CN112193699A - Automatic spinning cake conveying system and control method thereof - Google Patents

Automatic spinning cake conveying system and control method thereof Download PDF

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Publication number
CN112193699A
CN112193699A CN202011137772.1A CN202011137772A CN112193699A CN 112193699 A CN112193699 A CN 112193699A CN 202011137772 A CN202011137772 A CN 202011137772A CN 112193699 A CN112193699 A CN 112193699A
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CN
China
Prior art keywords
doffing
spinning
conveying
trolley
spinning cake
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN202011137772.1A
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Chinese (zh)
Inventor
钱怡君
孙斌
邵科亮
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
WUXI HONGYUAN ELECTROMECHANICAL TECHNOLOGY CO LTD
Original Assignee
WUXI HONGYUAN ELECTROMECHANICAL TECHNOLOGY CO LTD
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Application filed by WUXI HONGYUAN ELECTROMECHANICAL TECHNOLOGY CO LTD filed Critical WUXI HONGYUAN ELECTROMECHANICAL TECHNOLOGY CO LTD
Priority to CN202011137772.1A priority Critical patent/CN112193699A/en
Publication of CN112193699A publication Critical patent/CN112193699A/en
Pending legal-status Critical Current

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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65GTRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02Storage devices
    • B65G1/04Storage devices mechanical
    • B65G1/0492Storage devices mechanical with cars adapted to travel in storage aisles
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65GTRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G35/00Mechanical conveyors not otherwise provided for
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65GTRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G43/00Control devices, e.g. for safety, warning or fault-correcting
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65GTRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/74Feeding, transfer, or discharging devices of particular kinds or types
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65GTRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/74Feeding, transfer, or discharging devices of particular kinds or types
    • B65G47/82Rotary or reciprocating members for direct action on articles or materials, e.g. pushers, rakes, shovels
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65HHANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H67/00Replacing or removing cores, receptacles, or completed packages at paying-out, winding, or depositing stations
    • B65H67/04Arrangements for removing completed take-up packages and or replacing by cores, formers, or empty receptacles at winding or depositing stations; Transferring material between adjacent full and empty take-up elements
    • B65H67/0405Arrangements for removing completed take-up packages or for loading an empty core
    • B65H67/0411Arrangements for removing completed take-up packages or for loading an empty core for removing completed take-up packages
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65HHANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H2701/00Handled material; Storage means
    • B65H2701/10Handled articles or webs
    • B65H2701/17Nature of material
    • B65H2701/174Textile, fibre
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65HHANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H2701/00Handled material; Storage means
    • B65H2701/30Handled filamentary material
    • B65H2701/31Textiles threads or artificial strands of filaments

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Spinning Or Twisting Of Yarns (AREA)
  • Warehouses Or Storage Devices (AREA)
  • Replacing, Conveying, And Pick-Finding For Filamentary Materials (AREA)

Abstract

The invention discloses an automatic spinning cake conveying system and a control method thereof, wherein the system is arranged between a winding machine and a special spinning frame vehicle and comprises a conveying track, a spinning cake temporary storage warehouse arranged on one side of the conveying track, a doffing conveying trolley moving along the conveying track, a doffing transfer trolley, a rotary table for carrying the special spinning frame vehicle and a control module; the doffing conveying trolley moves between the winding machine and the spinning cake temporary storage warehouse, and the doffing transferring trolley moves between the spinning cake temporary storage warehouse and the rotary table. The invention greatly replaces manpower, greatly reduces the labor intensity of workers, reduces the management cost and reduces the probability of pollution and damage of spinning cakes.

