CN113772430A - Automatic gantry production line for spindle stacking and working method thereof - Google Patents
Automatic gantry production line for spindle stacking and working method thereof Download PDFInfo
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- CN113772430A CN113772430A CN202111218312.6A CN202111218312A CN113772430A CN 113772430 A CN113772430 A CN 113772430A CN 202111218312 A CN202111218312 A CN 202111218312A CN 113772430 A CN113772430 A CN 113772430A
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- 238000004519 manufacturing process Methods 0.000 title claims abstract description 36
- 238000000034 method Methods 0.000 title claims abstract description 11
- 238000005192 partition Methods 0.000 claims abstract description 65
- 238000007599 discharging Methods 0.000 claims abstract description 24
- 230000002457 bidirectional effect Effects 0.000 claims description 13
- 239000000463 material Substances 0.000 claims description 9
- 230000032258 transport Effects 0.000 claims description 4
- 238000009434 installation Methods 0.000 claims 3
- 230000003245 working effect Effects 0.000 abstract description 2
- 238000009987 spinning Methods 0.000 description 5
- 230000004048 modification Effects 0.000 description 3
- 238000012986 modification Methods 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 239000000835 fiber Substances 0.000 description 1
- 230000036541 health Effects 0.000 description 1
- 239000004753 textile Substances 0.000 description 1
- 238000011144 upstream manufacturing Methods 0.000 description 1
- 238000004804 winding Methods 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G57/00—Stacking of articles
- B65G57/005—Stacking of articles by using insertions or spacers between the stacked layers
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- 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
- B65G13/00—Roller-ways
- B65G13/02—Roller-ways having driven rollers
- B65G13/06—Roller driving means
- B65G13/07—Roller driving means having endless driving elements
-
- 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
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/22—Devices influencing the relative position or the attitude of articles during transit by conveyors
- B65G47/24—Devices influencing the relative position or the attitude of articles during transit by conveyors orientating the articles
- B65G47/248—Devices influencing the relative position or the attitude of articles during transit by conveyors orientating the articles by turning over or inverting them
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- 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
- B65G61/00—Use of pick-up or transfer devices or of manipulators for stacking or de-stacking articles not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C1/00—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles
- B66C1/02—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles by suction means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C1/00—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles
- B66C1/02—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles by suction means
- B66C1/0237—Multiple lifting units; More than one suction area
- B66C1/025—Divided cups
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C11/00—Trolleys or crabs, e.g. operating above runways
- B66C11/02—Trolleys or crabs, e.g. operating above runways with operating gear or operator's cabin suspended, or laterally offset, from runway or track
- B66C11/04—Underhung trolleys
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- 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
- B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
- B65G2201/02—Articles
- B65G2201/0232—Coils, bobbins, rolls
Abstract
The invention discloses an automatic gantry production line for stacking spindles and a working method, and the automatic gantry production line comprises a gantry grabbing unit, a spindle feeding and conveying unit, a spindle stacking and arranging unit, a partition plate bin and a spindle stacking and discharging unit, spindles grabbed by the spindle feeding and conveying unit are transferred to the spindle stacking and arranging unit, the spindles are arranged in a row on the spindle stacking and arranging unit, a group of partition plates are arranged in the partition plate bin from top to bottom, the gantry grabbing unit can transfer the partition plates in the partition plate bin to the spindle stacking and discharging unit, and the gantry grabbing unit can grab the spindles on the spindle stacking and arranging unit to the spindle stacking and discharging unit. The automatic gantry production line for spindle stacking is reasonable in structural design and easy to produce, multi-station linkage is adopted, the consistency of working actions is guaranteed, interference and collision caused by multi-machine operation are avoided, safe waiting time of multi-machine operation is saved due to the fact that actions are connected, working efficiency is high, and application is flexible.
Description
Technical Field
The invention belongs to the field of spindle production and manufacturing, and particularly relates to a spindle stacking gantry automatic production line. The invention also relates to a working method of the spindle stacking gantry automatic production line.
Background
The spindle production in the textile industry is an important project related to China's countrymen, is an upstream industry of various garment shoe and cap production industries, improves the spindle production efficiency, and is very necessary for carrying out automatic modification on the traditional production mode.
A spindle, also called spindle, is a part of a spinning machine used to twist fibers into yarn and wind them into a certain shape. According to the spinning requirement, different roving spindles or spinning spindles can be matched, the more the roving spindles are arranged on the machine, the higher the spinning efficiency is, and the spindles are driven by the alternating current motor; the speed of the spindle is usually about 15000r/min, and the existing spindle stacking process needs to be completed by manpower or other equipment. If carry by the manual work completely, not only with high costs, inefficiency, it is complete to destroy the winding of spindle moreover easily to spinning workshop's operational environment is abominable, is extremely unfavorable for the health. Some enterprises develop various gripper robot systems to replace partial manual operation, but all the robots have the problems of incomplete automation, manual auxiliary operation, complex structure and high production cost.
Disclosure of Invention
The purpose of the invention is as follows: in order to overcome the defects, the invention aims to provide an automatic gantry production line for spindle stacking, which solves the problems that in the prior art, when spindles are stacked, a partition plate needs to be arranged between layers of spindles, but at present, grabbing work of the partition plate and the spindles is respectively carried out, so that stacking efficiency is low, and labor cost is high.
The technical scheme is as follows: a spindle stacking gantry automatic production line comprises a gantry grabbing unit, a spindle feeding and conveying unit, a spindle stacking and arranging unit, a partition plate bin and a spindle stacking and discharging unit, wherein the spindle feeding and conveying unit, the spindle stacking and arranging unit, the partition plate bin and the spindle stacking and discharging unit are all arranged on one side of the moving direction of the gantry grabbing unit, the spindle stacking and arranging unit, the partition plate bin and the spindle stacking and discharging unit are sequentially arranged along the direction of the gantry grabbing unit, the starting end of the spindle stacking and arranging unit is positioned below one side, close to the gantry grabbing unit, of the spindle feeding and conveying unit, the spindle stacking and discharging unit is positioned between the spindle stacking and arranging unit and the partition plate bin, the spindle stacking and arranging unit and the partition plate bin are respectively positioned at two ends of the length direction of the gantry grabbing unit, and the spindle feeding and conveying unit can grab spindles, and the spindles grabbed by the spindle feeding and conveying unit are transferred to the spindle stacking and arranging unit, the spindles are arranged in a row on the spindle stacking and arranging unit, a group of partition plates are arranged in the partition plate bin in sequence from top to bottom, the gantry grabbing unit can transfer the partition plates in the partition plate bin to the spindle stacking and blanking unit, and the gantry grabbing unit can grab the spindles on the spindle stacking and arranging unit to the spindle stacking and blanking unit.
