CN113526229A - Bobbin material placing device and method thereof - Google Patents
Bobbin material placing device and method thereof Download PDFInfo
- Publication number
- CN113526229A CN113526229A CN202010304186.5A CN202010304186A CN113526229A CN 113526229 A CN113526229 A CN 113526229A CN 202010304186 A CN202010304186 A CN 202010304186A CN 113526229 A CN113526229 A CN 113526229A
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- bobbin
- yarn
- rack
- hanging area
- material placing
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H49/00—Unwinding or paying-out filamentary material; Supporting, storing or transporting packages from which filamentary material is to be withdrawn or paid-out
- B65H49/38—Skips, cages, racks, or containers, adapted solely for the transport or storage of bobbins, cops, or the like
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H67/00—Replacing or removing cores, receptacles, or completed packages at paying-out, winding, or depositing stations
- B65H67/06—Supplying cores, receptacles, or packages to, or transporting from, winding or depositing stations
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H2701/00—Handled material; Storage means
- B65H2701/30—Handled filamentary material
- B65H2701/31—Textiles threads or artificial strands of filaments
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- Replacing, Conveying, And Pick-Finding For Filamentary Materials (AREA)
Abstract
The invention provides a bobbin material placing device and a method thereof, wherein a material placing stand and a mechanical arm are arranged at two sides of a vehicle body of an unmanned transfer trolley, the material placing stand comprises a bobbin frame, a steering mechanism and a temporary storage frame, when the unmanned transfer trolley carries the bobbin frame hung with a plurality of full bobbins to the side of the bobbin frame stand, the mechanical arm can clamp the full bobbins hung in a first yarn hanging area of the bobbin frame and place the full bobbins on the temporary storage frame, and the empty bobbins hung on the bobbin frame stand are placed in the first yarn hanging area, then the full bobbins on the temporary storage frame are placed on the bobbin frame stand until the full bobbins in the first yarn hanging area are all replaced on the bobbin stand, the steering mechanism can drive the bobbin frame to enable a second yarn hanging area to face to the mechanical arm, and the mechanical arm can replace the full bobbins in the second yarn hanging area on the bobbin stand, then the unmanned transfer trolley carries the bobbin frame hung with a plurality of empty bobbins to leave the bobbin stand, has the effects of improving the production efficiency and simplifying the labor cost.
Description
Technical Field
The invention relates to a bobbin placing device and a method thereof, in particular to a bobbin placing device which can utilize an unmanned transfer trolley to drive a bobbin frame carrying and hanging full bobbins to a bobbin frame platform, complete the action of replacing the full bobbins with empty bobbins on the bobbin frame platform by a mechanical arm, and then carry the bobbin frame carrying the empty bobbins to drive away from the bobbin frame platform by the unmanned transfer trolley.
Background
In recent years, due to the continuous upgrading of the specifications of electronic and communication products, the circuit board is developed towards light and thin directions, and electronic grade glass fiber cloth is used as the main raw material of the copper foil substrate to provide the quality requirements of strength, dimensional stability, electrical property and the like required by the copper foil substrate, and along with the wide application of the circuit board in the circuit board raw material requirements of information, consumer electronics, communication equipment, electric vehicles and other high-tech electronic products, the technical process of the glass fiber industry needs to be continuously researched, developed and produced in an advanced and automatic manner, so that the upgrading requirement of an application end can be met.
