CN113184636A - Modular automatic doffing robot - Google Patents
Modular automatic doffing robot Download PDFInfo
- Publication number
- CN113184636A CN113184636A CN202110423482.1A CN202110423482A CN113184636A CN 113184636 A CN113184636 A CN 113184636A CN 202110423482 A CN202110423482 A CN 202110423482A CN 113184636 A CN113184636 A CN 113184636A
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- driving
- pushing
- rack
- ground rail
- rail system
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- 230000007246 mechanism Effects 0.000 claims abstract description 64
- 230000005540 biological transmission Effects 0.000 claims description 30
- 230000007723 transport mechanism Effects 0.000 claims description 5
- 238000006073 displacement reaction Methods 0.000 claims description 4
- 230000008878 coupling Effects 0.000 claims 2
- 238000010168 coupling process Methods 0.000 claims 2
- 238000005859 coupling reaction Methods 0.000 claims 2
- 229920004933 Terylene® Polymers 0.000 description 4
- 238000012423 maintenance Methods 0.000 description 4
- 238000004519 manufacturing process Methods 0.000 description 4
- 238000000034 method Methods 0.000 description 4
- 239000005020 polyethylene terephthalate Substances 0.000 description 4
- 238000004804 winding Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 230000000712 assembly Effects 0.000 description 1
- 238000000429 assembly Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000003203 everyday effect Effects 0.000 description 1
- 239000000835 fiber Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 229920000728 polyester Polymers 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000008439 repair process Effects 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 239000000725 suspension Substances 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H67/00—Replacing or removing cores, receptacles, or completed packages at paying-out, winding, or depositing stations
- B65H67/06—Supplying cores, receptacles, or packages to, or transporting from, winding or depositing stations
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G35/00—Mechanical conveyors not otherwise provided for
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Replacing, Conveying, And Pick-Finding For Filamentary Materials (AREA)
Abstract
The invention provides a modularized automatic doffing robot, which comprises a sky rail system, a ground rail system, a cantilever frame body and a package supporting mechanism, wherein the sky rail system and the ground rail system comprise horizontal conveying modules, and the horizontal conveying modules are used for driving the modularized automatic doffing robot to move in the horizontal direction along a sky rail track in the sky rail system and a ground rail track in the ground rail system; a vertical lifting module is arranged at the joint of the cantilever frame and the package supporting mechanism and used for driving the package supporting mechanism in the modular automatic doffing robot to move in the vertical direction along a vertical track in the cantilever frame; the yarn carrying rod assembly in the package supporting mechanism further comprises an I-level pushing module and an II-level pushing module, wherein the I-level pushing module is used for driving the yarn carrying rod assembly to move longitudinally along the bottom surface of the package supporting mechanism, and the II-level pushing module is used for driving a yarn cake in the yarn carrying rod assembly to be loaded and unloaded along the yarn carrying rod.
Description
Technical Field
The invention relates to the technical field of polyester filament yarn transportation, in particular to a modular automatic doffing robot.
Background
The output of the terylene filament in China is improved year by year, the number of the winding machines used as the key production equipment of the terylene filament is continuously increased, many domestic terylene filament production enterprises have large-scale winding machine production lines, a large number of packages are required to be transported every day, the domestic terylene filament production enterprises gradually reduce the dependence on labor force, and a large number of automatic transportation systems are used. The modular automatic doffing robot is an important component of an automatic transportation system, and because the available space on the ground of a winding plant is very limited, the rail-mounted modular automatic doffing robot is applied to an automatic silk falling process. Meanwhile, most of chemical fiber factories are continuously produced all year round, equipment needs to be operated permanently, and the factory building centralized maintenance and debugging time is only a few days. The existing automatic doffing robot is complex in functional structure and numerous in movement executing parts, and therefore modular design is needed to be carried out so as to reduce the time for assembling, maintaining and debugging the whole robot.
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides a modularized automatic doffing robot, which solves the problems of complicated functional structure and numerous movement executing parts of the automatic doffing robot in the prior art, which cause increased maintenance difficulty, by driving and modularizing the automatic doffing robot.