Further, the automatic gantry production line for spindle stacking comprises a gantry, a horizontal driving device, a vertical driving device, a lifting arm, a yarn grabbing manipulator supporting beam and a group of yarn grabbing manipulators, wherein the horizontal driving device is arranged on the upper end beam of the gantry, the vertical driving device is connected with the horizontal driving device, the horizontal driving device can drive the vertical driving device to move along the length direction of the gantry, the lifting arm is connected with the lower end part of the vertical driving device, the horizontal driving device and the vertical driving device form a double-shaft moving system of the lifting arm, one end of the yarn grabbing manipulator supporting beam is fixedly connected with the lifting arm, the yarn grabbing manipulator supporting beam is arranged in the horizontal direction, the group of yarn grabbing manipulators are arranged on the lower end face of the yarn grabbing manipulator supporting beam in a row, the yarn grabbing mechanical arms and the yarn spindles on the yarn spindle stacking arrangement unit are arranged in a one-to-one correspondence mode, and the yarn spindles on the yarn spindle stacking arrangement unit can be grabbed by the yarn grabbing mechanical arms.
Furthermore, foretell spindle pile up neatly longmen automation line, spindle material loading conveying unit includes conveyer belt support frame, annular conveyor and a set of spindle clamping device, annular conveyor sets up on the conveyer belt support frame, a set of spindle clamping device all is connected with annular conveyor to a set of spindle clamping device interval is even setting, the one end of spindle pile up neatly arrangement unit is located the below of annular conveyor one end.
Further, the spindle stacking gantry automatic production line comprises a spindle clamping support plate, a clamping driving cylinder, a first clamping guide assembly, a second clamping guide assembly, a first moving rod, a first spindle clamping plate, a second moving rod, a second spindle clamping plate, a gear mounting seat, a first gear, a first rack, a second rack and a driving swing rod, wherein the spindle clamping support plate is connected with the annular conveying device, one end of the clamping driving cylinder is hinged with the spindle clamping support plate, a piston rod of the clamping driving cylinder is hinged with one end of the driving swing rod, the end, far away from the piston rod of the clamping driving cylinder, of the driving swing rod is connected with the first clamping guide assembly, one end of the first moving rod is fixedly connected with the first clamping guide assembly, one end of the second moving rod is fixedly connected with the second clamping guide assembly, and the first clamping guide assembly and the second clamping guide assembly are both arranged on the spindle clamping support plate, the first spindle clamping plate and the second spindle clamping plate are symmetrically arranged, the first spindle clamping plate is fixedly arranged on the lower end portion of the first moving rod, the second spindle clamping plate is fixedly arranged on the lower end portion of the second moving rod, the gear mounting seat is fixedly arranged on the spindle clamping supporting plate, the gear mounting seat is located between the first clamping guiding component and the second clamping guiding component, the first gear is connected with the gear mounting seat, the first rack and the second rack are arranged in a relatively staggered mode, the first rack and the second rack are meshed with the first gear, the first rack is fixedly connected with the first moving rod, and the second rack is fixedly connected with the second moving rod.
Further, in the automatic gantry production line for spindle stacking, the first clamping guide assembly and the second clamping guide assembly respectively comprise two symmetrically arranged first guide post supporting blocks, two symmetrically arranged second guide post supporting blocks, a first guide post, a second guide post, a first connecting plate, a first slide block, a second slide block, a first mounting plate and a second mounting plate, the first mounting plate and the second mounting plate are symmetrically arranged, the first mounting plate and the second mounting plate are fixedly connected with the spindle clamping supporting plate, the first guide post supporting blocks are fixedly arranged on the first mounting plate, the second guide post supporting blocks are fixedly arranged on the second mounting plate, two end parts of the first guide post and the second guide post are respectively arranged on the first guide post supporting blocks and the second guide post supporting blocks, the slide blocks are sleeved on the first guide posts, the slide blocks are sleeved on the second guide posts, and the first slide blocks and the second slide blocks are both connected with the first connecting plate, the end part of the driving swing rod, far away from the clamping driving cylinder piston rod, is fixedly connected with the first connecting plate.
Further, foretell spindle pile up neatly longmen automation line, be equipped with connecting plate two on the carriage release lever, the both ends that carriage release lever one was kept away from to connecting plate two are equipped with adapter sleeve one and uide bushing one respectively, adapter sleeve one passes through bolt and rack fixed connection, uide bushing one and rack two sliding connection, be equipped with connecting plate three on the carriage release lever two, the both ends that carriage release lever two was kept away from to connecting plate three are equipped with adapter sleeve two and uide bushing two respectively, adapter sleeve two passes bolt and rack two fixed connection, uide bushing two and rack one sliding connection, it is equipped with a set of guide rollers to be equipped with two bisymmetry on the gear mount pad, guide rollers is located the two outsides that rack one and rack two kept away from each other respectively to guide rollers laminates with the vertical face of rack one and rack two respectively.
Further, the spindle stacking arrangement unit comprises a spindle placing seat, a spindle overturning pushing assembly, a spindle in-place pushing assembly and a spindle arrangement moving assembly, the spindle placing seat is arranged perpendicular to the length direction of the portal frame, the spindle placing seat is of a rectangular structure, a rectangular groove is formed in the upper end face of the spindle placing seat along the length direction, a row of spindles is arranged on the spindle placing seat, a bobbin at the lower end of each spindle is arranged in the corresponding rectangular groove, a cavity is further formed in the spindle placing seat and communicated with the rectangular groove, one end of the rectangular groove is located right below one end of the annular conveying device, the annular conveying device opposite to the rectangular groove is located at a releasing position of each spindle, and the spindle in-place pushing assembly is arranged at one end, close to the annular conveying device, of the spindle placing seat, the spindle overturning and pushing assembly and the spindle arranging and moving assembly are arranged on the spindle placing seat, the spindle overturning and pushing assembly is located between the spindle in-place pushing assembly and the spindle arranging and moving assembly, and the spindle overturning and pushing assembly and the release position of the spindle on the annular conveying device are arranged oppositely.
