CN111747230A - Package transfer system and method - Google Patents
Package transfer system and method Download PDFInfo
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- CN111747230A CN111747230A CN201910245026.5A CN201910245026A CN111747230A CN 111747230 A CN111747230 A CN 111747230A CN 201910245026 A CN201910245026 A CN 201910245026A CN 111747230 A CN111747230 A CN 111747230A
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- 238000012546 transfer Methods 0.000 title claims abstract description 91
- 238000000034 method Methods 0.000 title claims abstract description 26
- 239000000872 buffer Substances 0.000 claims abstract description 102
- 238000004804 winding Methods 0.000 claims abstract description 94
- 210000001503 joint Anatomy 0.000 claims abstract description 16
- 230000003139 buffering effect Effects 0.000 claims description 23
- 238000003860 storage Methods 0.000 claims description 16
- 238000012806 monitoring device Methods 0.000 claims description 5
- 238000012544 monitoring process Methods 0.000 claims 1
- 238000010586 diagram Methods 0.000 description 8
- 230000005540 biological transmission Effects 0.000 description 6
- 238000004519 manufacturing process Methods 0.000 description 6
- 238000009987 spinning Methods 0.000 description 5
- 238000012986 modification Methods 0.000 description 3
- 230000004048 modification Effects 0.000 description 3
- 238000004891 communication Methods 0.000 description 2
- 230000002457 bidirectional effect Effects 0.000 description 1
- 239000000356 contaminant Substances 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000007380 fibre production Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 238000004806 packaging method and process Methods 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
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Classifications
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- 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
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- 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
- B65H67/02—Arrangements for removing spent cores or receptacles and replacing by supply packages at paying-out stations
-
- 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
- B65H67/06—Supplying cores, receptacles, or packages to, or transporting from, winding or depositing stations
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- 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
- B65H67/06—Supplying cores, receptacles, or packages to, or transporting from, winding or depositing stations
- B65H67/068—Supplying or transporting empty cores
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H2701/00—Handled material; Storage means
- B65H2701/30—Handled filamentary material
- B65H2701/31—Textiles threads or artificial strands of filaments
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- Replacing, Conveying, And Pick-Finding For Filamentary Materials (AREA)
Abstract
The invention relates to a package transferring method, which comprises the following steps: a paper tube filling step, wherein a winding machine sends an empty shaft signal, and a package transfer trolley acquires a package paper tube through a paper tube filling device and then is in butt joint with the winding machine to fill the package paper tube; a package winding step, in which a winding machine performs a package winding operation; a package receiving step, in which the winding machine sends out a full-package signal, and the package transfer trolley is butted with the winding machine and receives the package; a package buffer step, the package transfer vehicle buffers the package on the package buffer table and carries out the next package receiving operation; and a package loading step, namely hanging the package on the package buffer platform on a yarn vehicle through a loading robot.
Description
Technical Field
The invention relates to the technical field of chemical fiber production, in particular to a package transferring system and method adopting a package cache table design.
Background
In the process of transferring the packages, if the packages are directly hung on a yarn trolley through a package transfer trolley, the packages of the whole shaft are hung on a yarn hanging position one by one, and the transfer efficiency of the packages is seriously influenced. In addition, the packages of the same lot number are not necessarily wound on the same production line, and if the packages of different lot numbers are distributed only by the package transfer trolley, the production efficiency is influenced, the package transfer is possibly disordered, and the specified yarn trolley is hung with the packages of the wrong lot numbers. Therefore, it is necessary to provide a package buffer table between the package transfer vehicle and the yarn car to buffer the packages and place the packages according to the lot number rule, thereby avoiding the disorder of package transfer and improving the package transfer efficiency.
The invention discloses an automatic spinning cake production system (publication number CN107142536A), which relates to an automatic spinning cake production system, and comprises a long roller type spinning machine, a bidirectional spinning cake unloading device and a spinning cake temporary storage device.