Description

Automatic spinning cake conveying system and control method thereof
Technical Field
The invention relates to a conveying system and a control method thereof, in particular to an automatic spinning cake conveying system and a control method thereof.
Background
Chemical fiber is used as a basic raw material and has wide application and huge consumption in daily production and life. However, the production process of chemical fibers basically stays in a full-manual production and transportation mode, namely, the formed spinning cakes are hung on a special spinning frame vehicle manually, and then the special spinning frame vehicle is pushed to a detection area, and the full-manual production mode is difficult to maintain along with the increasing of the yield of the chemical fibers.
The existing non-automatic production mode has the following defects: first, the chemical fiber production industry is not satisfied with a large number of requirements for recruitment as a labor intensive industry. Secondly, the working environment of the spinning cake forming area with high noise, heavy oil smoke, high temperature and extremely severe temperature is very harsh, production personnel need to work in the forming area all the day, the damage to the human body is very serious, the labor intensity of workers is very great, each worker needs to manually carry 4-5 tons of spinning cakes per shift according to a common 100DFDY product as an example, the labor intensity is very high, the number of stations on a spinning production line is large, the time interval of full winding of produced filament varieties is short, spindles cannot be transferred by a trolley to adapt to the rhythm of the whole production line, most of spindle products in the prior art depend on manpower, the spindles are generally heavy (about 15kg per spindle) and are carried by manpower, and if each person carries thousands of times per day, the labor amount is too large, and the workers are too tired. Thirdly, once the end face of the spinning cake is touched, the end face is easy to fall, and the like, in the manual carrying process, economic loss is caused. Fourthly, due to the relationship of labor intensity, the spinning cake forming area is basically a man, and most of workers are young people about 20 years old, which is very difficult in production management. Fifth, the flow of people is also enormous for the above reasons and is inconvenient for management.
The existing automatic production line has the following defects: in other automatic production systems, one trolley can only be used for conveying alone, and then the spinning cakes are thrown to a spinning frame trolley by means of a manipulator, so that the efficiency of storing, taking and transporting the spinning cakes is low.
Disclosure of Invention
The purpose of the invention is as follows: the invention aims to provide an automatic spinning cake conveying system and a control method thereof, which aim to solve the problems that the number of stations on a spinning production line is large, the full-winding time interval of produced filament varieties is short, and manual doffing cannot be adapted to the beat of the whole production line, greatly replace manpower, greatly reduce the labor intensity of workers, reduce the management cost and reduce the probability of pollution and damage of spinning cakes.
The technical scheme is as follows: the automatic spinning cake conveying system is arranged between a winding machine and a special spinning frame vehicle and comprises a conveying track, a spinning cake temporary storage warehouse arranged on one side of the conveying track, a doffing conveying trolley moving along the conveying track, a doffing transferring trolley, a rotary table used for carrying the special spinning frame vehicle and a control module; the doffing conveying trolley moves between the winding machine and the spinning cake temporary storage warehouse, and the doffing transferring trolley moves between the spinning cake temporary storage warehouse and the rotary table;
the doffing conveying trolley and the doffing transferring trolley have the same structure and comprise a moving mechanism, a lifting mechanism arranged below the moving mechanism and a spinning cake taking and placing mechanism arranged on the lifting mechanism, wherein the moving mechanism is used for enabling the doffing conveying trolley to run on the conveying track and enabling the lifting mechanism to rotate relative to the conveying track; the spinning cake taking and placing mechanism comprises a back plate and a spinning device parallel to the back plate, the spinning device moves relative to the back plate and takes and places spinning cakes on the winding machine, and the lifting mechanism is used for controlling the back plate to reciprocate up and down;
the control module controls the movement of the doffing conveying trolley, the doffing transferring trolley and the rotary table according to the hanging conditions of the winder, the special silk frame trolley and the silk cake in the silk cake temporary storage warehouse.
The moving mechanism comprises a travelling wheel arranged above the conveying track, guide wheels arranged on two sides of the conveying track, a rotating gear set and a driving device with the structure; the rotating gear set is arranged between the moving mechanism and the lifting mechanism and used for driving the lifting mechanism to rotate.
The lifting mechanism also comprises a frame, a crawler belt, a belt wheel, a transmission shaft and a driving device for driving the transmission shaft to rotate; the belt wheels are arranged on two sides of the top of the frame and connected through the transmission shaft, the crawler belt is arranged on the belt wheels, and the crawler belt is connected with the back plate.
The wire pushing device comprises a pushing seat, a wire pushing arm arranged on the pushing seat, a wire pushing plate arranged on the wire pushing arm and a driving device with the structure; the back plate is provided with a guide rail, the push seat moves along the guide rail, and the wire push plate moves along the wire push arm.
The wire pushing devices are at least two and are arranged on the back plate in parallel along the vertical direction or are sequentially arranged along the same horizontal plane from inside to outside.