Further, in the automatic spindle stacking gantry production line, the spindle overturning and pushing assembly comprises an upward pushing cylinder and a spindle overturning and pushing plate, the upward pushing cylinder is arranged in the cavity, the spindle overturning and pushing plate is connected with a piston rod of the upward pushing cylinder, the upward pushing cylinder can drive the spindle overturning and pushing plate to contact with a horizontal spindle, and the spindle overturning and pushing plate is contacted with the outer wall of one end, close to the spindle in-place pushing assembly, of the spindle; the spindle in-place pushing assembly comprises an in-place pushing cylinder, an in-place pushing plate, a vertical mounting plate and an in-place guide post, the vertical mounting plate is fixedly connected with the spindle placing seat, the in-place pushing cylinder is fixedly connected with the vertical mounting plate, the in-place pushing plate is connected with a piston rod of the in-place pushing cylinder, the in-place pushing cylinder can drive the in-place pushing plate to be in contact with a spindle in a vertical state, the in-place pushing plate is located in the rectangular groove, one end of the in-place guide post is connected with the in-place pushing plate, and the in-place guide post is connected with the vertical mounting plate in a sliding mode; the spindle is arranged and is moved subassembly and is included sharp module, two-way driving cylinder and two symmetrical arrangement grip blocks that set up, the slider of two-way driving cylinder and sharp module is connected to the straight line module can drive two-way driving cylinder and place the length direction setting of seat along the spindle, the arrangement grip block that two symmetries set up is connected with the piston rod at two-way driving cylinder both ends respectively, it stretches out the cavity to arrange the grip block to the upper end that arranges the grip block is higher than the upper end that the seat was placed to the spindle, two-way driving cylinder can drive the arrangement grip block that two symmetries set up centre gripping respectively place the both sides of spindle on the seat at the spindle.
Furthermore, foretell spindle pile up neatly longmen automation line, spindle pile up neatly unloading unit includes unloading support frame, a set of spindle conveying roller, unloading driving motor, sprocket feed gear and drive roll, a set of spindle conveying roller and drive roll are a row and set up on the unloading support frame, unloading driving motor is fixed to be set up on the unloading support frame, unloading driving motor's pivot and drive roll are connected, the drive roll passes through sprocket feed gear and a set of spindle conveying roller is connected, the baffle sets up on a set of spindle conveying roller.
The invention also provides a working method of the automatic gantry production line for stacking spindles, which comprises the following steps:
s1, a horizontal driving device of a gantry grabbing unit drives a group of yarn grabbing manipulators to move right above a partition board bin, sucking discs on the group of yarn grabbing manipulators adsorb partition boards at the upper end of the partition board bin, the horizontal driving device drives the yarn grabbing manipulators adsorbing the partition boards to move to a spindle stacking and blanking unit, a vertical driving device is started until the partition boards are close to a group of spindle conveying rollers, the sucking discs on the yarn grabbing manipulators are released, the partition boards are released at the starting end of the spindle stacking and blanking unit, and the horizontal driving device and the vertical driving device reset;
s2, grabbing the spindle from the previous station by one end, far away from the gantry grabbing unit, of the spindle feeding and conveying unit, grabbing the spindle by a group of spindle clamping devices in sequence, and enabling the axis of the spindle to be in the horizontal direction;
s3, the annular conveying device rotates around the ring, the spindle clamping device for grabbing spindles rotates, and when the spindle clamping device for grabbing spindles rotates to the position right above the spindle placing seat;
s4, separating a first spindle clamping plate and a second spindle clamping plate of the spindle clamping device through a driving structure, and releasing the grabbed spindles at the positions, right below the annular conveying device, of the spindle placing seats, wherein the axes of the spindles are in the horizontal direction;
s5, a piston rod of the push-up cylinder extends out to drag the spindle overturning push plate to push one end of a spindle, so that the spindle is overturned on the spindle placing seat, the axis of the overturned spindle is in the vertical direction, and the lower end part of a bobbin of the spindle is arranged in the rectangular groove;
s6, starting the in-place pushing cylinder, pushing the in-place pushing plate to be in contact with the spindle on the spindle placing seat, and enabling the spindle to be located between the two symmetrically arranged clamping plates due to the extending length of the in-place pushing cylinder;
s7, retracting a piston rod of the bidirectional driving cylinder to drive the distance between the two symmetrically arranged clamping plates to be reduced, and clamping the two symmetrically arranged clamping plates on the outer wall of the spindle from two sides;
s8, starting the linear module, driving the two symmetrically arranged clamping plates to move along the length direction of the spindle placing seat, so that the spindles move on the spindle placing seat until the spindles reach the designated positions;
s9, continuously placing spindles on the spindle placing seat by the spindle feeding and conveying unit, and repeating the steps S5-S8 to enable a row of spindles to be placed on the spindle placing seat, wherein the number of spindles placed on the spindle placing seat reaches a specified number;
s9, driving a group of yarn grabbing manipulators to move right above a spindle placing seat where a spindle is placed by a horizontal driving device of the gantry grabbing unit, and driving a group of yarn grabbing manipulators to descend by a vertical driving device, so that the group of yarn grabbing manipulators grab the spindles arranged in a row on the spindle placing seat;
s10, driving a group of yarn grabbing mechanical arms for grabbing the yarn spindles to move in the horizontal and vertical directions respectively by a horizontal driving device and a vertical driving device, enabling the group of yarn grabbing mechanical arms for grabbing the yarn spindles to move to the starting end of a yarn spindle stacking and discharging unit, driving the group of yarn grabbing mechanical arms for grabbing the yarn spindles to descend by the vertical driving device, and releasing the yarn spindles on the group of yarn grabbing mechanical arms for grabbing the yarn spindles on a partition plate;
s11, repeating the steps S4-S10, fully placing the spindles on the partition boards, repeating the step S1, superposing one partition board on the fully placed spindle partition board, repeating the steps S4-S10, and fully placing the spindles on the second layer of partition boards;
and S12, continuously repeating the step S11, stacking a stack of partition plates full of spindles at the starting end of the spindle stacking and blanking unit, starting the spindle stacking and blanking unit, and conveying the stack of partition plates full of spindles to a material receiving station.
The technical scheme shows that the invention has the following beneficial effects: the automatic gantry production line for spindle stacking is reasonable in structural design and easy to produce, multi-station linkage is adopted, the consistency of working actions is guaranteed, interference and collision caused by multi-machine operation are avoided, safe waiting time of multi-machine operation is saved due to the fact that actions are connected, working efficiency is high, and application is flexible. The working method of the automatic gantry production line for spindle stacking is simple and easy in working principle, high in automation degree of the working process, low in manpower requirement, high in production efficiency and suitable for industrial large-scale application.
Drawings
FIG. 1 is a schematic structural view of an automatic spindle stacking gantry production line according to the present invention;
FIG. 2 is a schematic structural diagram of a gantry grabbing unit according to the present invention;
FIG. 3 is a schematic structural view of a spindle feeding and conveying unit and a spindle stacking and arranging unit according to the present invention;
FIG. 4 is a top view of a spindle stacking and alignment unit according to the present invention;
FIG. 5 is a front view of a spindle stacking and alignment unit according to the present invention;
FIG. 6 is a schematic structural view of a spindle feeding and conveying unit according to the present invention;
FIG. 7 is a schematic view of the spindle holding device according to the present invention;
FIG. 8 is a first schematic view of a partial configuration of the spindle holding device according to the present invention;
FIG. 9 is a second schematic view of a partial configuration of the spindle holding device according to the present invention;
FIG. 10 is a schematic view of a third embodiment of the spindle holding device according to the present invention;
FIG. 11 is a fourth schematic view of a partial configuration of the spindle holding device of the present invention;
fig. 12 is a schematic view showing a partial structure of the spindle holding device according to the present invention.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.