Disclosure of Invention
In order to further solve the problem of the transfer operation capability of packages of different types in the production of packages of multiple types, the invention provides a package transfer method, which comprises the following steps: initializing, namely numbering stations of the winding machines, storing the station number corresponding to each winding machine to a control device, and sending an idle shaft signal to execute the paper tube filling step; a paper tube filling step, wherein a winding machine sends an empty shaft signal, and a package transfer trolley acquires a package paper tube through a paper tube filling device and then is in butt joint with the winding machine to fill the package paper tube; a package winding step, in which a winding machine performs a package winding operation; a package receiving step, in which the winding machine sends out a full-package signal, and the package transfer trolley is butted with the winding machine and receives the package; a package buffer step, the package transfer vehicle buffers the package on the package buffer table and carries out the next package receiving operation; and a package loading step, namely hanging the package on the package buffer platform on a yarn vehicle through a loading robot.
Further, the package buffering step includes: a batch caching step, namely caching the packages on the package transfer trolley on corresponding caching rods according to the package batch numbers; and a corresponding transferring step, wherein when the quantity of the packages corresponding to the cache rods reaches a transferring threshold value, the package loading step is executed.
Further, when the state monitoring device of the winding machine monitors that the winding shaft of the winding machine is empty, the winding machine sends out an empty shaft signal, or when the package transfer trolley receives the package from the winding machine, the winding machine sends out the empty shaft signal; when the state monitoring device of the winding machine monitors that the winding shaft of the winding machine is fully wound with a package, the winding machine sends out a full shaft signal.
Preferably, the paper tube filling step includes: and an idle shaft positioning step, namely determining the station number of the winding machine in an idle shaft state according to the idle shaft signal.
Preferably, the package receiving step includes: and a full-axis positioning step, namely determining the station number of the winder in a full-axis state according to the full-axis signal.
The invention also provides a readable storage medium storing executable instructions for performing the package transferring method.
The invention also provides a package transfer system, comprising: the paper tube filling device is used for filling the rolled paper tubes; a package transfer vehicle for transferring the package from the winding machine to the package buffer; a package buffer stage for buffering packages; the loading robot is used for hanging the package of the package buffer platform on the yarn vehicle; and a control device, which is respectively connected with the paper tube filling device, the package transfer vehicle, the package buffer platform and the loading robot in a communication way, and comprises the readable storage medium, wherein the control device calls and executes executable instructions in the readable storage medium to control the package paper tube filling operation, the package receiving operation, the package buffer operation and the package loading operation.
Further, the package buffer includes: a frame body; the buffer rods are fixedly connected with the frame body, are parallel to each other and are all parallel to a horizontal plane, and are uniformly arranged on the frame body; the push plate is arranged on each cache rod and driven by the push plate driving device to move along the axial direction of the cache rod; the push plate driving device is arranged on the frame body.
Further, the push plate driving device is a linear driving device.
Preferably, the push plate driving device is a cylinder piston device.
Further, the control device further includes: the paper tube filling module is used for judging the empty shaft state of the winding machine, controlling the package transfer trolley to obtain a package paper tube from the paper tube filling device and filling the package paper tube to the winding machine; the package receiving module is used for judging whether the winding machine is fully wound with a package, controlling the package transfer trolley to be in butt joint with the winding machine so as to perform package receiving operation, and controlling the package transfer trolley to be in butt joint with the package buffer platform so as to perform package buffer operation; the package buffer module is used for controlling the package buffer platform to receive the package of the package transfer trolley; the package loading module is used for controlling the loading robot to acquire the package from the package caching platform and hang the package on a yarn vehicle; and the recording and transmitting module is used for acquiring, recording and transmitting the package information.
Preferably, the loading robot is a package transfer vehicle designated to perform a package loading operation.
The package buffer platform can solve the problem of time delay caused by the fact that the package transfer vehicle and the loading robot are asynchronous, and meanwhile packages which are not full of one vehicle are temporarily stored according to different package batch numbers so as to improve package transfer efficiency.