The main source of the Glass fiber cloth is Glass fiber Yarn (Glass Yarn), the output of which is that refined silica sand, broken Glass, limestone, soda ash, kaolin and the like are rolled and melted by a kiln at high temperature to produce Glass paste, then the Glass fiber paste is made into Glass fiber Yarn through the processes of spinning, reeling, twisting and the like, and then the Glass fiber cloth is made through the processes of Yarn finishing, Yarn sizing, weaving, desizing and the like, wherein the Yarn finishing process utilizes the Yarn finishing machine to arrange a certain number of warps according to the width and the structure requirements of the cloth, then the warps are reeled on a warp beam to be used as the preparation before subsequent sizing, but in the traditional Yarn finishing process, a field operator needs to move a full bobbin to the side of the Yarn finishing machine by a rack truck, and the empty bobbin on the rack is taken off manually, then the full bobbin is hung on the rack to finish the replacement operation, and each bobbin needs to be replaced in time, the automatic bobbin replacing device can be provided for the yarn finishing machine, but the bobbin is continuously lifted and placed in the manual yarn taking, hanging or yarn supplementing operation, so that the damage to a human body is easily caused, and the working efficiency is influenced.
Disclosure of Invention
Therefore, in view of the above-mentioned shortcomings, the present inventors have found that the present invention provides a bobbin material placing device and a method thereof, which are designed through many evaluations and considerations and continuous trial and modification based on years of experience accumulated in the industry.
In order to achieve the purpose, the invention adopts the technical scheme that:
a bobbin material placing device is characterized by comprising:
an unmanned transfer trolley is provided with a trolley body which can move to a lateral position of a yarn stand platform according to a set running path;
the material placing rack platform is arranged at one side of the unmanned transfer trolley and comprises a yarn pipe rack, a steering mechanism and a temporary storage rack, a first yarn hanging area and a second yarn hanging area for hanging and carrying a plurality of full yarn pipes are respectively arranged at two sides of the yarn pipe rack, and the steering mechanism is arranged below the yarn pipe rack and used for driving the yarn pipe rack to enable the full yarn pipes in the first yarn hanging area and the second yarn hanging area to be horizontally steered to different positions respectively; and
the mechanical arm is arranged at the other side of the unmanned transfer trolley, and a taking and placing part is arranged at the end part of the mechanical arm and used for placing the full bobbins in the first yarn hanging area or the second yarn hanging area of the bobbin rack on the temporary storage rack, and placing the full bobbins on the temporary storage rack after a plurality of empty bobbins hung on the rack are placed in the first yarn hanging area or the second yarn hanging area.
The bobbin material placing device comprises: the vehicle body of the unmanned transfer trolley is provided with a collector frame which is in electrical contact with an external collector rail to provide power.
The bobbin material placing device comprises: the bobbin frame of the material placing rack is provided with a plurality of yarn hanging rods in the first yarn hanging area and the second yarn hanging area, and the full bobbins or the empty bobbins are hung on the plurality of yarn hanging rods respectively.
The bobbin material placing device comprises: the steering mechanism of the material placing stand is provided with a rotating table which is used for driving the bobbin holder to enable the first yarn hanging area or the second yarn hanging area to be respectively steered to be right opposite to the mechanical arm.
The bobbin material placing device comprises: the temporary storage rack of the material placing rack is arranged between the bobbin holder and the mechanical arm, and at least one positioning rod for sleeving the full bobbin is arranged on the temporary storage rack.
The bobbin material placing device comprises: the pick-and-place part of the mechanical arm is provided with an electric clamping jaw for clamping and placing the at least one full bobbin or empty bobbin.
A bobbin material placing method is suitable for a bobbin material placing device, a material placing rack and a mechanical arm are arranged on an unmanned transfer trolley of the bobbin material placing device, the material placing rack comprises a bobbin rack, a steering mechanism and a temporary storage rack, and a plurality of full bobbins are respectively hung in a first yarn hanging area and a second yarn hanging area at two sides of the bobbin rack, and the bobbin material placing method is characterized by comprising the following implementation steps:
(A) the unmanned transfer trolley carries the bobbin rack with the full bobbins to travel to the side of a bobbin rack platform;
(B) the mechanical arm clamps the full bobbin of the bobbin frame in the first yarn hanging area and places the full bobbin on the temporary storage frame;
(C) the mechanical arm clamps an empty bobbin hung on the bobbin holder and places the empty bobbin in a first yarn hanging area of the bobbin holder;
(D) the mechanical arm clamps the full bobbins on the temporary storage rack and places the full bobbins on the yarn rack platform;
(E) repeating the steps (B) to (D) until the mechanical arm replaces the full bobbin in the first yarn hanging area on the yarn rack, and then executing the step (F);
(F) driving a steering mechanism of the material placing rack to steer a second yarn hanging area of the bobbin holder to be right opposite to the mechanical arm;
(G) repeating the steps (B) to (D) until the mechanical arm replaces the full bobbin in the second yarn hanging area on the yarn stand, and then executing the step (H);
(H) the unmanned transfer trolley carries the bobbin frame which is loaded with the empty bobbins to separate from the bobbin frame platform.