In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "clockwise", "counterclockwise", and the like, indicate orientations and positional relationships based on those shown in the drawings, and are used only for convenience of description and simplicity of description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be considered as limiting the present invention.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, unless otherwise specified, "a plurality" means two or more unless explicitly defined otherwise.
In the present invention, unless otherwise expressly specified or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In the present invention, unless otherwise expressly stated or limited, "above" or "below" a first feature means that the first and second features are in direct contact, or that the first and second features are not in direct contact but are in contact with each other via another feature therebetween. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.
Examples
The automatic gantry production line for spindle stacking shown in fig. 1 comprises a gantry grabbing unit 1, a spindle feeding and conveying unit 2, a spindle stacking and arranging unit 3, a partition bin 4 and a spindle stacking and discharging unit 5, wherein the spindle feeding and conveying unit 2, the spindle stacking and arranging unit 3, the partition bin 4 and the spindle stacking and discharging unit 5 are all arranged on one side of the moving direction of the gantry grabbing unit 1, the spindle stacking and arranging unit 3, the partition bin 4 and the spindle stacking and discharging unit 5 are sequentially arranged along the direction of the gantry grabbing unit 1, the starting end of the spindle stacking and arranging unit 3 is positioned below one side, close to the gantry grabbing unit 1, of the spindle feeding and conveying unit 2, the spindle stacking and discharging unit 5 is positioned between the spindle stacking and arranging unit 3 and the partition bin 4, the spindle stacking and arranging unit 3 and the partition bin 4 are respectively positioned at two ends of the gantry grabbing unit 1 in the length direction, spindle material loading conveying unit 2 can snatch the spindle to the spindle that spindle material loading conveying unit 2 snatched transports to spindle pile up neatly arranges unit 3 on, the spindle becomes a row on spindle pile up neatly arranges unit 3, be equipped with a set of baffle 6 according to the order from top to bottom in the baffle feed bin 4, longmen snatchs unit 1 and can transport baffle 6 in the baffle feed bin 4 to spindle pile up neatly unloading unit 5 on, and longmen snatchs unit 1 and can snatch the spindle on the spindle pile up neatly arranges unit 3 to spindle pile up neatly unloading unit 5 station department.
The gantry grabbing unit 1 shown in fig. 2 comprises a gantry 11, a horizontal driving device 12, a vertical driving device 13, a lifting arm 14, a grabbing manipulator supporting beam 15 and a set of grabbing manipulators 16, wherein the horizontal driving device 12 is arranged on an upper end beam of the gantry 11, the vertical driving device 13 is connected with the horizontal driving device 12, the horizontal driving device 12 can drive the vertical driving device 13 to move along the length direction of the gantry 11, the lifting arm 14 is connected with a lower end part of the vertical driving device 13, the horizontal driving device 12 and the vertical driving device 13 form a double-shaft moving system of the lifting arm 14, one end of the grabbing manipulator supporting beam 15 is fixedly connected with the lifting arm 14, the grabbing manipulator supporting beam 15 is arranged in the horizontal direction, the set of grabbing manipulators 16 are arranged on a lower end face of the grabbing manipulator supporting beam 15 in a row, the yarn grabbing mechanical arms 16 and the spindles on the spindle stacking arrangement unit 3 are arranged in a one-to-one correspondence mode, and the yarn grabbing mechanical arms 16 can grab the spindles on the spindle stacking arrangement unit 3.
The spindle feeding and conveying unit 2 shown in fig. 6 comprises a conveyor belt supporting frame 21, an annular conveying device 22 and a group of spindle clamping devices 23, wherein the annular conveying device 22 is arranged on the conveyor belt supporting frame 21, the group of spindle clamping devices 23 are all connected with the annular conveying device 22, the group of spindle clamping devices 23 are arranged at uniform intervals, and one end of the spindle stacking and arranging unit 3 is positioned below one end of the annular conveying device 22.
The spindle holding device 23 shown in fig. 7-12 comprises a spindle holding support plate 24, a holding driving cylinder 25, a holding guide assembly one 26, a holding guide assembly two 27, a moving rod one 28, a spindle holding plate one 29, a moving rod two 210, a spindle holding plate two 211, a gear mounting seat 212, a gear one 213, a rack one 214, a rack two 215 and a driving swing rod 216, wherein the spindle holding support plate 24 is connected with the ring-shaped conveying device 22, one end of the holding driving cylinder 25 is hinged with the spindle holding support plate 24, a piston rod of the holding driving cylinder 25 is hinged with one end of the driving swing rod 216, the end of the driving swing rod 216 far away from the piston rod of the holding driving cylinder 25 is connected with the holding guide assembly one 26, one end of the moving rod one 28 is fixedly connected with the holding guide assembly one 26, one end of the moving rod two 210 is fixedly connected with the holding guide assembly two 27, the first clamping guide assembly 26 and the second clamping guide assembly 27 are arranged on the spindle clamping support plate 24, the first clamping guide assembly 26 and the second clamping guide assembly 27 are symmetrically arranged, the first moving rod 28 and the second moving rod 210 are symmetrically arranged, the first spindle clamping plate 29 and the second spindle clamping plate 211 are symmetrically arranged, the first spindle clamping plate 29 is fixedly arranged on the lower end part of the first moving rod 28, the second spindle clamping plate 211 is fixedly arranged on the lower end part of the second moving rod 210, the gear mounting seat 212 is fixedly arranged on the spindle clamping support plate 24, the gear mounting seat 212 is positioned between the first clamping guide assembly 26 and the second clamping guide assembly 27, the first gear 213 is connected with the gear mounting seat 212, the first rack 214 and the second rack 215 are oppositely staggered, the first rack 214 and the second rack 215 are meshed with the first gear 213, the first rack 214 is fixedly connected with the first moving rod 28, the second rack 215 is fixedly connected with the second movable rod 210. The first clamping guide component 26 and the second clamping guide component 27 respectively comprise two guide post supporting blocks 217, two guide post supporting blocks 218, a first guide post 219, a second guide post 220, a first connecting plate 221, a first sliding block 222, a second sliding block 223, a first mounting plate 224 and a second mounting plate 225 which are symmetrically arranged, the first mounting plate 224 and the second mounting plate 225 are fixedly connected with the spindle clamping supporting plate 24, the first guide post supporting block 217 is fixedly arranged on the first mounting plate 224, the second guide post supporting block 218 is fixedly arranged on the second mounting plate 225, two end parts of the first guide post 219 and the second guide post 220 are respectively arranged on the first guide post supporting block 217 and the second guide post supporting block 218, the first sliding block 222 is sleeved on the first guide post 219, and the second sliding block 223 is sleeved on the second guide post 220, the first sliding block 222 and the second sliding block 223 are both connected with the first connecting plate 221, and the end part of the driving swing rod 216 far away from the piston rod of the clamping driving cylinder 25 is fixedly connected with the first connecting plate 221. The movable rod 28 is provided with a connecting plate II 226, two ends of the connecting plate II 226, which are far away from the movable rod I28, are respectively provided with a connecting sleeve I227 and a guide sleeve I228, the connecting sleeve I227 is fixedly connected with a rack I214 through a bolt, the guide sleeve I228 is slidably connected with the rack II 215, the movable rod II 210 is provided with a connecting plate III 229, two ends of the connecting plate III 229, which are far away from the movable rod II 210, are respectively provided with a connecting sleeve II 230 and a guide sleeve II 231, the connecting sleeve II 230 is fixedly connected with the rack II 215 through a bolt, the guide sleeve II 231 is slidably connected with the rack I214, the gear mounting seat 212 is provided with a group of guide rollers 232 which are symmetrically arranged in pairs, the guide rollers 232 are respectively positioned on two outer sides, which are far away from each other, of the rack I214 and the rack II 215, and the guide rollers 232 are respectively attached to vertical surfaces of the rack I214 and the rack II 215.