The modularized automatic doffing robot comprises a sky rail system, a ground rail system, a cantilever frame and a package supporting mechanism, wherein the sky rail system and the ground rail system comprise horizontal conveying modules, and the horizontal conveying modules are used for driving the modularized automatic doffing robot to move in the horizontal direction along an sky rail track in the sky rail system and a ground rail track in the ground rail system; a vertical lifting module is arranged at the joint of the cantilever frame and the package supporting mechanism and used for driving the package supporting mechanism in the modular automatic doffing robot to move in the vertical direction along a vertical track in the cantilever frame; the yarn carrying rod assembly in the package supporting mechanism further comprises an I-level pushing module and an II-level pushing module, wherein the I-level pushing module is used for driving the yarn carrying rod assembly to move longitudinally along the bottom surface of the package supporting mechanism, and the II-level pushing module is used for driving a yarn cake in the yarn carrying rod assembly to be loaded and unloaded along the yarn carrying rod.
In another embodiment, the horizontal conveying module comprises a horizontal conveying mechanism, a horizontal guiding mechanism and a ground rail compensating mechanism, wherein the horizontal conveying mechanism comprises a first driving motor, a first driving wheel and a first driving frame, the first driving wheel drives the first driving wheel to move in the horizontal direction along the sky rail system through the first driving motor, the horizontal guiding mechanism comprises a rail sheathing frame and a guiding wheel assembly, the guiding wheel assembly is fixed at two sides of the sky rail system through the rail sheathing frame and is jointed with outer walls of two sides of the sky rail so as to realize a guiding function, the ground rail compensating mechanism comprises a ground rail compensating frame and a slewing bearing assembly, and the slewing bearing assembly is installed inside a ground rail in the ground rail system through the ground rail compensating frame and is jointed with the inner wall of the ground rail so as to realize a compensating function.
In another embodiment, the vertical lifting module comprises a second driving motor, a driving gear set, a first rack, a vertical lifting rack, a first linear guide rail and a first linear sliding block; the second driving motor and the driving gear set are connected with the package bearing mechanism through the vertical lifting rack, the lifting function of the package bearing mechanism is achieved through the matching of the driving gear set and the rack I installed on the cantilever frame, and the guiding function of the package bearing mechanism is achieved through the matching of the linear slide block I installed on the outer wall of the package bearing mechanism and the linear guide rail I installed on the cantilever frame.
In another embodiment, the I-stage pushing module comprises an I-stage driving module and an I-stage guiding module, wherein the I-stage driving module comprises a third driving motor, an I-stage driving rack, a transmission gear and a second rack, the third driving motor is fixed on the carrier screw rod assembly through the I-stage driving rack, and the transmission gear is matched with the second rack to realize the displacement between the carrier screw rod assembly and the package receiving mechanism; meanwhile, the I-level guide module comprises a linear guide rail II arranged on the bottom surface of the package supporting mechanism and a linear slideway II arranged on the bottom surface of the load screw rod assembly, and the linear guide rail II and the linear slideway II are matched with each other to play a role in guiding the load screw rod assembly and the package supporting mechanism to move.
In another embodiment, the class II pushing module comprises a pushing motor, a class II pushing frame, a coupler, a transmission screw rod and a push ring, wherein the pushing motor is fixed on the carrier screw rod assembly through the class II pushing frame and connected with the transmission screw rod through the coupler, the transmission screw rod is located in a through hole in the carrier screw rod, the push ring is connected with the transmission screw rod through a nut in the carrier screw rod and penetrates through a sleeve to be provided with an outer wall of the carrier screw rod, the push ring is provided with an inward convex structure, the inward convex structure is matched with a groove in the carrier screw rod to limit the rotational freedom of the push ring, and finally the pushing motor is used for rotationally driving the transmission screw rod to rotate, so that the push ring can longitudinally move along the carrier screw rod.