Drawings
FIG. 1 is a schematic diagram of a package transfer system of the present invention.
Fig. 2 is a schematic diagram of a structure of a package buffer of the package transferring system of the present invention.
Fig. 3A is a schematic structural diagram of a paper tube loading device of a package transfer system according to the present invention.
FIG. 3B is a schematic diagram of the opening structure of the paper tube loading device of the package transferring system of the present invention.
Fig. 4 is a control flow diagram of a package transfer system of the present invention.
FIG. 5 is a flow chart of a package transferring method of the present invention.
Wherein the reference numerals are:
1: a winding machine 2: package transfer car (buggy)
3: and (4) yarn vehicle: control device
5: paper tube filling device 6: package buffer storage table
7: the loading robot 8: package of paper
11: winding shaft 21: bearing rod
41: paper tube filling module 42: package receiving module
43: package buffer module 44: package loading module
45: the record transmission module 51: paper tube roll
52: paper tube buffer device 53: paper tube pushing device
521: loading device holder 522: paper tube buffer storage groove
523: the chain 524: rotary drive
525: the housing 531: push block
532: the push block driver 61: buffer storage rack body
62: the buffer lever 63: push plate
64: the push plate driving device 71: loading rod
K1: paper tube filling hole K2: paper tube push-out hole
P1: transfer station
Detailed Description
The following detailed description of the embodiments of the present invention is provided in connection with the accompanying drawings, which illustrate only one embodiment of the invention and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without any inventive step, are within the scope of the present invention.
The core of the package transfer system of the invention is a package buffer table, and the package transfer vehicle firstly puts the package on a buffer rod of the package buffer table after dropping the package from the winding machine. Each buffer rod is set with a fixed batch number, the push plate allows the package to be transferred and stored with the same batch number as the push plate when the push plate is at the back position and the current buffer rod does not have the package, and the package transfer vehicle transmits package information (including the batch number) to the buffer platform from the vehicle when storing the package to the buffer platform. When the package with the same batch number on the buffer storage platform can be used for one package, the loading robot is allowed to take the package and hang the package on the silk vehicle, and when the package is taken, the package buffer storage platform transmits the package information on the current buffer storage rod to the silk vehicle.
The number of package batch numbers which can be stored by the package buffer platform is related to the yield of the current production line and the number of buffer rods, and taking a 12-shaft buffer platform as an example, the yarn hanging position of the yarn trolley is calculated according to 30 spindles. 4 batches of silk can be stored in 12 shafts, each three shafts are uniform batches, and when the three buffer rods are fully hung, the loading robot can start to transfer the batches of packaged silk onto a silk vehicle. The package buffer platform is provided with a sufficient number of buffer rods to ensure that the situation that a new package in the same batch falls out and is stored everywhere when the loading robot does not take away the previous batch of silk ingots is avoided.
Specifically, the invention provides an automatic package conveying system which is arranged between a winding machine and a yarn trolley. Fig. 1 is a schematic structural diagram of an automatic package conveying system according to an embodiment of the present invention. As shown in fig. 1, the automatic package conveying system of the present invention includes: the automatic packaging machine comprises a winding machine 1, a package transfer trolley 2, a yarn trolley 3, a control device 4, a paper tube filling device 5, a package buffer table 6 and a loading robot 7, wherein the yarn trolley 3 is arranged at a transfer station P1, and the control device 4 is respectively in communication connection with the package transfer trolley 2, the paper tube filling device 5, the package buffer table 6 and the loading robot 7; when the paper tube package loading operation is performed, the package transfer trolley 2 is butted with the paper tube loading device 5 under the control of the control device 4, the receiving rod 21 receives the paper tube package 51, and then is butted with the winding machine 1 of the hollow shaft, and the paper tube package 51 on the receiving rod 21 is loaded on the winding shaft 11 of the winding machine 1; when the package transfer operation is performed, the package transfer vehicle 2 is butted against the winding machine 1 under the control of the control device 4, the receiving rod 21 receives the package 8, the package 8 is conveyed to the transfer station P1 and is buffered on the buffer rod 62 of the package buffer table 6, when the control device 4 issues a loading instruction, the loading robot 7 is butted against the designated buffer rod 62 of the package buffer table 6 according to the loading instruction, the push plate of the designated buffer rod 62 pushes the package 8 to the receiving rod 71 of the loading robot 7, the loading robot 7 is butted against the yarn car 3, and the package 8 is hung on the yarn hanging position of the yarn car 3 one by one. In the embodiment of the present invention, the yarn cart 3 has A, B both sides, each side has a plurality of yarn hanging positions, and the yarn cart 3 can be rotated so that the loading robot 7 can hang packages on the yarn hanging positions on both sides A, B of the yarn cart 3. The loading robot 7 may be a dedicated loading device, or may designate a package transfer vehicle to perform package loading operation, which is not limited in the present invention.