The spindle stacking and arranging unit 3 shown in fig. 3-5 comprises a spindle placing seat 31, a spindle overturning and pushing assembly 32, a spindle in-place pushing assembly 33 and a spindle arranging and moving assembly 34, wherein the spindle placing seat 31 is arranged perpendicular to the length direction of the portal frame 11, the spindle placing seat 31 is in a rectangular body structure, a rectangular groove 35 is arranged on the upper end surface of the spindle placing seat 31 along the length direction, a row of spindles is arranged on the spindle placing seat 31, bobbins at the lower end part of the spindles are arranged in the rectangular groove 35, a cavity 36 is further arranged on the spindle placing seat 31, the cavity 36 is communicated with the rectangular groove 35, one end of the rectangular groove 35 is positioned right below one end of the annular conveying device 22, the position of the annular conveying device 22 opposite to the rectangular groove 35 is a releasing position of the spindles, the spindle in-place pushing assembly 33 is arranged at one end of the spindle placing seat 31 close to the annular conveying device 22, the spindle overturning pushing assembly 32 and the spindle arranging and moving assembly 34 are arranged on the spindle placing seat 31, the spindle overturning pushing assembly 32 is positioned between the spindle in-place pushing assembly 33 and the spindle arranging and moving assembly 34, and the spindle overturning pushing assembly 32 is arranged opposite to the release position of the spindle on the annular conveying device 22 up and down. The spindle overturning pushing assembly 32 comprises an up-pushing cylinder 321 and a spindle overturning push plate 322, the up-pushing cylinder 321 is arranged in the cavity 36, the spindle overturning push plate 322 is connected with a piston rod of the up-pushing cylinder 321, the up-pushing cylinder 321 can drive the spindle overturning push plate 322 to be in contact with a spindle in a horizontal state, and the spindle overturning push plate 322 is in contact with the outer wall of one end of the spindle, which is close to the spindle in-place pushing assembly 33; the spindle in-place pushing assembly 33 comprises an in-place pushing cylinder 331, an in-place pushing plate 332, a vertical mounting plate 333 and an in-place guiding column 334, the vertical mounting plate 333 is fixedly connected with the spindle placing seat 31, the in-place pushing cylinder 331 is fixedly connected with the vertical mounting plate 333, the in-place pushing plate 332 is connected with a piston rod of the in-place pushing cylinder 331, the in-place pushing cylinder 331 can drive the in-place pushing plate 332 to be in contact with a spindle in a vertical state, the in-place pushing plate 332 is located in the rectangular groove 35, one end of the in-place guiding column 334 is connected with the in-place pushing plate 332, and the in-place guiding column 334 is connected with the vertical mounting plate 333 in a sliding manner; the spindle arranging and moving assembly 34 includes a linear module 341, a bidirectional driving cylinder 342, and two symmetrically arranged clamping plates 343, the bidirectional driving cylinder 342 is connected to the slider of the linear module 341, the linear module 341 can drive the bidirectional driving cylinder 342 to be arranged along the length direction of the spindle placing seat 31, the two symmetrically arranged clamping plates 343 are respectively connected to the piston rods at the two ends of the bidirectional driving cylinder 342, the clamping plates 343 protrude out of the cavity 36, the upper end portions of the clamping plates 343 are higher than the upper end surface of the spindle placing seat 31, and the bidirectional driving cylinder 342 can drive the two symmetrically arranged clamping plates 343 to respectively clamp the two sides of the spindle on the spindle placing seat 31.
In the structure, the spindle stacking and discharging unit 5 comprises a discharging support frame 51, a group of spindle conveying rollers 52, a discharging driving motor 53, a chain wheel transmission device 54 and a driving roller 55, wherein the group of spindle conveying rollers 52 and the driving roller 55 are arranged on the discharging support frame 51 in a row, the discharging driving motor 53 is fixedly arranged on the discharging support frame 51, a rotating shaft of the discharging driving motor 53 is connected with the driving roller 55, the driving roller 55 is connected with the group of spindle conveying rollers 52 through the chain wheel transmission device 54, and the partition plate 6 is arranged on the group of spindle conveying rollers 52.