The spinning cake temporary storage comprises a rack, a spinning cake hanging shaft, a temporary storage spinning plate arranged on the spinning cake hanging shaft, a guide rod parallel to the spinning cake hanging shaft and a driving device connected with the temporary storage spinning plate, the spinning cake hanging shaft faces the conveying track, and the driving device is arranged on the guide rod and controls the temporary storage spinning plate to move along the spinning cake hanging shaft.
The rotary table comprises a base, and a driving device is arranged in the base; the special creel truck comprises A, B two surfaces which respectively correspond to the rotary table to rotate to a first position and a second position; the turret further includes a third position for unloading the special creel truck.
The system also comprises a positioning system and a remote control platform; the control module receives the feedback of the positioning system or the instruction of the remote control platform; the positioning system comprises a positioning sensor or a limiting sensor which is arranged on a doffing conveying trolley, a doffing transfer trolley, a special silk frame trolley, a winding machine and a silk cake temporary storage warehouse, and is used for realizing the positioning of the device and transmitting position information to the control module and the remote control platform. The positioning sensor is arranged on a movable device (a doffing conveying trolley and a doffing transferring trolley) in the devices, and sends a signal to the control module or the remote control platform after reaching a designated position according to navigation; the limit sensor can be arranged on a static device (a special silk frame vehicle, a winding machine and a silk cake temporary storage warehouse), and sends a signal to the control module or the remote control platform when detecting that the trolley arrives. Only a positioning sensor can be arranged, and the positioning sensor and a limiting sensor can be arranged, so that the positioning accuracy is ensured.
The doffing conveying trolley and the doffing transfer trolley are provided with a plurality of trolleys, each trolley is provided with a serial number, and the serial numbers are displayed on the remote control platform.
The automatic spinning cake conveying control method based on the automatic spinning cake conveying system comprises the following steps:
s1, judging whether the winder is fully wound with the spinning cake, if so, executing the step S2; the judgment of whether the roll is full is detected by other equipment arranged on the winding machine, and the system can receive a full roll signal sent by the equipment.
S2, the doffing conveying trolley moves to the specified butt joint position of the winding machine under the control of the control module, the lifting mechanism of the doffing conveying trolley is rotated, the wire pushing arm of the doffing conveying trolley is aligned to the screw rod of the winding machine library, the wire pushing arm moves to take off the formed spinning cake, and the lifting mechanism is rotated again;
s3, the doffing conveying trolley moves to the appointed butt joint position of the spinning cake temporary storage under the control of the control module, the operation is the same as that of S2, and the spinning cakes are placed in the spinning cake temporary storage;
s4, judging whether the temporary storage library of the spinning cakes is full of the spinning cakes of the same variety, if not, executing S2, and if so, executing the step S5; the judgment of whether the spinning cake is fully stored is detected by other equipment arranged on the spinning cake temporary storage library, and the system can receive a full-roll signal sent by the equipment.
S5, the doffing transfer trolley rotates under the control of the control module, so that the wire pushing arm is aligned with the screw rod of the spinning cake temporary storage warehouse, and the wire pushing arm receives the molded spinning cakes of the same variety on the spinning cake temporary storage warehouse;
s6, the doffing transfer trolley moves to a specified butt joint position of the special creel trolley, and the rotary table and the doffing transfer trolley rotate to enable the lead screw of the special creel trolley and the wire pushing arm aligned with the doffing transfer trolley to be in alignment, at the moment, the rotary table is in the first position, and the special creel trolley is an A surface;
and S7, the wire pushing arm moves to hang the formed spinning cakes on the special spinning frame vehicle, after the surface A of the special spinning frame vehicle is filled, the rotary table rotates to the second position, the surface B of the special spinning frame vehicle is loaded, and when the two surfaces are completely filled, the rotary table rotates to the third position, and the special spinning frame vehicle is detached from the rotary table.
The step S2 includes the steps of: the main control device judges the number of doffing conveying trolleys and doffing transferring trolleys on the conveying track according to the positioning information, and if the number of the trolleys is one, the trolleys move to the butt joint position with the winding machine, the spinning cake temporary storage warehouse and the special spinning frame vehicle; if the number of the doffing conveying trolleys is multiple, the trolley closest to the device moves to the butt joint position.
Has the advantages that: compared with the prior art, the invention has the following remarkable advantages:
the arrangement of the doffing conveying trolley greatly replaces manpower, greatly reduces the labor intensity of workers, reduces the management cost and reduces the probability of pollution and damage of spinning cakes.
The lifting and moving of the trolley and the wire pushing device can realize the storage and taking of the spinning cakes in order, the rotating device retracts the pushing arm of the trolley, the spinning cakes are prevented from falling and colliding in the transportation process, and the double-pushing-seat structure ensures that the storage and taking work efficiency is high.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic view of the structure of the cart of the present invention;