The bobbin material placing method comprises the following steps: the steering mechanism of the material placing stand is provided with a rotating table which is used for driving the bobbin holder to enable the first yarn hanging area or the second yarn hanging area to be respectively steered to be right opposite to the mechanical arm.
The bobbin material placing method comprises the following steps: the temporary storage rack of the material placing rack is arranged between the bobbin holder and the mechanical arm.
The bobbin material placing method comprises the following steps: the end part of the mechanical arm is provided with a taking and placing part for taking and placing the at least one full bobbin or empty bobbin.
The invention has the main advantages that a material placing rack and a mechanical arm are respectively arranged at two sides of an unmanned transfer trolley, the material placing rack comprises a yarn tube rack, a steering mechanism and a temporary storage rack, when the unmanned transfer trolley carries the yarn tube rack with full yarn tubes to run to the side of the yarn rack table, the mechanical arm clamps the full yarn tubes hung in a first yarn hanging area by the yarn tube rack and places the full yarn tubes on the temporary storage rack, and after empty yarn tubes hung on the yarn rack table are placed in the first yarn hanging area, the full yarn tubes on the temporary storage rack are placed on the yarn rack table until the full yarn tubes in the first yarn hanging area are replaced on the yarn rack table, the steering mechanism drives the yarn tube rack to steer the second yarn hanging area to face the mechanical arm, the mechanical arm replaces all the full yarn tubes in the second yarn hanging area on the yarn rack table, and the unmanned transfer trolley hangs the yarn tubes with a plurality of empty yarn tubes to leave the yarn rack table, the automatic processing device is beneficial to subsequent processing treatment, and has the effects of high automation, improvement on production efficiency and reduction of labor cost.
Drawings
Fig. 1 is a perspective external view of the bobbin placing device of the present invention.
Fig. 2 is a flow chart of the steps of the bobbin loading method of the present invention.
Fig. 3 is a perspective view of the unmanned transfer carriage according to the present invention carrying a bobbin rack with a plurality of full bobbins running to the side of the yarn rack platform.
Fig. 4 is a perspective appearance view of the full bobbin in the first yarn hanging area clamped by the mechanical arm of the invention when being placed on the temporary storage rack.
Fig. 5 is a perspective view of an empty bobbin on the gripper table of the robot arm of the present invention positioned in the first yarn hanging area of the bobbin holder.
Fig. 6 is a perspective view showing the full bobbin placed on the yarn support when the mechanical arm clamps the temporary storage rack.
Fig. 7 is a perspective view showing the full bobbin in the first yarn hanging area replaced on the creel stand by the robot arm according to the present invention.
Fig. 8 is a perspective view of the steering mechanism of the present invention turning the second yarn hanging area of the bobbin holder to face the robot arm.
Fig. 9 is a perspective view showing the full bobbins in the second yarn hanging area replaced on the creel stand by the robot arm according to the present invention.
Fig. 10 is a perspective view of the unmanned transfer carriage according to the present invention when the bobbin rack on which a plurality of empty bobbins are hung is moved away from the creel stand.