Based on the structure, the working method of the automatic spindle stacking gantry production line comprises the following steps:
s1, a horizontal driving device 12 of the gantry grabbing unit 1 drives a group of yarn grabbing manipulators 16 to move right above a partition board bin 4, sucking discs on the group of yarn grabbing manipulators 16 adsorb a partition board 6 on the upper end of the partition board bin 4, the horizontal driving device 12 drives the yarn grabbing manipulators 16 adsorbing the partition board 6 to move to a spindle stacking and blanking unit 5, a vertical driving device 13 is started until the partition board 6 is close to a group of spindle conveying rollers 52, the sucking discs on the yarn grabbing manipulators 16 are released, the partition board 6 is released at the starting end of the spindle stacking and blanking unit 5, and the horizontal driving device 12 and the vertical driving device 13 are reset;
s2, grabbing spindles from the previous station at one end, away from the gantry grabbing unit 1, of the spindle feeding and conveying unit 2, and sequentially grabbing the spindles by a group of spindle clamping devices 23, wherein the axes of the spindles are in the horizontal direction;
s3, the annular conveying device 22 rotates around the ring, the spindle clamping device 23 for grabbing spindles rotates, and when the spindle clamping device 23 for grabbing spindles rotates to the position right above the spindle placing seat 31;
s4, separating the first spindle clamping plate 29 and the second spindle clamping plate 211 of the spindle clamping device 23 through a driving structure, and releasing the grasped spindles at the positions of the spindle placing seats 31, which are right below the annular conveying device 22, wherein the axes of the spindles are in the horizontal direction;
s5, extending a piston rod of the push-up cylinder 321, dragging the spindle overturning push plate 322 to push one end of a spindle, so that the spindle is overturned on the spindle placing seat 31, the axis of the overturned spindle is in the vertical direction, and the lower end part of a bobbin of the spindle is arranged in the rectangular groove 35;
s6, starting the in-place pushing cylinder 331, pushing the in-place pushing plate 332 to be in contact with the spindle on the spindle placing seat 31, and enabling the spindle to be located between two symmetrically arranged clamping plates 343 due to the extending length of the in-place pushing cylinder 331;
s7, retracting a piston rod of the bidirectional driving cylinder 342 to drive the distance between the two symmetrically arranged clamping plates 343 to be reduced, and clamping the two symmetrically arranged clamping plates 343 on the outer wall of the spindle from two sides;
s8, starting the linear module 341 to drive the two symmetrically arranged clamping plates 343 to move along the length direction of the spindle placing seat 31, so that the spindle moves on the spindle placing seat 31 until the spindle reaches a designated position;
s9, the spindle feeding and conveying unit 2 continuously places spindles on the spindle placing seat 31, and the steps S5-S8 are repeated, so that a row of spindles are placed on the spindle placing seat 31, and the number of spindles placed on the spindle placing seat 31 reaches a specified number;
s9, driving a group of yarn grabbing mechanical arms 16 to move to the position right above the spindle placing seat 31 where the spindles are placed by a horizontal driving device 12 of the gantry grabbing unit 1, and driving the group of yarn grabbing mechanical arms 16 to descend by a vertical driving device 13, so that the group of yarn grabbing mechanical arms 16 grab the spindles arranged in a row on the spindle placing seat 31;
s10, the horizontal driving device 12 and the vertical driving device 13 respectively drive the set of yarn grabbing mechanical arms 16 for grabbing the yarn spindles to move in the horizontal and vertical directions, so that the set of yarn grabbing mechanical arms 16 for grabbing the yarn spindles move to the starting end of the yarn spindle stacking and discharging unit 5, the vertical driving device 13 drives the set of yarn grabbing mechanical arms 16 for grabbing the yarn spindles to descend, and the yarn spindles on the set of yarn grabbing mechanical arms 16 for grabbing the yarn spindles are released on the partition plate 6;
s11, repeating the steps S4-S10, fully placing the spindles on the partition plates 6, repeating the step S1, stacking one partition plate 6 on the partition plate 6 fully placed with the spindles, repeating the steps S4-S10, and fully placing the spindles on the second layer of partition plates 6;
and S12, continuously repeating the step S11, stacking a stack of partition plates 6 full of spindles at the starting end of the spindle stacking and blanking unit 5, starting the spindle stacking and blanking unit 5, and conveying the stack of partition plates 6 full of spindles to a material receiving station.
The foregoing is only a preferred embodiment of the present invention, and it should be noted that modifications can be made by those skilled in the art without departing from the principle of the present invention, and these modifications should also be construed as the protection scope of the present invention.
Claims (10)
1. The utility model provides a spindle pile up neatly longmen automation line which characterized in that: comprises a gantry grabbing unit (1), a spindle feeding and conveying unit (2), a spindle stacking and arranging unit (3), a partition bin (4) and a spindle stacking and discharging unit (5), wherein the spindle feeding and conveying unit (2), the spindle stacking and arranging unit (3), the partition bin (4) and the spindle stacking and discharging unit (5) are all arranged on one side of the moving direction of the gantry grabbing unit (1), the spindle stacking and arranging unit (3), the partition bin (4) and the spindle stacking and discharging unit (5) are sequentially arranged along the direction of the gantry grabbing unit (1), the starting end of the spindle stacking and arranging unit (3) is positioned below one side, close to the gantry grabbing unit (1), of the spindle feeding and conveying unit (2), and the spindle stacking and discharging unit (5) is positioned between the spindle stacking and arranging unit (3) and the partition bin (4), spindle pile up neatly arrange unit (3) and baffle feed bin (4) are located the longmen respectively and snatch the both ends that unit (1) length direction, spindle material loading conveying unit (2) can snatch the spindle to the spindle that spindle material loading conveying unit (2) snatched transports to spindle pile up neatly arrange unit (3) on, the spindle is arranged one row on spindle pile up neatly arrange unit (3), be equipped with a set of baffle (6) according to the order from top to bottom in baffle feed bin (4), the longmen snatchs unit (1) and can transport baffle feed bin (6) in baffle feed bin (4) to spindle pile up neatly unloading unit (5) on, and snatch unit (1) and can snatch the spindle on spindle pile up neatly arrange unit (3) and expect unit (5) station department.
2. The automatic gantry production line for stacking spindles according to claim 1, characterized in that: the gantry grabbing unit (1) comprises a gantry (11), a horizontal driving device (12), a vertical driving device (13), a lifting arm (14), a yarn grabbing manipulator supporting beam (15) and a group of yarn grabbing manipulators (16), wherein the horizontal driving device (12) is arranged on the upper end beam of the gantry (11), the vertical driving device (13) is connected with the horizontal driving device (12), the horizontal driving device (12) can drive the vertical driving device (13) to move along the length direction of the gantry (11), the lifting arm (14) is connected with the lower end part of the vertical driving device (13), the horizontal driving device (12) and the vertical driving device (13) form a double-shaft moving system of the lifting arm (14), one end of the yarn grabbing manipulator supporting beam (15) is fixedly connected with the lifting arm (14), and the yarn grabbing manipulator supporting beam (15) is arranged in the horizontal direction, the yarn grabbing device is characterized in that the yarn grabbing mechanical arms (16) are arranged on the lower end face of the yarn grabbing mechanical arm supporting beam (15) in a row, the yarn grabbing mechanical arms (16) and the spindles on the spindle stacking arrangement unit (3) are arranged in a one-to-one correspondence mode, and the yarn spindles on the spindle stacking arrangement unit (3) can be grabbed by the yarn grabbing mechanical arms (16).