FIG. 3 is a schematic view of the structure of the temporary storage of spinning cake according to the present invention;
FIG. 4 is a schematic structural view of a turntable according to the present invention;
FIG. 5 is a flow chart of a control method of the present invention;
FIG. 6 is a control diagram of the present invention.
Detailed Description
The technical scheme of the invention is further explained by combining the attached drawings.
The invention aims to realize automatic conveying of spinning cakes from a forming area to a quality inspection area in the chemical fiber industry, greatly reduce the manpower requirement and the labor intensity of workers, and reduce the probability of pollution and damage of the spinning cakes.
As shown in fig. 1, the automatic spinning cake conveying system of the present invention is disposed between a winder 100 and a special creel cart 700, and is configured to take off a molded spinning cake from the winder 100 and hang the molded spinning cake on the special creel cart 700, the winder 100 is disposed in a molding area, the special creel cart 700 is disposed in a quality inspection area, and a traveling conveying head rail 300 is disposed between the molding area and the quality inspection area. The automatic spinning cake conveying system comprises a doffing conveying trolley 200, a spinning cake temporary storage warehouse 400, a doffing transfer trolley 500, a special spinning frame trolley revolving platform 600 and a control module 800, wherein the doffing conveying trolley 200 runs between the winding machine 100 and the spinning cake temporary storage warehouse 400 along a walking conveying overhead rail 300; the spinning cake temporary storage 400 is used for temporarily storing formed spinning cakes and corresponds to the doffing transfer trolley 500; the doffing transfer trolley 500 is used for hanging the spinning cakes stored in the spinning cake temporary storage 400 on the special spinning frame vehicle 700, and the doffing transfer trolley 500 runs between the spinning cake temporary storage 400 and the special spinning frame vehicle 700 along the walking conveying overhead rail 300; the special creel truck 700 is transferred to the butt joint position with the doffing transfer trolley 500 by the creel truck rotary table 600; the control module 800 is respectively connected with the spinning cake temporary storage 400, the doffing transfer trolley 500, the yarn frame trolley revolving platform 600, the doffing conveying trolley 500 and the winding machine 100 in a communication way. The doffing transporting trolley 200 and the doffing transferring trolley 500 have the same structure and comprise a moving mechanism 202, a lifting mechanism arranged below the moving mechanism and a spinning cake taking and placing mechanism arranged on the lifting mechanism, wherein the moving mechanism 202 is used for enabling the doffing transporting trolley 200 to walk on the transporting track 300 and enabling the lifting mechanism to rotate relative to the transporting track 300.
The moving mechanism 202 includes a traveling wheel 2022 disposed above the conveying track 300, guide wheels 2023 disposed on both sides of the conveying track, a rotating gear set, and a driving device with the above structure. The moving mechanism 202 further comprises a walking frame 2021 arranged on the top of the frame 201 of the lifting mechanism, and walking wheels 2022 are arranged on the walking frame 2021 and can roll on the surface of the conveying track 300. The guide wheels 2023 are provided on both sides of the traveling wheels 2022 and can roll along both side surfaces of the conveying rail 300 to guide the traveling wheels. The gear 2024 and the gear 2024 are arranged on the walking frame 2021 and connected to the walking driver 2025, the walking driver 2025 may adopt a motor, and the whole doffing transporting cart 200 is driven by the motor to move along the transporting track 300 through the gear 2024 on the walking frame 2021 and the rack 301 pair on the transporting track 300. Meanwhile, the rotating gear set comprises a rotating gear 2026 and a transmission gear 2028, the walking frame 2021 is provided with the rotating gear 2026 and a rotating driving member 2027 connected with the rotating gear 2026, the transmission gear 2028 matched with the rotating gear 2026 is connected with the upright post frame 201, and the rotating driving member 2027 drives the rotating gear set to rotate to drive the frame 201 to rotate.
The lifting mechanism further includes a frame 201, a track 204, belt wheels 2042 disposed at two ends of the transmission shaft 2043, a transmission shaft 2043 disposed at the top of the frame 201, and a driving device 2044 for driving the transmission shaft 2043 to rotate. The back plate 203 is connected to the frame 201 by linear guide rails 2045 provided in the frame 201. Meanwhile, the back plate 203 is connected with one end of the crawler 204, the other end of the crawler 204 is wound on a pulley 2042, the pulley 2042 is connected with a lifting driving member 2044 through a transmission shaft 2043, and the lifting driving member 2044 can adopt a motor, so that the back plate 203 can slide up and down along a linear guide rail 2045 relative to the frame 201 under the driving of the motor.
The cake picking and placing mechanism comprises a back plate 203 and a wire pushing device 206 arranged in parallel with the back plate, wherein the wire pushing device 205 is arranged on the back plate 203 and comprises a pushing seat 2033, a wire pushing arm 206 arranged on the pushing seat, a wire pushing plate 2063 arranged on the wire pushing arm 206 and a driving device with the structure. The back plate 203 has a rail 2031 along which the push base moves and the push plate 2063 moves along the push arm 206. The wire pushing arm 2061 is provided with a linear guide rail 2062, and the wire pushing driving member 2064 drives the wire pushing plate 2063 to slide back and forth along the linear guide rail 2062 relative to the wire pushing arm 2061 through chain transmission.
