagging-off sack closer 805 accomplishes the bagging-off and stitches the package back, will fill up the braided bag of a yarn section of thick bamboo and push finishing device 806, finishing device 806 carries out the top to the braided bag and levels the reason, makes the braided bag more level and more smooth.

The sorting device 806 pushes the woven bag filled with the yarn barrel into a binding machine 809, and the binding machine 809 binds the woven bag to enable the woven bag to be more compact.

The binding machine 809 conveys the woven bags backwards to the code spraying device 807, and the code spraying device 807 sprays production information such as production date, product numbers and the like on the woven bags.

The code spraying device 807 conveys the woven bags to a grabbing roller machine 808, and the woven bag stacking system 9 grabs and stacks the woven bags on the grabbing roller machine 808.

As shown in fig. 15, the woven bag robot stacking system 9 includes a woven bag grabbing robot track 901, a woven bag grabbing robot body 902, a woven bag stacking fixture 903 and a woven bag stacking roller conveyor 904.

The woven bag grabbing robot body 902 is installed on a woven bag grabbing robot track 901 and travels on the woven bag grabbing robot track 901, and the woven bag stacking clamp 903 is fixedly installed at an execution terminal of the woven bag grabbing robot body 902;

braided bag snatchs robot 902 sets up snatch roller table machine 808 top, the braided bag snatchs robot 902 passes through braided bag pile up neatly anchor clamps 903 snatchs the braided bag.

The woven bag grabbing robot body 902 places the grabbed woven bags on the woven bag stacking roller conveyor 904 through the woven bag stacking clamp 903 to perform stacking.

Every braided bag pile up neatly roll table conveyer 904's export is provided with one set of braided bag pile up neatly roll table conveyer 905 of keeping in.

After the pile up neatly is accomplished, braided bag pile up neatly roll table conveyer 904 will be whole pile of braided bags and carry to braided bag pile up neatly roll table conveyer 905 of keeping in, wait for fork truck 906 to carry away whole pile of braided bags.

When the device is used, the bobbin stacking robot 131 grasps a bobbin partition 123 on the partition storage conveyor 14 through the bobbin stacking clamp 133 and places the bobbin partition 123 on the bobbin collecting device 11 in advance; the yarn cylinder collecting device 11 is in butt joint with the yarn cylinder hanging conveying line 4, the yarn cylinders 5 are taken down from the yarn cylinder hanging conveying line 4 and rotated by 90 degrees, so that the yarn cylinders 5 are in a vertical standing state with the large ends facing downwards and the small ends facing upwards, and a plurality of yarn cylinders 5 are arranged in a straight line on the yarn cylinder collecting device 11; the bobbin palletizing robot 131 grabs a plurality of bobbins 5 arranged on the bobbin collecting device 11 through a bobbin palletizing jig 133; the yarn drum stacking robot 131 runs on the linear guide rail of the yarn drum stacking robot, when the yarn drums 5 reach the yarn drum 5 storage and conveying device 12, a plurality of yarn drums 5 are simultaneously placed on the yarn drum 5 storage and conveying device 12, the operation is repeated for many times, the yarn drums 5 are arranged on the yarn drum storage and conveying device 12 in an array mode, and after one layer of yarn drums 5 are placed, the yarn drum stacking robot 131 grabs one yarn drum partition 123 from the yarn drum partition 123 conveying device and places the yarn drum partition 123 on the stacked one layer of yarn drums 5; after the bobbin partition 123 is placed, the bobbin palletizing robot 131 continues to grab the bobbin 5 from the bobbin collecting device 11 and stack the bobbin onto the bobbin storage and conveying device 12;

after a plurality of layers of yarn drums 5 are stacked on the yarn drum storage and conveying device 12, the conveying trolley 32 travels to the yarn drum storage and conveying device 12 on the trolley conveying track 31; the trolley roller conveyor 321 is in butt joint with the bobbin roller conveyor 121 of the bobbin storage and conveying device 12 and runs in the same direction, the bobbin roller conveyor 121 conveys a whole stack of bobbins to the trolley roller conveyor 321, the trolley roller conveyor 321 stops running after the bobbin roller conveyor 121 is in place, and the conveying trolley 32 travels on the trolley conveying track 31 to the bobbin cache system 2; when the conveying trolley 32 conveys the whole stack of yarn drums to the yarn drum cache system 2, the trolley roller conveyor 321 is in butt joint with one cache roller conveyor 21 and runs in the same direction, the whole stack of yarn drums is conveyed to the cache roller conveyor 21, and the yarn drums 5 are temporarily stored;

when the stacked yarn barrel needs to be subjected to a subsequent packaging process, the trolley roller conveyor 321 is in butt joint with the cache roller conveyor 21 and runs in the same direction, the whole stack of yarn barrels are conveyed to the trolley roller conveyor 321, and the conveying trolley 32 travels on the trolley conveying track 31 to the yarn barrel unstacking roller conveyor 16; the trolley roller conveyor 321 is butted with the bobbin unstacking roller conveyor 16 and runs in the same direction, and the whole bobbin unstacking roller conveyor 16 is conveyed to the bobbin unstacking roller conveyor 321; the bobbin unstacking robot 17 grabs the bobbins to the belt conveyor 18 through the bobbin unstacking clamp 171, and the belt conveyor 18 conveys the bobbins to the rear bobbin bagging and stacking system 7 for subsequent packaging;