3. The automatic gantry production line for stacking spindles according to claim 1, characterized in that: spindle material loading conveying unit (2) includes conveyer belt support frame (21), annular conveyor (22) and a set of spindle clamping device (23), annular conveyor (22) set up on conveyer belt support frame (21), a set of spindle clamping device (23) all are connected with annular conveyor (22) to a set of spindle clamping device (23) even setting in interval, the one end of spindle pile up neatly arranges unit (3) is located the below of annular conveyor (22) one end.
4. The automatic gantry production line for stacking spindles according to claim 3, characterized in that: the spindle clamping device (23) comprises a spindle clamping support plate (24), a clamping driving air cylinder (25), a clamping guide assembly I (26), a clamping guide assembly II (27), a moving rod I (28), a spindle clamping plate I (29), a moving rod II (210), a spindle clamping plate II (211), a gear installation seat (212), a gear I (213), a rack I (214), a rack II (215) and a driving swing rod (216), the spindle clamping support plate (24) is connected with the annular conveying device (22), one end of the clamping driving air cylinder (25) is hinged with the spindle clamping support plate (24), a piston rod of the clamping driving air cylinder (25) is hinged with one end of the driving swing rod (216), the end, far away from the piston rod of the clamping driving air cylinder (25), of the driving swing rod (216) is connected with the clamping guide assembly I (26), one end of the moving rod I (28) is fixedly connected with the clamping guide assembly I (26), one end of the second moving rod (210) is fixedly connected with the second clamping guide assembly (27), the first clamping guide assembly (26) and the second clamping guide assembly (27) are arranged on the spindle clamping support plate (24), the first clamping guide assembly (26) and the second clamping guide assembly (27) are symmetrically arranged, the first moving rod (28) and the second moving rod (210) are symmetrically arranged, the first spindle clamping plate (29) and the second spindle clamping plate (211) are symmetrically arranged, the first spindle clamping plate (29) is fixedly arranged on the lower end part of the first moving rod (28), the second spindle clamping plate (211) is fixedly arranged on the lower end part of the second moving rod (210), the gear installation seat (212) is fixedly arranged on the spindle clamping support plate (24), and the gear installation seat (212) is positioned between the first clamping guide assembly (26) and the second clamping guide assembly (27), the first gear (213) is connected with the gear mounting seat (212), the first rack (214) and the second rack (215) are arranged in an opposite staggered mode, the first rack (214) and the second rack (215) are meshed with the first gear (213), the first rack (214) is fixedly connected with the first moving rod (28), and the second rack (215) is fixedly connected with the second moving rod (210).
5. The automatic gantry production line for stacking spindles according to claim 4, characterized in that: the clamping guide assembly I (26) and the clamping guide assembly II (27) respectively comprise two guide post support blocks I (217) which are symmetrically arranged, two guide post support blocks II (218) which are symmetrically arranged, a guide post I (219), a guide post II (220), a connecting plate I (221), a slide block I (222), a slide block II (223), a mounting plate I (224) and a mounting plate II (225), the mounting plate I (224) and the mounting plate II (225) are symmetrically arranged, the mounting plate I (224) and the mounting plate II (225) are fixedly connected with the spindle clamping support plate (24), the guide post support blocks I (217) are fixedly arranged on the mounting plate I (224), the guide post support blocks II (218) are fixedly arranged on the mounting plate II (225), two end parts of the guide post I (219) and the guide post II (220) are respectively arranged on the guide post support blocks I (217) and the guide post support blocks II (218), the first sliding block (222) is sleeved on the first guide column (219), the second sliding block (223) is sleeved on the second guide column (220), the first sliding block (222) and the second sliding block (223) are connected with the first connecting plate (221), and the end, far away from the clamping driving cylinder (25), of the driving swing rod (216) is fixedly connected with the first connecting plate (221).
6. The automatic gantry production line for stacking spindles according to claim 5, characterized in that: the connecting plate II (226) is arranged on the moving rod I (28), two ends, far away from the moving rod I (28), of the connecting plate II (226) are respectively provided with a connecting sleeve I (227) and a guide sleeve I (228), the connecting sleeve I (227) is fixedly connected with the rack I (214) through a bolt, the guide sleeve I (228) is slidably connected with the rack II (215), the moving rod II (210) is provided with a connecting plate III (229), two ends, far away from the moving rod II (210), of the connecting plate III (229) are respectively provided with a connecting sleeve II (230) and a guide sleeve II (231), the connecting sleeve II (230) is fixedly connected with the rack II (215) through a bolt, the guide sleeve II (231) is slidably connected with the rack I (214), a group of guide rollers (232) are symmetrically arranged on the gear mounting seat (212) in pairs, and the guide rollers (232) are respectively located on two outer sides, far away from the rack I (214) and the rack II (215), and the guide roller (232) is respectively jointed with the vertical surfaces of the first rack (214) and the second rack (215).
7. The automatic gantry production line for stacking spindles according to claim 1, characterized in that: the spindle stacking arrangement unit (3) comprises a spindle placing seat (31), a spindle overturning pushing assembly (32), a spindle in-place pushing assembly (33) and a spindle arranging and moving assembly (34), the spindle placing seat (31) is perpendicular to the length direction of the portal frame (11), the spindle placing seat (31) is of a rectangular structure, rectangular grooves (35) are formed in the upper end face of the spindle placing seat (31) along the length direction, a row of spindles are arranged on the spindle placing seat (31), bobbins at the lower end of the spindles are arranged in the rectangular grooves (35), cavities (36) are further formed in the spindle placing seat (31), the cavities (36) are communicated with the rectangular grooves (35), one end of each rectangular groove (35) is located under one end of the annular conveying device (22), and the positions of the annular conveying devices (22) right opposite to the rectangular grooves (35) are release positions of the spindles, the spindle in-place pushing assembly (33) is arranged at one end, close to the annular conveying device (22), of the spindle placing seat (31), the spindle overturning pushing assembly (32) and the spindle arranging and moving assembly (34) are arranged on the spindle placing seat (31), the spindle overturning pushing assembly (32) is located between the spindle in-place pushing assembly (33) and the spindle arranging and moving assembly (34), and the release positions of the spindles on the spindle overturning pushing assembly (32) and the annular conveying device (22) are arranged up and down.