In the present embodiment, the wire pushing device 205 has two pushing seats, the two pushing seats are nested inside and outside, and the structures of the two pushing seats are different, and the two pushing seats of the wire pushing device 205 are described below. The back plate 203 is provided with a first guide rail 2031A, the first pushing seat driving member 2032A drives the first pushing seat 2033A on the inner side to slide along the first guide rail 2031A through the transmission screw and the screw nut pair 2034, and the first pushing seat 2033A is connected with a pushing arm for receiving the formed cake on the winding machine 100. In addition, a second guide rail 2031B is disposed on the sliding back plate 203, and the second pushing seat driving member 2032B drives the second pushing seat 2033B outside to slide along the second guide rail 2031B by the rack-and-pinion 2035. The two wire pushing devices 205 are respectively connected with a doffing wire pushing mechanism 206, and the two pushing seats are respectively connected with a wire pushing arm which is used for bearing the formed spinning cakes on the winding machine 100. The principle of the corresponding wire pushing device on the pushing seat is completely the same. The doffer threading mechanism 206 will be described below with one of the pushing bases as an example. The pushing seat 2033A corresponds to the pushing seat driving member 2032A, and the pushing seat 2033B corresponds to the pushing seat driving member 2032B, so that each pushing seat corresponds to one pushing seat driving member, and each pushing seat is correspondingly connected to one pushing arm and one pushing plate.
In other embodiments, a plurality of the wire pushing devices 206 may be arranged side by side in the vertical direction, or only one wire pushing device may be arranged, and the structure of the wire pushing device is the same as that of the previous embodiment.
The spinning cake temporary storage 400 is used for temporarily storing the spinning cakes falling from the winding machine 100, and simultaneously pushing the spinning cakes temporarily stored in the spinning cake temporary storage 400 to the doffing transfer trolley 500. The method comprises the following steps: a spinning cake temporary storage rack 401; a push wire drive 402; a spinning cake hanging shaft 403 arranged on the frame; a drive screw and screw nut pair 404 connected to the push wire drive; a guide rail 405 fixed on the frame and having a guiding function; a pushing arm device 406 sleeved outside the spindle hanging shaft. The arm pushing device 406 is connected to a lead screw nut 404 and a guide rail 405, and the arm pushing device 406 is pushed to move axially along the spindle hanging shaft 403 by the linear movement of the lead screw nut 404 on the lead screw. The wire pushing driving member 402 is connected to the control module 800 in a communication manner so that the arm pushing device 406, under the control of the control module 800, pushes the formed cake on the cake temporary storage 400 to the wire pushing arm of the doffing transfer cart 500 that has completed the docking task. In actual use, the settings of the cake temporary repository 400 can be increased or decreased according to the needs of the user.
The rotary table 600 further comprises a frame base 601 arranged below the rotary table, the base 601 is connected with a rotary driving part 603, and the rotary driving part 603 drives the rotary table 600 to rotate through a gear pair. The rotary driving member 603 is in communication connection with the control module 800 so that the rotary table 602 is located at a first position, a second position or a third position, when the rotary table 600 is at the first position, the surface a of the special filament rack vehicle 700 is in butt joint with the doffing transfer cart 500, when the rotary table 600 is at the second position, the surface B of the special filament rack vehicle 700 is in butt joint with the doffing transfer cart 500, and when the rotary table 600 is at the third position, the special filament rack vehicle 700 can be unloaded from the rotary table 600.
The doffing transfer trolley 500 is arranged between the spinning cake temporary storage 400 and the special silk frame vehicle 700 and is used for hanging the spinning cakes stored in the spinning cake temporary storage 400 on the special silk frame vehicle 700. The structure of the doffing transfer cart 500 is completely the same as that of the doffing transfer cart 200, the doffing transfer cart and the doffing transfer cart can be used in common, and different actions can be completed through the control module 800.
The control module 800 employs a conventional PLC controller, and the traveling driving member, the lifting driving member, the pushing seat driving member, the wire pushing driving member, and the rotation driving member may all employ motors according to signals transmitted from the winding machine 100. The invention also comprises a positioning system and a remote control platform; the control module receives the feedback of the positioning system or the instruction of the remote control platform; the positioning system comprises positioning sensors arranged on the doffing conveying trolley, the doffing transfer trolley and the special wire frame trolley, and is used for realizing the positioning of the device and transmitting position information to the control module and the remote control platform.
The automatic spinning cake conveying method comprises the following steps:
s1, judging whether the winder is fully wound with the spinning cake, if so, executing the step S2;
s2, the doffing conveying trolley moves to the specified butt joint position of the winding machine under the control of the control module, the lifting mechanism of the doffing conveying trolley is rotated, so that the wire pushing arm of the doffing conveying trolley aligns to the screw rod of the winding machine warehouse, and the formed spinning cake is taken down by the movement of the wire pushing arm;
s3, the doffing conveying trolley moves to the appointed butt joint position of the spinning cake temporary storage under the control of the control module, the operation is the same as that of S2, and the spinning cakes are placed in the spinning cake temporary storage;