Fig. 2 is a schematic structural diagram of a package buffering table according to an embodiment of the present invention. As shown in fig. 2, specifically, the package buffering table of the present invention includes a frame body 61, a buffering rod 62, a pushing plate 63 and a pushing plate driving device 64, wherein the frame body 61 is a frame structure, the buffering rod 62 is mounted on the frame body 61, the pushing plate 63 is disposed on the buffering rod 62 and can move axially along the buffering rod 62 under the driving of the pushing plate driving device 64 to push out the package on the buffering rod 62; the buffer rods 62 are all arranged in the horizontal direction and are parallel to each other, and are uniformly arranged on the frame body 61 to form a plurality of buffer rod rows and buffer rod columns, in this embodiment, 12 buffer rods are included to form an arrangement of 3 rows and 4 columns, and the buffer rods in each column correspond to the loading rods of the loading robot, so that the loading robot can take up all packages on one column of buffer rods at a time; the buffer rods may be arranged in other numbers and forms, and the invention is not limited thereto.
The push plate driving device 64 is a linear driving device for driving the push plate 63 to push out the package along the buffer rod 62, in this embodiment, the push plate driving device 64 adopts a cylinder-piston device, and may also adopt other driving methods, such as a linear motor, a rack-and-pinion device driven by a servo motor, a screw-and-slider device driven by a servo motor, and the invention is not limited thereto.
Fig. 3A is a schematic structural view of a paper tube filling device of the present invention. As shown in fig. 3A, the present invention provides a paper tube filling device, which includes a paper tube buffering device and a paper tube pushing device, wherein the paper tube buffering device includes a frame 521, a plurality of paper tube buffering slots 522, a chain 523 and a rotary driver 524, and a housing 525 covering the frame 521, each paper tube buffering slot 522 can store a plurality of paper tubes 51 to be wound, the paper tube buffering slots 522 are parallel to each other, aligned side by side, and uniformly disposed on the chain 523, the chain 523 is disposed around the frame 521 and can rotate around the frame 521 under the driving of the rotary driver 524, in this embodiment, the rotary driver 524 provides a driving force with a servo motor; the paper tube pushing device includes a push block 531 and a push block driver 532, and when a paper tube package loading operation is performed, the push block 531 is inserted into the paper tube buffer groove 522 and is driven by the push block driver 532 to move in the paper tube buffer groove 522 in the axial direction of the paper tube buffer groove, so as to push out the paper tube package 51. In this embodiment, the paper tube buffer slot 522 is a "C" shaped slot, the opening of the paper tube buffer slot 522 penetrates through the paper tube buffer slot 522 along the axial direction of the paper tube buffer slot, the push block 531 is inserted into the paper tube buffer slot 522 through the opening of the paper tube buffer slot 522, and the push block driver 532 is disposed at one side of the paper tube buffer slot 522, which can shorten the axial dimension of the paper tube filling device to reduce the floor space of the paper tube filling device; the paper tube buffer slot may be configured as a tube buffer tube with two open ends, the push block and the push block driver may be configured at one end of the buffer tube, and the push block is inserted from one end of the buffer tube to push the wound paper tube out from the other end of the buffer tube, which may shorten the radial dimension of the paper tube filling device, and the invention is not limited thereto. The push block driver 532 is a linear driving device, such as a linear motor, a cylinder piston, etc., and in this embodiment, is driven by a servo motor and has a screw-slider structure.