Description of reference numerals: 1-unmanned transfer trolley; 11-a vehicle body; 111-collector frame; 2-placing a material rack; 21-a bobbin holder; 211-a first yarn hanging zone; 212-a second yarn hanging area; 213-hanging yarn rod; 22-a steering mechanism; 221-rotating table; 23-temporary storage rack; 231-a positioning rod; 3-a mechanical arm; 31-a pick-and-place part; 311-electric clamping jaw; 4-full bobbin; 5-a yarn stand; 51-a frame; 511-yarn struts; 6-empty bobbin.
Detailed Description
To achieve the above objects and advantages, the present invention provides a novel and improved method for manufacturing a semiconductor device, which comprises a substrate, a first substrate, a second substrate, a third substrate, a fourth substrate, and a fourth substrate.
Referring to fig. 1 to fig. 2, which are a perspective view of a bobbin placing device and a flowchart illustrating steps of a bobbin placing method according to the present invention, it can be clearly seen from the drawings that the bobbin placing device according to the present invention includes an unmanned transfer trolley 1, a material placing rack 2 and a robot arm 3, wherein the material placing rack 2 and the robot arm are disposed at front and rear sides of the unmanned transfer trolley 1, and wherein:
the unmanned transfer trolley 1 is preferably implemented as an unmanned Guided vehicle (Automated Guided vehicle)
AGV), but not limited to this, a Rail Guided Vehicle (Rail Guided Vehicle) may be used
The material placing stand 2 comprises a bobbin holder 21, a steering mechanism 22 and a temporary storage 23, and a first yarn hanging area 211 and a second yarn hanging area 212 are respectively arranged at the front side and the rear side of the fixed or trolley type bobbin holder 21, and the fixing frame in each yarn hanging area is respectively provided with a plurality of rows of yarn hanging rods 213 (as shown in fig. 4), and the yarn hanging rods 213 are respectively hung with full bobbins 4 in a sleeving manner, and the full bobbins 4 are tied on the bobbins and uniformly wound with glass fiber yarns, the material placing rack 2 is provided with a steering mechanism 22 at the lower part of the bobbin rack 21 in the rack body, a rotary air cylinder or a rotary motor is connected to the bottom of the rotary table 221 of the steering mechanism 22, so that the bobbin holders 21 on which a plurality of full bobbins 4 are mounted can be transferred to the rotary table 221 by lifting the pallet truck or the lifter of the conveyor, the rotating platform 221 drives the bobbin frame 21 to rotate 180 degrees, so that the first yarn hanging area 211 and the second yarn hanging area 212 horizontally rotate to different positions opposite to each other in the front-back direction; in addition, the material placing table 2 is provided with a temporary storage rack 23 between the bobbin holder 21 and the robot arm 3, and two positioning rods 231 spaced apart from each other are vertically provided on the temporary storage rack 23.
The robot 3 is preferably implemented as an Articulated robot, but not limited thereto, and may also be a cylinder coordinate robot, a polar coordinate robot or other robots with functions of multi-axis motion, picking and placing or transporting, wherein the Articulated robot may be electrically connected to an electric system of the automated guided vehicle through a power system, and a controller drives and controls a motor of each degree of freedom of a servo mechanism, so that the robot can perform multi-axis motion in a plane or a three-dimensional space, and a picking and placing portion 31 is provided at an end of the robot, so that a controller can drive and control an electric clamping jaw 311 of the picking and placing portion 31 to perform picking and placing operations, but the basic configuration and motion type of the robot 3 are different depending on the application manner, and the robot 3 and the steering mechanism 22 of the material placing platform 2 are integrated on the automated guided vehicle 1, the driving and controlling operations, the real-time detection, and the status diagnosis performed by the driving control system can be modified according to the actual application, and therefore, the following description of the present application will be made together with the description of the present application.