Compared with the prior art, the invention has the following beneficial effects:
the modularized automatic doffing robot comprises a sky rail system, a ground rail system, a cantilever frame body and a package supporting mechanism, wherein each part is an independent individual body and does not interfere with each other, so that each part of an automatic doffing robot body is extremely convenient to maintain, and a single part is damaged or required to be maintained and can be directly disassembled and replaced;
meanwhile, the modular automatic doffing robot has the advantages that the driving modules of the horizontal conveying module, the vertical lifting module, the I-level pushing module and the II-level pushing module are also independently designed, the driving method of the driving modules is simple, and the driving method is a common driving mode that a motor is matched with a gear or a screw rod, so that the maintenance cost of the driving modules is low.
Drawings
Fig. 1 is a schematic structural diagram of a modular automatic doffing robot provided by the invention.
Fig. 2 is a side view of the modular automatic doffing robot provided by the present invention.
Fig. 3 is an enlarged schematic view of a portion a in fig. 2.
Fig. 4 is an enlarged schematic view of B in fig. 2.
Fig. 5 is a schematic view of a vertical lifting module in the modular automatic doffing robot provided by the present invention.
FIG. 6 is a schematic diagram of a structure of a package receiving mechanism in the modular automatic doffing robot according to the present invention.
Fig. 7 is a schematic view of a loading screw rod in the modular automatic doffing robot provided by the invention.
Fig. 8 is a schematic view of disassembling a carrier screw rod in the modular automatic doffing robot according to the embodiment of the present invention.
Detailed Description
The technical solution of the present invention is further explained with reference to the drawings and the embodiments.
The modularized automatic doffing robot according to the embodiment of the present invention comprises a top rail system 10, a ground rail system 40, a cantilever frame 20 and a package receiving mechanism 30, wherein the top rail system 10 and the ground rail system 40 comprise a horizontal conveying module 100, and the horizontal conveying module 100 is used for driving the modularized automatic doffing robot to move along the horizontal direction along a top rail track 11 in the top rail system 10 and a ground rail track 41 in the ground rail system 40; a vertical lifting module 200 is arranged at the joint of the cantilever frame 20 and the package receiving mechanism 30, and the vertical lifting module 200 is used for driving the package receiving mechanism 30 in the modular automatic doffing robot to move along the vertical rail 21 in the cantilever frame 20 in the vertical direction; the yarn carrying rod assembly 31 in the package receiving mechanism 30 further includes a stage I pushing module 310 and a stage II pushing module 320, wherein the stage I pushing module 310 is used for driving the yarn carrying rod assembly 31 to move longitudinally along the bottom surface of the package receiving mechanism 30, and the stage II pushing module 320 is used for driving the cake in the yarn carrying rod assembly 31 to load and unload along the yarn carrying rod 32.
It should be understood at first that the sky rail system, the ground rail system, the suspension frame body, the package supporting mechanism can be installed through the quick change module, and each part is generally extremely difficult to damage and difficult to repair after damage, and for it to realize the modularization, the single part carries out independent assembly cooperation, and it can reduce the maintenance cost by a wide margin, reduces the degree of difficulty of assembly.
The horizontal transport module 100 comprises a horizontal transport mechanism 110, a horizontal transport mechanism 120 and a ground rail compensation mechanism 130, wherein the horizontal transport mechanism 110 comprises a first drive motor 111, a first drive wheel 112 and a first drive frame 113, the first drive motor 111 drives the first drive wheel 112 to move in the horizontal direction along the sky rail system 10, the horizontal transport mechanism 120 comprises a rail registration frame 121 and a guide wheel assembly 122, the guide wheel assembly 122 is fixed on two sides of the sky rail system 10 through the rail registration frame 121 and is attached to outer walls of two sides of the sky rail so as to realize a guiding function, the ground rail compensation mechanism 130 comprises a ground rail compensation frame 131 and a swivel bearing assembly 132, and the swivel bearing assembly 132 is installed inside the ground rail in the ground rail system 40 through the ground rail compensation frame 131 and is attached to an inner wall of the ground rail so as to realize a compensation function.
