CN112193752A - Automatic spinning cake conveying trolley and control method thereof - Google Patents

Automatic spinning cake conveying trolley and control method thereof Download PDF

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Publication number
CN112193752A
CN112193752A CN202011136516.0A CN202011136516A CN112193752A CN 112193752 A CN112193752 A CN 112193752A CN 202011136516 A CN202011136516 A CN 202011136516A CN 112193752 A CN112193752 A CN 112193752A
Authority
CN
China
Prior art keywords
conveying
trolley
spinning
spinning cake
wire
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
CN202011136516.0A
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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.)
Filing date
Publication date
Application filed by WUXI HONGYUAN ELECTROMECHANICAL TECHNOLOGY CO LTD filed Critical WUXI HONGYUAN ELECTROMECHANICAL TECHNOLOGY CO LTD
Priority to CN202011136516.0A priority Critical patent/CN112193752A/en
Publication of CN112193752A publication Critical patent/CN112193752A/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
    • 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)
  • Replacing, Conveying, And Pick-Finding For Filamentary Materials (AREA)

Abstract

The invention discloses an automatic spinning cake conveying trolley and a control method thereof, wherein the trolley is arranged on a conveying track between a winding machine and a special spinning frame vehicle, the conveying trolley comprises a movement mechanism, a lifting mechanism arranged below the movement mechanism and a spinning cake taking and placing mechanism arranged on the lifting mechanism, and the movement mechanism is used for enabling the conveying trolley to travel 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 arrangement of the 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.