In the present embodiment, a yarn creel stand 5 (as shown in fig. 3 to 10) is provided on one side of the traveling path of the unmanned transfer carriage 1, the creel stand 5 is preferably implemented as one creel, a plurality of yarn support rods 511 are provided in a plurality of rows in an array on a frame 51 of the creel, and each yarn support rod 511 is respectively hung with an empty bobbin 6 in a sleeved manner, but not limited to this, it may be a creel applied to a warping machine or an automatic yarn feeder, and the full bobbin 4 hung on the yarn support rod 511 is freely rotated under the traction of a head power, so that the entire yarn can be uniformly wound on a warp beam.
As shown in fig. 2, the bobbin material placing method of the present invention is suitable for a bobbin material placing device, and includes the following implementation steps:
(S101) the carrier rack 21 on which the plurality of full bobbins 4 are hung on the carrier rack 2 of the unmanned transfer carriage 1 travels to the side of the creel stand 5.
(S102) the robot arm 3 grips the full bobbin 4 of the bobbin holder 21 in the first yarn hanging area 211 and places it on the temporary storage 23.
(S103) the empty bobbin 6 held by the robot arm 3 on the bobbin holding frame 5 is placed in the first yarn hanging area 211 of the bobbin holder 21.
(S104) the robot arm 3 grips the full bobbin 4 on the temporary storage rack 23 and places the full bobbin on the yarn stand 5.
(S105) the steps (S102) to (S104) are repeated until the robot arm 3 replaces the full bobbin 4 in the first yarn hanging area 211 on the creel base 5, and the step (S106) is executed again.
(S106) the steering mechanism 22 is driven to steer the second yarn hanging section 212 of the bobbin holder 21 to be aligned with the robot arm 3.
(S107) the steps (S102) to (S104) are repeated until the robot arm 3 replaces the full bobbin 4 in the second yarn hanging area 212 on the creel base 5, and the step (S108) is executed again.
(S108) the unmanned transfer carriage 1 transfers the bobbin holder 21 on which the empty bobbins 6 are completely mounted, to the bobbin base 5.
Referring to fig. 3 to 7, a three-dimensional appearance diagram of the unmanned transfer trolley according to the present invention when the rack of yarn with a plurality of full bobbins is driven to the side of the rack table, a three-dimensional appearance diagram of the temporary storage rack with full bobbins in the first yarn hanging area gripped by the robot arm, a three-dimensional appearance diagram of the rack of yarn with empty bobbins in the empty bobbin gripping rack, a three-dimensional appearance diagram of the rack table with full bobbins in the temporary storage rack gripped by the robot arm, and a three-dimensional appearance diagram of the rack table with full bobbins replaced by the robot arm in the first yarn hanging area are shown, wherein when the unmanned transfer trolley 1 receives a task command from the main control platform to drive the trolley body 11 to the side of the rack table 5, at least one (preferably two full bobbins 4) picked and placed in the first yarn hanging area 211 in front of the rack 21 by the rack table 2 can be gripped by the gripper 31 of the robot arm 3, two full bobbins 4 are respectively placed on the positioning rods 231 of the temporary storage 23, then two empty bobbins 6 hung on the rack 51 by the yarn hanging rack 5 are clamped by the mechanical arm 3, so that the empty bobbins 6 can be respectively placed on the yarn hanging rods 213 emptied in the original first yarn hanging area 211, and the full bobbins 4 previously placed on the temporary storage 23 can be clamped by the mechanical arm 3 and respectively placed on the yarn hanging rods 511 emptied from the original yarn hanging rack 5, so that the above replacement process can be repeatedly executed until the mechanical arm 3 replaces all the remaining full bobbins 4 of the yarn bobbin support 21 in the first yarn hanging area 211 on the yarn hanging rack table 5, and the empty bobbins 6 taken off by the yarn rack table 5 are respectively placed in the first yarn hanging area 211 of the yarn bobbin support 21, so as to complete the action of replacing all the full bobbins 4 hung on the yarn hanging rack table 5 by the yarn bobbin support 21 in the first yarn hanging area 211.