The driving wheel is positioned right above the sky rail track, the driving motor drives the driving wheel to roll through the transmission module, and the rolling direction and speed of the driving wheel determine the square of the running direction and the speed of the running speed of the modular automatic doffing robot in the sky rail system. The first driving motor is fixed above the driving rack in a bolt fixing mode. The installation surface of the driving rack and the first driving motor is designed to be a cylindrical through hole, and four symmetrical bolt holes are formed in the outer portion of the cylindrical through hole, so that the method for fixing the driving rack and the first driving motor is simple and firm. For the non-installation surface of the driving frame, the hollowed-out design is adopted on the premise of ensuring the strength of the driving frame, and when the driving motor is damaged, the driving motor can be disassembled through the hollowed-out part, so that the disassembly of unnecessary parts is reduced. Similarly, when the driving wheel is damaged, the driving wheel can be detached by taking out the transmission shaft.
Meanwhile, the whole driving rack is designed to be in a cross section of ']', and guide wheel assemblies are mounted at four corners of the upper surface and the lower surface of the driving rack and are used for increasing the moving stability of the automatic doffing robot. The ground rail compensation rack is connected with the cantilever frame body through the bolt, when the slewing bearing assembly or the ground rail compensation rack is damaged, the ground rail compensation mechanism can be directly detached and separated from the automatic doffing robot, and then the ground rail compensation mechanism slides out of a ground rail system to be maintained or maintained.
The vertical lifting module 200 comprises a second driving motor 201, a driving gear set 202, a first rack 203, a vertical lifting frame 204, a first linear guide rail 205 and a first linear slide block 206; the second driving motor 201 and the driving gear set 202 are connected to the package receiving mechanism 30 through the vertical lifting frame 204, and the lifting function of the package receiving mechanism 30 is realized by the cooperation of the driving gear set 202 and the first rack 203 mounted on the cantilever frame 20, and the guiding function of the package receiving mechanism 30 is realized by the matching of the first linear slider 206 mounted on the outer wall of the package receiving mechanism 30 and the first linear guide 205 mounted on the cantilever frame 20.
The vertical lifting module adopts a common combination mode that a motor is matched with a gear rack, the motor drives the gear to move in the vertical direction of the package supporting mechanism in a rack conveying mode, in order to guarantee the stability of the movement in the whole vertical direction, the matching of the guide rail and the sliding block is additionally arranged, and the package supporting mechanism is positioned in the middle of the cantilever frame body, so that the two groups of motors and the gear rack combination mode are symmetrically distributed on two sides of the cantilever frame body, the two corresponding groups of guide rails and the sliding block are also symmetrically distributed, and the stability of the movement in the vertical direction is further improved.
The I-stage pushing module 310 includes an I-stage driving module 311 and an I-stage guiding module 312, in which the I-stage driving module 311 includes a driving motor three 3111, an I-stage driving rack 3112, a transmission gear 3113 and a rack two 3114, in which the driving motor three 3111 is fixed on the lead screw carrying rod assembly 31 through the I-stage driving rack 3112, and the transmission gear 3113 is matched with the rack two 3114 to realize the displacement between the lead screw carrying rod assembly 31 and the package receiving mechanism 30; meanwhile, the class I guide module 312 includes a second linear guide rail 3121 installed on the bottom surface of the package receiving mechanism 30 and a second linear slideway 3122 installed on the bottom surface of the carrier screw rod assembly 31, and the cooperation of the two functions to guide the carrier screw rod assembly 31 and the package receiving mechanism 30 to move.
The linear guide rail II in the I-level pushing module adopts a straight strip type guide rail which is fixed on the bottom surface of the package supporting mechanism, the linear sliding block II is fixed on the bottom surface of the screw carrying rod assembly and moves along the linear guide rail II, a rack II is arranged in parallel with the linear guide rail, and the rack II is fixed on the bottom surface of the package supporting mechanism. Therefore, the driving motor III is fixed on the loading screw rod assembly through the I-stage driving rack, and the driving motor can be a disc output type motor and is directly connected with the transmission gear to drive the transmission gear to move on the rack II, so that the displacement of the loading screw rod assembly and the package supporting mechanism is realized. The disc output type motor can reduce the assembly difficulty and reduce the equipment, but can be replaced by a shaft output type motor and a through hole output type motor.