Description

Automatic spinning cake conveying trolley and control method thereof
Technical Field
The invention relates to a conveying trolley and a control method thereof, in particular to an automatic spinning cake conveying trolley 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 the spinning cakes alone, then the mechanical arm is used for throwing the spinning cakes to the spinning frame trolley, and the conventional trolley cannot be used for automatically storing, taking and conveying the spinning cakes, so that the efficiency of storing, taking and conveying the spinning cakes of the whole production line is low.
Disclosure of Invention
The purpose of the invention is as follows: the invention aims to provide an automatic spinning cake conveying trolley 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 workers cannot adapt to the beat of the whole production line in time, 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 trolley is arranged on a conveying track between a winding machine and a special spinning frame vehicle and comprises 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 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 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 transmission shaft, belt wheels arranged at two ends of the transmission shaft and a driving device for driving the transmission shaft to rotate; the transmission shaft is arranged on two sides of the top of the frame, the crawler belt is arranged on the belt wheel, 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 and the wire pushing arm are respectively provided with a guide rail, the wire pushing seat moves along the guide rails on the back plate, and the wire pushing plate moves along the guide rails on the wire pushing arm.
The wire pushing devices are at least two and are arranged on the back plate in parallel along the vertical direction or are nested inside and outside along the same horizontal plane.
The conveying trolley is provided with a control module, and the control module controls the movement of each device and the rotary table on the conveying trolley according to the hanging condition of the spinning cakes of the winding machine and the special spinning frame trolley.
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 positioning sensors arranged on the conveying trolley, the transfer trolley and the special wire frame trolley, and is used for realizing the positioning of the device and transmitting the 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 system also comprises a limit sensor which 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 conveying trolley (200) and the transfer trolley (500) are provided with a plurality of numbers, each trolley is provided with a serial number, and the serial numbers are displayed on the remote control platform.
The invention discloses a control method of an automatic spinning cake conveying trolley, which is based on the automatic spinning cake conveying trolley and 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 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 conveying trolley is rotated, the wire pushing arm of the conveying trolley is aligned to the screw rod of the winding machine library, the wire pushing arm moves to take down the formed spinning cake, and the lifting mechanism is rotated again;
s3, the conveying trolley moves to the specified butt joint position of the special wire frame trolley under the control of the control module, and the wire pushing plate pushes the wire cake out of the wire pushing arm of the trolley and places the wire cake on the special wire frame trolley;
s4, repeat S2 until all cake shipments are complete.
The step S2 includes the steps of: the control module judges the number of the conveying 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 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:
through the arrangement of the conveying trolley, the labor intensity of workers is greatly reduced while manpower is greatly replaced, the management cost is reduced, and the probability of pollution and damage of spinning cakes is reduced.
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 flow chart of a control method 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.
The present embodiment includes a conveying track 300, a conveying trolley 200 moving along the conveying track 300, a special wire frame trolley 400, and a control module 500.
As shown in fig. 1, the conveying cart 200 of the present invention is disposed between a winding machine 100 and a special creel cart 400, and is used for taking off a formed spinning cake from the winding machine 100 and hanging the formed spinning cake on the special creel cart 400, the winding machine 100 is disposed in a forming area, the special creel cart 400 is disposed in a quality inspection area, and a conveying track 300 for traveling is disposed between the forming area and the quality inspection area.
The conveying trolley 200 comprises 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 conveying trolley 200 to run on the conveying track 300 and enabling the lifting mechanism to rotate relative to the conveying 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 disposed on the walking frame 2021, and are connected to the walking driver 2025, the walking driver 2025 may adopt a motor, and the whole transportation cart 200 is driven by the motor to move along the transportation rail 300 through the gear 2024 on the walking frame 2021 and the rack 301 pair on the transportation rail 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 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 wire pushing mechanism 206 will be described below by taking one of the pushing seats 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 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 rotating 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 conveying trolley, the transfer trolley and the special wire frame trolley, and is used for realizing the positioning of the device and transmitting the 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 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 conveying trolley is rotated, the wire pushing arm of the conveying trolley is aligned to the screw rod of the winding machine library, the wire pushing arm moves to take down the formed spinning cake, and the lifting mechanism is rotated again;
s3, the conveying trolley moves to the specified butt joint position of the special wire frame trolley under the control of the control module, and the wire pushing plate pushes the wire cake out of the wire pushing arm of the trolley and places the wire cake on the special wire frame trolley;
s4, repeat S2 until all cake shipments are complete.
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 the conveying trolleys and the 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 conveying trolleys is multiple, the trolley closest to the device moves to the butt joint position.
Specifically, the working process of the automatic doffing and yarn conveying equipment comprises the following steps: 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 500, the control module 500 sends an instruction to an automatic doffing and yarn transporting device 200 according to the principle of proximity or sequence, the automatic doffing and yarn transporting device 200 runs to a specified winder position according to the requirement, a doffing yarn pushing supporting arm extends out to be ready to receive the spinning cakes, a positioning signal is sent to the winder, the winder automatically pushes out the whole group of spinning cakes, a completion signal is sent to the control module 500 after the whole group of spinning cakes are positioned, the yarn pushing supporting arm of the automatic doffing and yarn transporting device 200 is retracted, a receiving completion signal is sent to the winder, the automatic doffing and yarn transporting device 200 which receives a group of formed spinning cakes runs to a specified special spinning frame vehicle 400 position according to the instruction sent by the control module 500, and a lifting driving piece on the automatic doffing and yarn transporting device 200, a walking driving piece and a rotating top rail are controlled according to the instruction sent by the control module 500 The driving element makes the wire pushing supporting arms of the automatic doffing and yarn transporting equipment 200 correspond to the cake hooks on the silk frame vehicle 400, and the control module 500 controls the wire pushing plate to push the whole set of formed cakes on the wire pushing supporting arms to the cake hooks on the silk frame vehicle 400 one by one. And sending a completion signal to the control module 500 after the yarn is in place, so that the automatic doffing and yarn transporting equipment 200 completes one doffing and transporting operation.

Claims (10)