As shown in fig. 8 to fig. 10, the three-dimensional external view after the second yarn hanging area of the bobbin holder is turned by the turning mechanism of the present invention to be opposite to the robot arm, the three-dimensional external view after the full bobbins in the second yarn hanging area are replaced on the bobbin holder table by the robot arm, and the three-dimensional external view when the bobbin holder with empty bobbins hung on the unmanned transfer trolley is moved away from the bobbin holder table are shown, as can be clearly seen from the figures, after the full bobbins 4 hung on the bobbin holder 21 in the first yarn hanging area 211 are all replaced on the bobbin holder table 5, the rotating table 221 of the turning mechanism 22 will drive the bobbin holder 21 to turn the second yarn hanging area 212 to face the robot arm 3, and the robot arm 3 and the above replacement process will take off the two full bobbins 4 hung on the second yarn hanging area 212 and place on the temporary storage 23, and the two empty bobbins 6 to be taken off by the bobbin holder table 5 are placed on the second yarn hanging area 212, the two full bobbins 4 on the temporary storage rack 23 are placed on the creel stand 5 until the full bobbins 4 of the bobbin rack 21 in the second yarn hanging area 212 are replaced on the creel stand 5 by the mechanical arm 3, and the empty bobbins 6 taken down by the creel stand 5 are respectively placed in the second yarn hanging area 212 of the bobbin rack 21, so that the full bobbins 4 hung on the bobbin rack 21 can be replaced on the creel stand 5 quickly, and the bobbin rack 21 hung with a plurality of empty bobbins 6 is transported and separated from the creel stand 5 by the unmanned transport trolley 1 according to the set running path, and the labor hour and cost consumed in the manual transportation and material taking and replacing processes can be reduced without the field operators, thereby having the effects of high automation, improving the production efficiency and simplifying the labor cost.
The foregoing description is intended to be illustrative rather than limiting, and it will be appreciated by those skilled in the art that many modifications, variations or equivalents may be made without departing from the spirit and scope of the invention as defined in the appended claims.
Claims (10)
1. A bobbin material placing device is characterized by comprising:
an unmanned transfer trolley is provided with a trolley body which can move to a lateral position of a yarn stand platform according to a set running path;
the material placing rack platform is arranged at one side of the unmanned transfer trolley and comprises a yarn pipe rack, a steering mechanism and a temporary storage rack, a first yarn hanging area and a second yarn hanging area for hanging and carrying a plurality of full yarn pipes are respectively arranged at two sides of the yarn pipe rack, and the steering mechanism is arranged below the yarn pipe rack and used for driving the yarn pipe rack to enable the full yarn pipes in the first yarn hanging area and the second yarn hanging area to be horizontally steered to different positions respectively; and
the mechanical arm is arranged at the other side of the unmanned transfer trolley, and a taking and placing part is arranged at the end part of the mechanical arm and used for placing the full bobbins in the first yarn hanging area or the second yarn hanging area of the bobbin rack on the temporary storage rack, and placing the full bobbins on the temporary storage rack after a plurality of empty bobbins hung on the rack are placed in the first yarn hanging area or the second yarn hanging area.
2. A bobbin material placing device according to claim 1, characterized in that: the vehicle body of the unmanned transfer trolley is provided with a collector frame which is in electrical contact with an external collector rail to provide power.
3. A bobbin material placing device according to claim 1, characterized in that: the bobbin frame of the material placing rack is provided with a plurality of yarn hanging rods in the first yarn hanging area and the second yarn hanging area, and the full bobbins or the empty bobbins are hung on the plurality of yarn hanging rods respectively.
4. A bobbin material placing device according to claim 1, characterized in that: the steering mechanism of the material placing stand is provided with a rotating table which is used for driving the bobbin holder to enable the first yarn hanging area or the second yarn hanging area to be respectively steered to be right opposite to the mechanical arm.
5. A bobbin material placing device according to claim 1, characterized in that: the temporary storage rack of the material placing rack is arranged between the bobbin holder and the mechanical arm, and at least one positioning rod for sleeving the full bobbin is arranged on the temporary storage rack.