Fig. 3B is a schematic view of the opening structure of the paper tube filling device of the present invention. As shown in fig. 3B, the paper tube filling device further includes a housing 525, and the housing 525 covers the frame 521, the plurality of paper tube buffer slots 522, the chain 523 and the rotary driver 524 to prevent contaminants from entering the paper tube filling device, maintain smooth operation of the paper tube filling device, and prevent the packaged paper tubes 51 from being contaminated; the casing 525 has a paper tube filling hole K1 and a paper tube pushing hole K2, the paper tube filling hole K1 is disposed at any position convenient for filling the rolled paper tube, for example, at the side of the front surface of the casing 525 opposite to the paper tube pushing hole K2, the paper tube pushing hole K2 is disposed corresponding to the pushing block 531, and corresponds to one end of the paper tube buffer slot 522 outputting the rolled paper tube, and penetrates the casing 525 along the opening direction of the paper tube buffer slot 522, so that the pushing block 531 can move in the opening of the paper tube buffer slot 522 along the axial direction of the paper tube buffer slot.
Fig. 4 is a control flow diagram of a package transfer system of the present invention. As shown in fig. 4, the package transfer system of the present invention is controlled by the control device to perform package transfer. The control device comprises a paper tube loading module 41, a package receiving module 42, a package caching module 43, a package loading module 44 and a record transmission module 45, wherein the paper tube loading module 41 is used for judging the empty shaft state of the winding machine 1, when the winding machine 1 is in the empty shaft state, the paper tube loading module 41 respectively sends paper tube loading instructions to the package transfer trolley 2 and the paper tube loading device 5, the package transfer trolley 2 runs to the paper tube loading device 5 to receive a packaged paper tube and then runs to the winding machine 1 of the empty shaft to load the packaged paper tube onto the winding shaft of the winding machine 1; the package receiving module 42 is used for judging whether the winder 1 is fully wound with a package, if the winder 1 is fully wound with a package, the package receiving instruction is sent to the package transfer trolley 2, the package transfer trolley 2 is controlled to be in butt joint with the winder 1 to perform package receiving operation, and the package transfer trolley 2 which receives the package is controlled to be in butt joint with the package buffering table 6 to perform package buffering operation, in the process, the winder 1 transmits package information of the package to the package transfer trolley 2, when the package transfer trolley 2 buffers the package on the package buffering table 6, the package transfer trolley 2 stores the corresponding package information on the record transmission module 45, and the record transmission module 45 transmits the package information to the package buffering module 43 to monitor the buffering state of the package buffering table 6; the package caching module 43 is configured to issue a caching instruction, # control the package caching platform 6 to receive and cache the packages, receive the package information sent by the record transmission module 45 to monitor the package caching state of the package caching platform 6, and issue a loading request instruction to the package loading module 44 when the corresponding cache rod of the package caching platform 6 is full; the package loading module 44 is used for sending a loading instruction to the loading robot 7 according to the loading request instruction, controlling the loading robot 7 to acquire a package from the package buffer table 6 and to hang the package on the yarn car 3, and in the process, the record transmission module 45 transmits package information to the loading robot 7 and the loading robot 7 transmits the package information to the yarn car 3; the package transfer module 45 is used for acquiring, recording and transmitting package information in the whole package transferring process.