The II-stage pushing module 320 comprises a pushing motor 321, a II-stage pushing rack 322, a coupler 323, a transmission screw rod 324 and a pushing ring 325, wherein the pushing motor 321 is fixed on the load screw rod assembly 31 through the II-stage pushing rack 322 and is connected with the transmission screw rod 324 through the coupler 323, the transmission screw rod is located in a through hole in the load screw rod 311, the pushing ring 325 is connected with the transmission screw rod 324 through a nut in the load screw rod and penetrates through and is sleeved with the outer wall of the load screw rod, the pushing ring 325 is provided with an inner convex structure, the rotation freedom degree of the pushing ring 325 is limited through the matching of the inner convex structure and a groove on the load screw rod, and finally the pushing motor 321 is used for driving the transmission screw rod 324 to rotate, so that the pushing ring 325 can move longitudinally along the load screw rod.
The screw carrier in the screw carrier assembly is a hollow cylinder, one end of the screw carrier is provided with two parallel flat groups which are parallel to each other, a 90-degree angle is formed between the two parallel flat groups, and the screw carrier at the end is sleeved in a through hole of a screw carrier fixing block. And through threaded holes are designed on the other two parallel surfaces of the load screw rod fixing block, and the screws are pushed tightly and parallel flat through the threaded holes.
Because the carrying screw rod is in a hollow cylinder structure, the transmission screw rod is just right positioned at the axis position of the hollow cylinder structure, and the pushing motor is connected with the transmission screw rod through the coupler so as to drive the transmission screw rod to rotate. The push ring is connected with a threaded slide block on the transmission screw rod through a simple bolt, so that the transmission of the push ring is ensured, and the push ring is sleeved on the outer wall of the load screw rod, so that the operation of the push motor drives the push ring to move along the longitudinal direction of the load screw rod.
Finally, the above embodiments are only for illustrating the technical solutions of the present invention and not for limiting, although the present invention has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that modifications or equivalent substitutions may be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, and all of them should be covered in the claims of the present invention.
Claims (5)
1. The modularized automatic doffing robot comprises a sky rail system, a ground rail system, a cantilever frame body and a package receiving mechanism, and is characterized in that,
the sky rail system and the ground rail system comprise horizontal conveying modules, and the horizontal conveying modules are used for driving the modular automatic doffing robot to move in the horizontal direction along a sky rail track in the sky rail system and a ground rail track in the ground rail system;
a vertical lifting module is arranged at the joint of the cantilever frame and the package supporting mechanism and is used for driving the package supporting mechanism in the modularized automatic doffing robot to move in the vertical direction along a vertical track in the cantilever frame;
the yarn carrying rod assembly in the package supporting mechanism further comprises an I-level pushing module and an II-level pushing module, wherein the I-level pushing module is used for driving the yarn carrying rod assembly to move longitudinally along the bottom surface of the package supporting mechanism, and the II-level pushing module is used for driving a yarn cake in the yarn carrying rod assembly to be loaded and unloaded along the yarn carrying rod.
2. The modular automatic doffing robot of claim 1 wherein said horizontal transport module comprises a horizontal transport mechanism, a horizontal guide mechanism, and a ground rail compensation mechanism, wherein
The horizontal transportation mechanism comprises a first driving motor, a driving wheel and a driving frame, the driving wheel is driven by the first driving motor to move in the horizontal direction along the sky rail system,
the horizontal guide mechanism comprises a track sleeve machine frame and guide wheel components, the guide wheel components are fixed at two sides of a sky rail of the sky rail system through the track sleeve machine frame and are attached to the outer walls of the two sides of the sky rail track so as to realize the guide function,
the ground rail compensation mechanism comprises a ground rail compensation rack and a slewing bearing assembly, and the slewing bearing assembly is installed inside a ground rail in the ground rail system through the ground rail compensation rack, and the inner wall of the ground rail is attached to the ground rail so as to realize a compensation function.
3. The modular automatic doffing robot according to claim 2, wherein the vertical lifting module comprises a second driving motor, a driving gear set, a first rack, a vertical lifting frame, a first linear guide rail and a first linear slide block; the second driving motor and the driving gear set are connected with the package bearing mechanism through the vertical lifting rack, the lifting function of the package bearing mechanism is achieved through the matching of the driving gear set and the rack I installed on the cantilever frame, and the guiding function of the package bearing mechanism is achieved through the matching of the linear slide block I installed on the outer wall of the package bearing mechanism and the linear guide rail I installed on the cantilever frame.