s4, judging whether the temporary storage library of the spinning cakes is full of the spinning cakes of the same variety, if not, executing S2, and if so, executing the step S5;
s5, the doffing transfer trolley rotates under the control of the control module, so that the wire pushing arm is aligned with the screw rod of the spinning cake temporary storage warehouse, and the wire pushing arm receives the molded spinning cakes of the same variety on the spinning cake temporary storage warehouse;
s6, the doffing transfer trolley moves to a specified butt joint position of the special creel trolley, and the rotary table and the doffing transfer trolley rotate to enable the lead screw of the special creel trolley and the wire pushing arm aligned with the doffing transfer trolley to be in alignment, at the moment, the rotary table is in the first position, and the special creel trolley is an A surface;
and S7, the wire pushing arm moves to hang the formed spinning cakes on the special spinning frame vehicle, after the surface A of the special spinning frame vehicle is filled, the rotary table rotates to the second position, the surface B of the special spinning frame vehicle is loaded, and when the two surfaces are completely filled, the rotary table rotates to the third position, and the special spinning frame vehicle is detached from the rotary table.
Before the step S1, the method includes the steps of performing station numbers on a plurality of winding machines, and storing the station number corresponding to each winding machine in the control module.
In step S1, the method includes determining the station of the winder for winding the full cake and transmitting the station information to the control module and the remote control platform.
The step S2 includes the steps of: the main control device judges the number of doffing conveying trolleys and doffing transferring trolleys on the conveying track according to the positioning information, and if the number of the trolleys is one, the trolleys move to the butt joint position with the winding machine, the spinning cake temporary storage warehouse and the special spinning frame vehicle; if the number of the doffing conveying trolleys is multiple, the trolley closest to the device moves to the butt joint position.
Specifically, the working process of the doffing conveying trolley is as follows: after a single winder 100 in a forming area is fully wound with spinning cakes, the winder 100 sends a spinning cake doffing signal to a control module 800, the control module 800 sends an instruction to a doffing conveying trolley 200 according to the principle of proximity or sequence, the doffing conveying trolley 200 runs to a specified winder position along a conveying track 300 as required, a frame of the doffing conveying trolley 200 rotates to be in butt joint with the winder, a doffing wire pushing arm extends out to be ready to receive the spinning cakes, a positioning signal is sent to the winder at the same time, the winder automatically pushes out the whole group of spinning cakes, a completion signal is sent to the control module 800 after the positioning, the wire pushing arm of the doffing conveying trolley 200 retracts and sends a receiving completion signal to the winder, the doffing conveying trolley 200 receiving the group of formed spinning cakes rotates to be parallel to the conveying track 300 according to the instruction sent by the control module 800 and runs to a specified spinning cake temporary storage 400 position along the conveying track 300, the upright post of the doffing conveying trolley 200 rotates, the doffing wire pushing arm extends out to be in butt joint with the specified spinning cake temporary storage 400 at the butt joint position with the spinning cake temporary storage 400, the wire pushing plate pushes out the whole set of formed spinning cakes on the wire pushing arm, a completion signal is sent to the control module 800 after the completion signal is in place, and the doffing conveying trolley 200 completes one doffing operation.
When the molded spinning cakes of the same variety are fully stored in the spinning cake temporary storage 400, the control module 800 sends an instruction to the doffing transfer trolley 500, the doffing transfer trolley 500 runs to the position of the designated spinning cake temporary storage 400 along the conveying track 300 as required, the spinning pushing arm on the doffing transfer trolley 500 extends out to be ready for receiving the spinning cakes, meanwhile, a positioning signal is sent to the spinning cake temporary storage 400, the whole group of molded spinning cakes are automatically pushed out by the spinning arm device on the spinning cake temporary storage 400, a completion signal is sent to the control module 800 after the spinning cakes are positioned, the spinning pushing arm of the doffing transfer trolley 500 is retracted, and a receiving completion signal is sent to the spinning cake temporary storage 400. The doffing transfer trolley 500 which receives a group of formed spinning cakes of the same variety runs to the position of the spinning frame rotary table 600 according to the instruction sent by the control module 800, and controls the lifting driving piece on the doffing transfer trolley 500 and the walking driving piece of the conveying track according to the instruction sent by the control module 800, so that the spinning pushing arm of the doffing transfer trolley 500 corresponds to each spinning cake hook on the spinning frame trolley 700, and the control module 800 pushes the formed spinning cakes to each spinning cake hook on the spinning frame trolley 700 one by one. When the surface A of the special silk frame vehicle 700 is fully hung, the control module 800 controls the rotary table 600 of the silk frame vehicle to rotate 180 degrees, so that the surface B of the special silk frame vehicle 700 is butted with the doffing transfer trolley 500, and the formed silk cakes are pushed to each silk cake hook on the silk frame vehicle one by one under the control of the control module 800. When the two sides of the special creel truck 700 are full of spinning cakes, the control module 800 controls the rotary table of the special creel truck to rotate for an angle, so that the special creel truck 700 can be unloaded from the rotary table 600.