FIG. 5 is a flow chart of the package transferring method of the present invention. As shown in fig. 5, the present invention further provides a package transferring method, which specifically includes:
step S1, initializing a package transferring system, including station numbering for all winding machines, storing the station number corresponding to each winding machine to a control device, and sending out an empty shaft signal of the winding machine, so that all winding machines load package paper tubes to perform package winding operation;
step S2, performing a paper tube package loading operation, when receiving an empty shaft signal sent by the winding machine, the package transfer trolley firstly moves to the butt joint position with the paper tube loading device, automatically acquires the paper tube package after the paper tube package loading device is in butt joint, determines the station number of the winding machine in an empty shaft state, then moves to the butt joint position with the winding machine, and loads the paper tube package to the winding machine; the empty shaft signal may be sent when the package transfer system is initialized, or sent by the winding machine when the state monitoring device of the winding machine monitors that the winding shaft of the winding machine is empty, or sent by the default winding machine after the package transfer vehicle receives the package from the winding machine, which is not limited by the invention;
step S3, the winding machine performs a package winding operation;
step S4, performing a package receiving operation, wherein when the state monitoring device of the winding machine monitors that the winding shaft of the winding machine is fully wound, the winding machine sends a full winding signal, and the package transfer trolley runs to the butt joint position of the winding machine after determining the station number of the winding machine in the full winding state, and receives the package after butt joint with the winding machine;
step S5, the package transfer vehicle buffers the packages on the corresponding buffer rods of the package buffer platform according to the batch numbers;
step S6, when the number of packages corresponding to the cache rods reaches the transfer threshold, performing package loading; the transfer threshold may be an early warning value for caching the package by the corresponding cache rod on the package cache table, for example, there are 9 cache rods, and when there are 7 cache rods that are full of the package, if the package loading operation is not performed, there is a possibility that the package that is completed by the full package cache table can be placed, the early warning value should be set at this time, and the package cache operation and the package loading operation are kept smooth; the transferring threshold value can also be the loading number of yarn cars, and when the number of the cache packages of the corresponding cache rods on the package cache table can be fully hung up by one yarn car, package loading operation is started; the package can be loaded at the same time, that is, the loading robot can carry out the package loading operation as long as the package is on the package buffer table, and the invention is not limited by the package loading operation.
And step S7, the loading robot receives the package from the package buffer platform, moves to the butt joint position with the yarn car, and hangs the package on the yarn car after butt joint with the yarn car.
The embodiment of the invention also provides a readable storage medium. The readable storage medium of the present invention stores executable instructions, and the executable instructions when executed by the processor of the control device implement the package transferring method. It will be understood by those skilled in the art that all or part of the steps of the above methods may be implemented by a program instructing associated hardware (e.g., a processor) and the program may be stored in a readable storage medium, such as a read-only memory, a magnetic or optical disk, etc. All or some of the steps of the above embodiments may also be implemented using one or more integrated circuits. Accordingly, the modules in the above embodiments may be implemented in hardware, for example, by an integrated circuit, or in software, for example, by a processor executing programs/instructions stored in a memory. Embodiments of the invention are not limited to any specific form of hardware or software combination.
The description and application of the present invention are illustrative, and are not intended to limit the scope of the invention to the embodiments described above. Variations and modifications of the embodiments disclosed herein are possible, and alternative and equivalent various components of the embodiments will be apparent to those skilled in the art. It will be clear to those skilled in the art that the present invention may be embodied in other forms, structures, arrangements, proportions, and with other components, materials, and parts, without departing from the spirit or essential characteristics thereof. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.
Claims (16)
1. A package transfer method, comprising:
a paper tube filling step, wherein a winding machine sends an empty shaft signal, and a package transfer trolley acquires a package paper tube through a paper tube filling device and then is in butt joint with the winding machine to fill the package paper tube;
a package winding step, in which a winding machine performs a package winding operation;
a package receiving step, in which the winding machine sends out a full-package signal, and the package transfer trolley is butted with the winding machine and receives the package;
a package buffer step, the package transfer vehicle buffers the package on the package buffer table and carries out the next package receiving operation;
and a package loading step, namely hanging the package on the package buffer platform on a yarn vehicle through a loading robot.
2. The package transfer method of claim 1, wherein the package buffering step comprises:
and a batch caching step, namely caching the packages on the package transfer trolley on the corresponding caching rods according to the package batch numbers.