The conveyer belt 801 is in butt joint with the belt conveyor 18 to convey the yarn cylinder to the rear end; when the bobbin passes through the detection and removal device 802, the visual detection device 8021 detects the surface quality of cotton threads on the bobbin, and when the cotton threads are detected to be polluted, the removal device 8022 removes the bobbin; the qualified yarn bobbin is conveyed to the film covering and packaging machine 803 through a conveying belt 801, and the film covering and packaging machine 803 is used for covering and packaging the yarn bobbin; the bobbin which is subjected to film covering and packaging is conveyed to a turnover device 804 by a conveying belt 801, and the turnover device 804 turns the bobbin at intervals by 180 degrees; the yarn cylinders are conveyed to a bagging and sewing machine 805 through a conveying belt 801, and a plurality of yarn cylinders are arranged in a row, wherein the arrangement form of the yarn cylinders is shown in fig. 14;

the bagging and bag sewing machine 805 pushes a plurality of rows of yarn drums into the woven bag to complete bagging of the yarn drums, and after bagging is completed, the bagging and bag sewing machine 805 sews edges and seals the woven bag; after the bagging and bag sewing machine 805 finishes bagging and bag sewing, pushing the woven bags filled with the yarn drums into the arranging device 806, and enabling the woven bags to be flattened by the arranging device 806; the sorting device 806 pushes the woven bag filled with the yarn drum into a binding machine 809, and the binding machine 809 binds the woven bag to enable the woven bag to be more compact; the binding machine 809 conveys the woven bags backwards to a code spraying device 807, and the code spraying device 807 sprays production information such as production date, product numbers and the like on the woven bags;

the code spraying device 807 conveys the woven bags to a grabbing roller machine 808, and the woven bag stacking system 9 grabs and stacks the woven bags on the grabbing roller machine 808; the woven bag grabbing robot body 902 places the grabbed woven bag on the woven bag stacking roller conveyor 904 for stacking through the woven bag stacking clamp 903; after the pile up neatly is accomplished, braided bag pile up neatly roll table conveyer 904 will be whole pile of braided bags and carry to braided bag pile up neatly roll table conveyer 905 of keeping in, wait for fork truck 906 to carry away whole pile of braided bags.

Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions deviate from the technical solutions of the embodiments of the present invention.

Claims

1. An intelligent conveying device for a spinning production line is characterized by comprising a front section yarn drum caching and stacking production system (6) and a rear section yarn drum bagging and stacking system (7); the front section bobbin cache stacking production system (6) is connected with the rear section bobbin bagging stacking system (7) in a front-to-back mode; the front-section yarn drum cache and stacking production system (6) is used for stacking and caching yarn drums; the rear section bobbin bagging and stacking system (7) is used for detecting, laminating and packaging, packaging woven bags and stacking bobbins conveyed from the front section bobbin caching and stacking production system (6);

the front-section bobbin cache and stacking production system (6) comprises a bobbin collecting and stacking system (1), a bobbin cache system (2) and a trolley conveying system (3); the bobbin collecting and stacking system (1) and the bobbin caching system (2) are respectively arranged on two sides of the trolley conveying system (3); the bobbin collecting and stacking system (1) takes bobbins off the bobbin suspension conveying line (4) for collection and stacking, and the trolley conveying system (3) conveys the stacked whole stack of bobbins to the bobbin cache system (2); the yarn drum buffer system (2) temporarily stores the stacked yarn drums for later packaging treatment of the yarn drums by the yarn drum bagging and stacking system;

the yarn drum collecting and stacking system (1) comprises a yarn drum collecting device (11), a yarn drum storing and conveying device (12), a yarn drum robot stacking system (13) and a partition storing and conveying machine (14); the yarn cylinder collecting devices (11) are respectively butted with the yarn cylinder hanging conveying lines (4) and are arranged below the yarn cylinder hanging conveying lines (4); the plurality of bobbin storage and conveying devices (12) are arranged on one side of the bobbin collecting device (11); the partition storing conveyors (14) are arranged on the other side of the bobbin collecting device (11); the yarn drum stacking system (13) is arranged above the yarn drum collecting device (11);