Claims (11)

1. An automatic spinning cake conveying system is arranged between a winding machine (100) and a special spinning frame vehicle (700), and is characterized by comprising a conveying track (300), a spinning cake temporary storage warehouse (400) arranged on one side of the conveying track, a doffing conveying trolley (200) moving along the conveying track, a doffing transfer trolley (500), a rotary table (600) for carrying the special spinning frame vehicle (100) and a control module (800); the doffing conveying trolley (200) moves between the winding machine (100) and the spinning cake temporary storage warehouse (400), and the doffing transferring trolley (500) moves between the spinning cake temporary storage warehouse (400) and the rotary table (600);
the doffing conveying trolley (200) and the doffing transfer trolley (500) have the same structure and comprise a moving mechanism, a lifting mechanism arranged below the moving mechanism and a spinning cake taking and placing mechanism arranged on the lifting mechanism, wherein the moving mechanism is used for enabling the doffing conveying trolley to travel on a conveying track and enabling the lifting mechanism to rotate relative to the conveying track; the spinning cake taking and placing mechanism comprises a back plate and a spinning device parallel to the back plate, the spinning device moves relative to the back plate and takes and places spinning cakes on the winding machine, and the lifting mechanism is used for controlling the back plate to reciprocate up and down;
the control module (800) controls the movement of the doffing conveying trolley (200), the doffing transfer trolley (500) and the rotary table (600) according to the hanging condition of the spinning cakes of the winding machine (100), the special spinning frame trolley (700) and the spinning cake temporary storage warehouse (400).
2. The automatic spinning cake conveying system according to claim 1, wherein the moving mechanism comprises a traveling wheel arranged above the conveying track, guide wheels arranged at two sides of the conveying track, a rotating gear set and a driving device with the structure; the rotating gear set is arranged between the moving mechanism and the lifting mechanism and used for driving the lifting mechanism to rotate.
3. The automatic spinning cake conveying system according to claim 1, wherein the lifting mechanism further comprises a frame, a track, a pulley, a transmission shaft, and a driving device for driving the transmission shaft to rotate; the belt wheels are arranged on two sides of the top of the frame and connected through the transmission shaft, the crawler belt is arranged on the belt wheels, and the crawler belt is connected with the back plate.
4. The automatic spinning cake conveying system according to claim 1, wherein the wire pushing device comprises a pushing seat, a wire pushing arm arranged on the pushing seat, a wire pushing plate arranged on the wire pushing arm and a driving device of the structure; the back plate is provided with a guide rail, the push seat moves along the guide rail, and the wire push plate moves along the wire push arm.
5. The automatic spinning cake conveying system according to claim 1, wherein at least two spinning devices are arranged on the back plate in parallel in the vertical direction or in sequence from inside to outside along the same horizontal plane.
6. The automatic spinning cake conveying system according to claim 1, wherein the spinning cake temporary storage (400) comprises a frame, a spinning cake hanging shaft, a temporary storage box wire pushing plate arranged on the spinning cake hanging shaft, a guide rod parallel to the spinning cake hanging shaft and a driving device connected with the temporary storage box wire pushing plate, the spinning cake hanging shaft faces the conveying track, and the driving device is arranged on the guide rod and controls the temporary storage box wire pushing plate to move along the spinning cake hanging shaft.
7. An automatic spinning cake conveying system according to claim 1, characterized in that the rotary table (600) comprises a base, in which a driving device is arranged; the special creel truck (700) comprises A, B two surfaces which respectively correspond to the rotary table to rotate to a first position and a second position; the turret further includes a third position for unloading the special creel truck.
8. An automatic spinning cake conveying system according to claim 1, characterized by further comprising a positioning system and a remote control platform; the control module receives the feedback of the positioning system or the instruction of the remote control platform; the positioning system comprises positioning sensors or limiting sensors arranged on a doffing conveying trolley (200), a doffing transfer trolley (500), a special silk frame trolley (700), a winding machine (100) and a silk cake temporary storage warehouse (400), and is used for realizing the positioning of the device and transmitting position information to a control module and a remote control platform.
9. An automatic spinning cake conveying system as claimed in claim 1, characterized in that a plurality of doffing conveying trolleys (200) and doffing transfer trolleys (500) are provided, each trolley is provided with a number, and the number is displayed on the remote control platform.
10. An automatic spinning cake conveying control method, characterized in that the automatic spinning cake conveying system according to any one of claims 1 to 9 comprises the following steps:
s1, judging whether the winder is fully wound with the spinning cake, if so, executing the step S2;
s2, the doffing conveying trolley moves to the specified butt joint position of the winding machine under the control of the control module, the lifting mechanism of the doffing conveying trolley is rotated, the wire pushing arm of the doffing conveying trolley is aligned to the screw rod of the winding machine library, the wire pushing arm moves to take off the formed spinning cake, and the lifting mechanism is rotated again;
s3, the doffing conveying trolley moves to the appointed butt joint position of the spinning cake temporary storage under the control of the control module, the operation is the same as that of S2, and the spinning cakes are placed in the spinning cake temporary storage;
s4, judging whether the spinning cake temporary storage library is full of spinning cakes, if not, executing S2, and if so, executing the step S5;
s5, the doffing transfer trolley rotates under the control of the control module, so that the wire pushing arm is aligned with the screw rod of the spinning cake temporary storage warehouse, and the wire pushing arm receives the molded spinning cakes of the same variety on the spinning cake temporary storage warehouse;
s6, the doffing transfer trolley moves to a specified butt joint position of the special creel trolley, and the rotary table and the doffing transfer trolley rotate to enable the lead screw of the special creel trolley and the wire pushing arm aligned with the doffing transfer trolley to be in alignment, at the moment, the rotary table is in the first position, and the special creel trolley is an A surface;
and S7, the wire pushing arm moves to hang the formed spinning cakes on the special spinning frame vehicle, after the surface A of the special spinning frame vehicle is filled, the rotary table rotates to the second position, the surface B of the special spinning frame vehicle is loaded, and when the two surfaces are completely filled, the rotary table rotates to the third position, and the special spinning frame vehicle is detached from the rotary table.
11. The automatic spinning cake conveying control method according to claim 10, wherein the step S2 includes the steps of: the control module judges the number of doffing conveying trolleys and doffing transfer trolleys on the conveying track according to the positioning information, and if the number of the trolleys is one, the trolleys move to the butt joint position with the winding machine, the spinning cake temporary storage warehouse and the special spinning frame vehicle; if the number of the doffing conveying trolleys is multiple, the trolley closest to the device moves to the butt joint position.
CN202011137772.1A 2020-10-22 2020-10-22 Automatic spinning cake conveying system and control method thereof Pending CN112193699A (en)