3. The package transfer method of claim 1, wherein the package buffering step further comprises:
and a corresponding transferring step, wherein when the quantity of the packages corresponding to the cache rods reaches a transferring threshold value, the package loading step is executed.
4. A package transferring method according to claim 1, wherein the empty bobbin signal is issued by the winding machine when the condition monitoring device of the winding machine detects that the winding bobbin of the winding machine is empty.
5. The package transfer method of claim 1, wherein the empty spool signal is generated by the winding machine after the package transfer vehicle receives the package from the winding machine.
6. A package transfer method according to claim 4 or 5, characterised in that the full package is signalled by the winder when a condition monitoring means of the winder detects that the winding shaft of the winder is full.
7. The package transfer method of claim 1, further comprising, prior to the paper tube filling step:
and an initialization step, namely numbering the stations of the winding machines, storing the station number corresponding to each winding machine to the control device, and sending an idle shaft signal to execute the paper tube filling step.
8. The package transfer method of claim 7, wherein the paper tube filling step comprises:
and an idle shaft positioning step, namely determining the station number of the winding machine in an idle shaft state according to the idle shaft signal.
9. The package transfer method of claim 7, wherein the package receiving step includes:
and a full-axis positioning step, namely determining the station number of the winder in a full-axis state according to the full-axis signal.
10. A readable storage medium storing executable instructions for performing the package transferring method according to any one of claims 1 to 9.
11. A package transfer system, comprising:
the paper tube filling device is used for filling the rolled paper tubes;
a package transfer vehicle for transferring the package from the winding machine to the package buffer;
a package buffer stage for buffering packages;
the loading robot is used for hanging the package of the package buffer platform on the yarn vehicle; and
a control device, communicatively connected to the paper tube filling device, the package transfer vehicle, the package buffer station and the loading robot, respectively, comprising a readable storage medium according to claim 10, the control device retrieving and executing executable instructions in the readable storage medium to control a package paper tube filling operation, a package taking operation, a package buffer operation and a package loading operation.
12. The package transfer system of claim 11, wherein the package buffer includes:
a frame body;
the buffer rods are fixedly connected with the frame body, are parallel to each other and are all parallel to a horizontal plane, and are uniformly arranged on the frame body;
the push plate is arranged on each cache rod and driven by the push plate driving device to move along the axial direction of the cache rod;
the push plate driving device is arranged on the frame body.
13. The package transfer system of claim 12, wherein the pusher drive is a linear drive.
14. The package transfer system of claim 13, wherein the push plate drive is a cylinder piston arrangement.
15. The package transfer system of claim 11, wherein the control device further comprises:
the paper tube filling module is used for judging the empty shaft state of the winding machine, controlling the package transfer trolley to obtain a package paper tube from the paper tube filling device and filling the package paper tube to the winding machine;
the package receiving module is used for judging whether the winding machine is fully wound with a package, controlling the package transfer trolley to be in butt joint with the winding machine so as to perform package receiving operation, and controlling the package transfer trolley to be in butt joint with the package buffer platform so as to perform package buffer operation;
the package buffer module is used for controlling the package buffer platform to receive the package of the package transfer trolley;
the package loading module is used for controlling the loading robot to acquire the package from the package caching platform and hang the package on a yarn vehicle; and
and the recording and transmitting module is used for acquiring, recording and transmitting the package information.
16. The package transfer system of claim 11, wherein the loading robot is a package transfer vehicle designated to perform package loading operations.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910245026.5A CN111747230B (en) | 2019-03-28 | 2019-03-28 | Package transfer system and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910245026.5A CN111747230B (en) | 2019-03-28 | 2019-03-28 | Package transfer system and method |
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| CN210064772U (en) * | 2019-03-28 | 2020-02-14 | 北自所（北京）科技发展有限公司 | Automatic package transfer system |
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| CN111747230B (en) | 2024-03-22 |
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