6. A bobbin material placing device according to claim 1, characterized in that: the pick-and-place part of the mechanical arm is provided with an electric clamping jaw for clamping and placing the at least one full bobbin or empty bobbin.
7. A bobbin material placing method is suitable for a bobbin material placing device, a material placing rack and a mechanical arm are arranged on an unmanned transfer trolley of the bobbin material placing device, the material placing rack comprises a bobbin rack, a steering mechanism and a temporary storage rack, and a plurality of full bobbins are respectively hung in a first yarn hanging area and a second yarn hanging area at two sides of the bobbin rack, and the bobbin material placing method is characterized by comprising the following implementation steps:
(A) the unmanned transfer trolley carries the bobbin rack with the full bobbins to travel to the side of a bobbin rack platform;
(B) the mechanical arm clamps the full bobbin of the bobbin frame in the first yarn hanging area and places the full bobbin on the temporary storage frame;
(C) the mechanical arm clamps an empty bobbin hung on the bobbin holder and places the empty bobbin in a first yarn hanging area of the bobbin holder;
(D) the mechanical arm clamps the full bobbins on the temporary storage rack and places the full bobbins on the yarn rack platform;
(E) repeating the steps (B) to (D) until the mechanical arm replaces the full bobbin in the first yarn hanging area on the yarn rack, and then executing the step (F);
(F) driving a steering mechanism of the material placing rack to steer a second yarn hanging area of the bobbin holder to be right opposite to the mechanical arm;
(G) repeating the steps (B) to (D) until the mechanical arm replaces the full bobbin in the second yarn hanging area on the yarn stand, and then executing the step (H);
(H) the unmanned transfer trolley carries the bobbin frame which is loaded with the empty bobbins to separate from the bobbin frame platform.
8. A method of bobbin loading as claimed in claim 7, characterised by: the steering mechanism of the material placing stand is provided with a rotating table which is used for driving the bobbin holder to enable the first yarn hanging area or the second yarn hanging area to be respectively steered to be right opposite to the mechanical arm.
9. A method of bobbin loading as claimed in claim 7, characterised by: the temporary storage rack of the material placing rack is arranged between the bobbin holder and the mechanical arm.
10. A method of bobbin loading as claimed in claim 7, characterised by: the end part of the mechanical arm is provided with a taking and placing part for taking and placing the at least one full bobbin or empty bobbin.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010304186.5A CN113526229A (en) | 2020-04-17 | 2020-04-17 | Bobbin material placing device and method thereof |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010304186.5A CN113526229A (en) | 2020-04-17 | 2020-04-17 | Bobbin material placing device and method thereof |
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| CN113526229A true CN113526229A (en) | 2021-10-22 |
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| CN202010304186.5A Pending CN113526229A (en) | 2020-04-17 | 2020-04-17 | Bobbin material placing device and method thereof |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114261717A (en) * | 2021-12-28 | 2022-04-01 | 安徽凌坤智能科技有限公司 | Automatic bobbin loading and unloading device |
| CN117246843A (en) * | 2023-11-15 | 2023-12-19 | 山东合信科技股份有限公司 | Automatic storage equipment for yarn bobbins |
| CN114538205B (en) * | 2022-03-23 | 2024-02-23 | 深圳东瑞兴联智能科技有限公司 | Wire ingot material collecting and stacking system |
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| CN114261717A (en) * | 2021-12-28 | 2022-04-01 | 安徽凌坤智能科技有限公司 | Automatic bobbin loading and unloading device |
| CN114538205B (en) * | 2022-03-23 | 2024-02-23 | 深圳东瑞兴联智能科技有限公司 | Wire ingot material collecting and stacking system |
| CN117246843A (en) * | 2023-11-15 | 2023-12-19 | 山东合信科技股份有限公司 | Automatic storage equipment for yarn bobbins |
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