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Application Number Priority Date Filing Date Title
CN202011137772.1A CN112193699A (en) 2020-10-22 2020-10-22 Automatic spinning cake conveying system and control method thereof

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Application Number Priority Date Filing Date Title
CN202011137772.1A CN112193699A (en) 2020-10-22 2020-10-22 Automatic spinning cake conveying system and control method thereof

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CN112193699A true CN112193699A (en) 2021-01-08

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Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113895935A (en) * 2021-09-14 2022-01-07 北京机科国创轻量化科学研究院有限公司 Control method and control system for full-automatic intelligent feeding equipment for chemical fiber POY (polyester pre-oriented yarn) spindles
CN113911844A (en) * 2021-11-25 2022-01-11 江苏赫伽力智能科技有限公司 Chemical fiber pre-spinning doffing robot system
CN114537957A (en) * 2022-03-29 2022-05-27 江阴合威橡胶机械有限公司 Automatic loading system for spindle room
CN114789880A (en) * 2021-12-20 2022-07-26 杭州锐冠科技有限公司 Spinning cake top rail reversing device and spinning cake reversing method
CN114852787A (en) * 2022-04-27 2022-08-05 北京中丽制机电气有限公司 Doffing control system and method for winder production line
CN114940369A (en) * 2022-05-18 2022-08-26 安歌科技(集团)股份有限公司 A transfer robot that is used for chemical fibre to get automatic temporary storage of spinning cake on line

Cited By (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113895935A (en) * 2021-09-14 2022-01-07 北京机科国创轻量化科学研究院有限公司 Control method and control system for full-automatic intelligent feeding equipment for chemical fiber POY (polyester pre-oriented yarn) spindles
CN113895935B (en) * 2021-09-14 2024-01-26 北京机科国创轻量化科学研究院有限公司 Full-automatic intelligent chemical fiber POY wire ingot feeding equipment control method and control system
CN113911844A (en) * 2021-11-25 2022-01-11 江苏赫伽力智能科技有限公司 Chemical fiber pre-spinning doffing robot system
CN113911844B (en) * 2021-11-25 2022-10-18 江苏赫伽力智能科技有限公司 Chemical fiber pre-spinning doffing robot system
CN114789880A (en) * 2021-12-20 2022-07-26 杭州锐冠科技有限公司 Spinning cake top rail reversing device and spinning cake reversing method
CN114789880B (en) * 2021-12-20 2024-03-19 杭州锐冠科技有限公司 Spinning cake top rail reversing device and spinning cake reversing method
CN114537957A (en) * 2022-03-29 2022-05-27 江阴合威橡胶机械有限公司 Automatic loading system for spindle room
CN114537957B (en) * 2022-03-29 2024-03-01 合威智能装备(江苏)有限公司 Automatic loading system for spindle room
CN114852787A (en) * 2022-04-27 2022-08-05 北京中丽制机电气有限公司 Doffing control system and method for winder production line
CN114940369A (en) * 2022-05-18 2022-08-26 安歌科技(集团)股份有限公司 A transfer robot that is used for chemical fibre to get automatic temporary storage of spinning cake on line
CN114940369B (en) * 2022-05-18 2024-06-21 安歌科技(集团)股份有限公司 Transfer robot for automatically temporary storage of chemical fiber on-line spinning cake taking

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