the yarn drum stacking robot system (13) comprises a yarn drum stacking robot (131), a yarn drum stacking robot linear guide rail (132) and a yarn drum stacking clamp (133); the bobbin stacking robot (131) is mounted on the bobbin stacking robot linear guide rail (132) and travels on the bobbin stacking robot linear guide rail (132); the bobbin stacking clamp (133) is fixedly arranged at a moving terminal of the bobbin stacking robot (131); the bobbin stacking clamp (133) grips the bobbin (5) in a manner of expanding a core barrel (51) of the bobbin (5);

the bobbin storage and conveying device (12) comprises a bobbin roller conveyor (121); a bobbin stacking tray (122) is placed on the bobbin roller conveyor (121) in advance; a layer of bobbin partition plate (123) is placed on the bobbin stacking tray (122) firstly; the yarn drum stacking robot (131) places a plurality of yarn drums on the yarn drum partition plate (123) through the yarn drum stacking clamp (133), and the core drums (51) of the yarn drums fall into the through holes (1231) in the yarn drum partition plate (123); the bobbin partition (123) is stored on the partition storage conveyor (14); the bobbin stacking robot (131) runs on the bobbin stacking robot linear guide rail (132) to the position above the bobbin partition plate (123) storage device; install yarn section of thick bamboo unstacking robot (17) on yarn section of thick bamboo pile up neatly robot linear guide (132), install yarn section of thick bamboo unstacking anchor clamps (171) on the motion terminal of yarn section of thick bamboo unstacking robot (17).

2. An intelligent spinning production line conveying device according to claim 1, characterized in that the bobbin buffer system (2) comprises a plurality of buffer roller conveyors (21) arranged side by side; a partition plate dismounting roller conveyor (15) and a bobbin unstacking roller conveyor (16) are arranged on one side of the partition plate storage conveyor (14); the trolley conveying system (3) comprises a trolley conveying track (31) and a conveying trolley (32); the conveying trolley (32) comprises a trolley roller conveyor (321) and a trolley walking driving device (322); the trolley traveling driving device (322) is fixedly arranged on the trolley roller conveyor (321) and drives the trolley roller conveyor (321) to travel on the trolley conveying track (31).

3. An intelligent conveying device for a spinning production line according to claim 1, wherein the bobbin collecting device (11) is butted with the bobbin suspension conveying line (4), the bobbin (5) is taken off from the bobbin suspension conveying line (4) and rotated by 90 degrees, so that the bobbin (5) is in a vertical standing state with a big end facing downwards and a small end facing upwards, and a plurality of bobbins (5) are arranged in a row on the bobbin collecting device (11).

4. An intelligent conveying device for a spinning production line according to claim 1, characterized in that the rear section bobbin bagging and stacking system (7) comprises a detecting and packaging system (8) and a woven bag robot stacking system (9); the woven bag robot stacking system (9) is arranged at the rear end of the detection packaging system (8); detect package system (8) and detect, tectorial membrane packing and bagging-off to a yarn section of thick bamboo, braided bag robot pile up neatly system (9) carries out pile up neatly and the buffer memory to detecting the yarn section of thick bamboo that finishes and pack.

5. An intelligent conveying device for a spinning production line according to claim 4, wherein the detection and packaging system (8) comprises a conveying belt (801), a detection and rejection device (802), a film covering and packaging machine (803), a turnover device (804), a bagging and bag sewing machine (805), a finishing device (806), a code spraying device (807), a strapping machine (809) and a grabbing roller way machine (808); the conveying belt (801) is in butt joint with the belt conveyor (18) and conveys the yarn drum to a bagging and bag sewing machine (805); the detection and removal device (802), the film covering and packaging machine (803), the turnover device (804) and the bagging and bag sewing machine (805) are sequentially arranged on the conveying belt (801); the arranging device (806) is arranged at an outlet of the bagging and sewing machine (805), and the arranging device (806), the strapping machine (809), the code spraying device (807) and the grabbing roller way machine (808) are sequentially arranged.

6. An intelligent spinning production line conveying device according to claim 4, wherein the woven bag robot palletizing system (9) comprises a woven bag grabbing robot track (901), a woven bag grabbing robot body (902), a woven bag palletizing clamp (903) and a woven bag palletizing roller conveyor (904); the woven bag grabbing robot body (902) is installed on a woven bag grabbing robot track (901) and travels on the woven bag grabbing robot track (901), and the woven bag stacking clamp (903) is fixedly installed at an execution terminal of the woven bag grabbing robot body (902); and an outlet of each woven bag stacking roller conveyor (904) is provided with a set of woven bag stacking temporary storage roller conveyor (905).