1. An automatic spinning cake conveying trolley is arranged on a conveying track (300) between a winding machine (100) and a special spinning frame vehicle (700), and is characterized in that the conveying trolley (200) comprises a moving mechanism (201), a lifting mechanism arranged below the moving mechanism (202) and a spinning cake taking and placing mechanism arranged on the lifting mechanism, wherein the moving mechanism (202) is used for enabling the conveying trolley to run on the conveying track (300) and enabling the lifting mechanism to rotate relative to the conveying track (300); the spinning cake taking and placing mechanism comprises a back plate (203) and a spinning device (205) parallel to the back plate, the spinning device (205) moves relative to the back plate (203) and takes and places spinning cakes on the winding machine, and the lifting mechanism is used for controlling the back plate (203) to reciprocate up and down.
2. The spinning cake automatic conveying system according to the claim 1, characterized in that, the moving mechanism (202) comprises a walking wheel (2022) arranged above the conveying track, guide wheels (2023) arranged at two sides of the conveying track, a rotating gear group and a driving device of the above structure; the rotating gear set is arranged between the moving mechanism (202) and the lifting mechanism and is used for driving the lifting mechanism to rotate.
3. The spinning cake automatic conveying system according to the claim 1, characterized in that the lifting mechanism further comprises a frame (201), a track (204), a transmission shaft (2043), pulleys (2042) arranged at two ends of the transmission shaft, and a driving device for driving the transmission shaft to rotate; the transmission shafts (2043) are arranged on two sides of the top of the frame (201), the caterpillar tracks are arranged on the belt wheels, and the caterpillar tracks are connected with the back plate (203).
4. The automatic spinning cake conveying system according to claim 1, wherein the wire pushing device (205) comprises a pushing base (2033), a wire pushing arm (206) arranged on the pushing base (2033), a wire pushing plate (2063) arranged on the wire pushing arm (206), and a driving device with the above structure; guide rails are respectively arranged on the back plate (203) and the wire pushing arm (206), the wire pushing seat (2033) moves along the guide rails on the back plate (203), and the wire pushing plate (2063) moves along the guide rails on the wire pushing arm (206).
5. The automatic spinning cake conveying system according to claim 1, characterized in that at least two spinning devices (205) are arranged on the back plate (203) in parallel along the vertical direction or in a nested manner inside and outside along the same horizontal plane.
6. The spinning cake automatic conveying system according to the claim 1, characterized in that the conveying trolley (200) is provided with a control module (500), and the control module (500) controls the movement of each device on the conveying trolley (200) according to the hanging condition of the spinning cakes of the winding machine (100) and the special spinning frame vehicle (700).
7. 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 arranged on the conveying trolley, the transfer trolley and the special wire frame trolley, and is used for realizing the positioning of the device and transmitting the position information to the control module and the remote control platform.
8. An automatic spinning cake conveying system according to claim 7, characterized in that a plurality of conveying trolleys (200) and transferring trolleys (500) are provided, each trolley is provided with a number, and the number is displayed on a remote control platform.
9. A control method of an automatic spinning cake conveying trolley, which is characterized in that the automatic spinning cake conveying trolley based on any one of the claims 1-8 comprises the following steps:
s1, judging whether the winder is fully wound with the spinning cake, if so, executing the step S2;
s2, the 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 conveying trolley is rotated, the wire pushing arm of the conveying trolley is aligned to the screw rod of the winding machine library, the wire pushing arm moves to take down the formed spinning cake, and the lifting mechanism is rotated again;
s3, the conveying trolley moves to the specified butt joint position of the special wire frame trolley under the control of the control module, and the wire pushing plate pushes the wire cake out of the wire pushing arm of the trolley and places the wire cake on the special wire frame trolley;
s4, repeat S2 until all cake shipments are complete.
10. The automatic spinning cake conveying control method according to claim 9, wherein the step S2 includes the steps of: the control module judges the number of the conveying 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 conveying trolleys is multiple, the trolley closest to the device moves to the butt joint position.
CN202011136516.0A 2020-10-22 2020-10-22 Automatic spinning cake conveying trolley and control method thereof Pending CN112193752A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202011136516.0A CN112193752A (en) 2020-10-22 2020-10-22 Automatic spinning cake conveying trolley and control method thereof

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202011136516.0A CN112193752A (en) 2020-10-22 2020-10-22 Automatic spinning cake conveying trolley and control method thereof

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Publication Number Publication Date
CN112193752A true CN112193752A (en) 2021-01-08

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Application Number Title Priority Date Filing Date
CN202011136516.0A Pending CN112193752A (en) 2020-10-22 2020-10-22 Automatic spinning cake conveying trolley and control method thereof

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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113173429A (en) * 2021-05-07 2021-07-27 中钢集团西安重机有限公司 Rail-guided mobile automatic rod taking and delivering machine and rod taking and delivering method
CN113319860A (en) * 2021-04-20 2021-08-31 意欧斯物流科技(上海)有限公司 Secondary position control method of automatic doffing robot
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 (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113319860A (en) * 2021-04-20 2021-08-31 意欧斯物流科技(上海)有限公司 Secondary position control method of automatic doffing robot
CN113173429A (en) * 2021-05-07 2021-07-27 中钢集团西安重机有限公司 Rail-guided mobile automatic rod taking and delivering machine and rod taking and delivering method
CN113173429B (en) * 2021-05-07 2023-02-28 中钢集团西安重机有限公司 Rail-guided mobile automatic rod taking and delivering machine and rod taking and delivering method
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

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