4. The modular automatic doffing robot according to claim 3, wherein the stage I pushing module comprises a stage I driving module and a stage I guiding module, wherein the stage I driving module comprises a driving motor III, a stage I driving rack, a transmission gear and a rack II, wherein the driving motor III is fixed on the carrier screw rod assembly through the stage I driving rack, and the transmission gear is matched with the rack II to realize the displacement between the carrier screw rod assembly and the package receiving mechanism; meanwhile, the I-level guide module comprises a linear guide rail II arranged on the bottom surface of the package supporting mechanism and a linear slideway II arranged on the bottom surface of the load screw rod assembly, and the linear guide rail II and the linear slideway II are matched with each other to play a role in guiding the load screw rod assembly and the package supporting mechanism to move.
5. The modular automatic doffing robot according to claim 4, wherein the class II pushing module comprises a pushing motor, a class II pushing frame, a coupling, a transmission screw and a pushing ring, wherein the pushing motor is fixed on the carrier screw assembly through the class II pushing frame and is connected with the transmission screw through the coupling, the transmission screw is located in a through hole in the carrier screw, the pushing ring is connected with the transmission screw through a nut in the carrier screw and penetrates through the outer wall of the carrier screw, the pushing ring is provided with an inner convex structure, the inner convex structure is matched with a groove in the carrier screw to limit the rotational freedom of the pushing ring, and finally the pushing motor is used for rotationally driving the transmission screw to rotate, so that the pushing ring can longitudinally move along the carrier screw.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110423482.1A CN113184636A (en) | 2021-04-20 | 2021-04-20 | Modular automatic doffing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110423482.1A CN113184636A (en) | 2021-04-20 | 2021-04-20 | Modular automatic doffing robot |
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| CN113184636A true CN113184636A (en) | 2021-07-30 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202110423482.1A Pending CN113184636A (en) | 2021-04-20 | 2021-04-20 | Modular automatic doffing robot |
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| CN (1) | CN113184636A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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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| JPH07117931A (en) * | 1993-10-21 | 1995-05-09 | Murata Mach Ltd | Doffing device for spinning winder |
| CN108657761A (en) * | 2018-07-13 | 2018-10-16 | 大连誉洋工业智能有限公司 | access mechanism |
| CN210064777U (en) * | 2019-03-28 | 2020-02-14 | 北自所（北京）科技发展有限公司 | Automatic transfer system for crown block and suspension type package transfer trolley with packages |
| CN210064774U (en) * | 2019-03-28 | 2020-02-14 | 北自所（北京）科技发展有限公司 | Loading robot and automatic package transfer system |
| CN210103168U (en) * | 2019-03-28 | 2020-02-21 | 北自所（北京）科技发展有限公司 | Suspension type package transfer trolley and automatic package transfer system |
| CN110817595A (en) * | 2019-11-08 | 2020-02-21 | 广东科达洁能股份有限公司 | Automatic spinning cake receiving and sorting system and method |
| CN215625925U (en) * | 2021-04-20 | 2022-01-25 | 意欧斯物流科技(上海)有限公司 | Modular automatic doffing robot |
-
2021
- 2021-04-20 CN CN202110423482.1A patent/CN113184636A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH07117931A (en) * | 1993-10-21 | 1995-05-09 | Murata Mach Ltd | Doffing device for spinning winder |
| CN108657761A (en) * | 2018-07-13 | 2018-10-16 | 大连誉洋工业智能有限公司 | access mechanism |
| CN210064777U (en) * | 2019-03-28 | 2020-02-14 | 北自所（北京）科技发展有限公司 | Automatic transfer system for crown block and suspension type package transfer trolley with packages |
| CN210064774U (en) * | 2019-03-28 | 2020-02-14 | 北自所（北京）科技发展有限公司 | Loading robot and automatic package transfer system |
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| CN110817595A (en) * | 2019-11-08 | 2020-02-21 | 广东科达洁能股份有限公司 | Automatic spinning cake receiving and sorting system and method |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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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