8. The automatic gantry production line for stacking spindles according to claim 7, characterized in that: the spindle overturning pushing assembly (32) comprises an upward pushing cylinder (321) and a spindle overturning pushing plate (322), the upward pushing cylinder (321) is arranged in the cavity (36), the spindle overturning pushing plate (322) is connected with a piston rod of the upward pushing cylinder (321), the upward pushing cylinder (321) can drive the spindle overturning pushing plate (322) to be in contact with a spindle in a horizontal state, and the spindle overturning pushing plate (322) is in contact with the outer wall of one end, close to the spindle in-place pushing assembly (33), of the spindle; the spindle in-place pushing assembly (33) comprises an in-place pushing cylinder (331), an in-place pushing plate (332), a vertical mounting plate (333) and an in-place guiding column (334), the vertical mounting plate (333) is fixedly connected with the spindle placing seat (31), the in-place pushing cylinder (331) is fixedly connected with the vertical mounting plate (333), the in-place pushing plate (332) is linked with a piston rod of the in-place pushing cylinder (331), the in-place pushing cylinder (331) can drive the in-place pushing plate (332) to be in contact with a spindle in a vertical state, the in-place pushing plate (332) is located in a rectangular groove (35), one end of the in-place guiding column (334) is connected with the in-place pushing plate (332), and the in-place guiding column (334) is in sliding connection with the vertical mounting plate (333); the spindle arrangement moving assembly (34) comprises a linear module (341), a bidirectional driving cylinder (342) and two symmetrically arranged arrangement clamping plates (343), the bidirectional driving cylinder (342) is connected with a sliding block of the linear module (341), the linear module (341) can drive the bidirectional driving cylinder (342) to be arranged along the length direction of the spindle placing seat (31), the two symmetrically arranged arrangement clamping plates (343) are respectively connected with piston rods at two ends of the bidirectional driving cylinder (342), the arrangement clamping plates (343) extend out of a cavity (36), the upper end parts of the arrangement clamping plates (343) are higher than the upper end surface of the spindle placing seat (31), and the two symmetrically arranged arrangement clamping plates (343) can be driven by the bidirectional driving cylinder (342) to respectively clamp two sides of a spindle on the spindle placing seat (31).
9. The automatic gantry production line for stacking spindles according to claim 1, characterized in that: spindle pile up neatly unloading unit (5) is including unloading support frame (51), a set of spindle conveying roller (52), unloading driving motor (53), sprocket feed gear (54) and drive roll (55), a set of spindle conveying roller (52) and drive roll (55) are a row and set up on unloading support frame (51), unloading driving motor (53) are fixed to be set up on unloading support frame (51), the pivot and the drive roll (55) of unloading driving motor (53) are connected, drive roll (55) are connected through sprocket feed roller (54) and a set of spindle conveying roller (52), baffle (6) set up on a set of spindle conveying roller (52).
10. A working method of a spindle stacking gantry automatic production line is characterized in that: the method comprises the following steps:
s1, a horizontal driving device (12) of the gantry grabbing unit (1) drives a group of yarn grabbing manipulators (16) to move right above a partition plate bin (4), sucking discs on the group of yarn grabbing manipulators (16) adsorb a partition plate (6) at the upper end of the partition plate bin (4), the horizontal driving device (12) drives the yarn grabbing manipulators (16) adsorbing the partition plate (6) to move to a spindle stacking and blanking unit (5), a vertical driving device (13) is started until the partition plate (6) is close to a group of spindle conveying rollers (52), the sucking discs on the yarn grabbing manipulators (16) are released, the partition plate (6) is released at the starting end of the spindle stacking and blanking unit (5), and the horizontal driving device (12) and the vertical driving device (13) reset;
s2, grabbing the spindles from the previous station at one end, far away from the gantry grabbing unit (1), of the spindle feeding and conveying unit (2), grabbing the spindles in sequence by a group of spindle clamping devices (23), and enabling the axes of the spindles to be in the horizontal direction;
s3, the annular conveying device (22) rotates around the ring, the spindle clamping device (23) for grabbing spindles rotates, and when the spindle clamping device (23) for grabbing spindles rotates to the position right above the spindle placing seat (31);
s4, separating a first spindle clamping plate (29) and a second spindle clamping plate (211) of the spindle clamping device (23) through a driving structure, and releasing the grasped spindles at the positions of the spindle placing seats (31) right below the annular conveying device (22), wherein the axes of the spindles are in the horizontal direction;
s5, extending a piston rod of the push-up cylinder (321), dragging the spindle overturning push plate (322) to push one end of a spindle, so that the spindle is overturned on the spindle placing seat (31), the axis of the overturned spindle is in the vertical direction, and the lower end part of a bobbin of the spindle is arranged in the rectangular groove (35);
s6, starting the in-place pushing cylinder (331), pushing the in-place push plate (332) to be in contact with the spindle on the spindle placing seat (31), and enabling the spindle to be located between two symmetrically arranged clamping plates (343) due to the extending length of the in-place pushing cylinder (331);
s7, retracting a piston rod of the bidirectional driving cylinder (342) to drive the distance between the two symmetrically arranged clamping plates (343) to be reduced, and clamping the two symmetrically arranged clamping plates (343) on the outer wall of the spindle from two sides;
s8, starting the linear module (341), and driving the two symmetrically arranged clamping plates (343) to move along the length direction of the spindle placing seat (31), so that the spindle moves on the spindle placing seat (31) until the spindle reaches a designated position;
s9, continuously placing spindles on the spindle placing seat (31) by the spindle feeding and conveying unit (2), and repeating the steps S5-S8 to enable a row of spindles to be placed on the spindle placing seat (31), wherein the number of spindles placed on the spindle placing seat (31) reaches a designated number;
s9, driving a group of yarn grabbing mechanical arms (16) to move to the position right above a spindle placing seat (31) where a spindle is placed by a horizontal driving device (12) of a gantry grabbing unit (1), and driving the group of yarn grabbing mechanical arms (16) to descend by a vertical driving device (13) so that the group of yarn grabbing mechanical arms (16) grab the spindles arranged in a row on the spindle placing seat (31);
s10, driving a group of yarn grabbing mechanical arms (16) for grabbing the yarn spindles to move in the horizontal and vertical directions respectively by a horizontal driving device (12) and a vertical driving device (13), so that the group of yarn grabbing mechanical arms (16) for grabbing the yarn spindles move to the starting end of a yarn spindle stacking and blanking unit (5), driving the group of yarn grabbing mechanical arms (16) for grabbing the yarn spindles to descend by the vertical driving device (13), and releasing the yarn spindles on the group of yarn grabbing mechanical arms (16) for grabbing the yarn spindles on a partition plate (6);
s11, repeating the steps S4-S10, filling the partition plate (6) with the spindle, repeating the step S1, stacking one partition plate (6) on the partition plate (6) filled with the spindle, repeating the steps S4-S10, and filling the spindle on the second layer of partition plate (6);
and S12, continuously repeating the step S11, stacking a stack of partition plates (6) full of spindles at the starting end of the spindle stacking and blanking unit (5), starting the spindle stacking and blanking unit (5), and conveying the stack of partition plates (6) full of spindles to a material receiving station.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111218312.6A CN113772430A (en) | 2021-10-20 | 2021-10-20 | Automatic gantry production line for spindle stacking and working method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111218312.6A CN113772430A (en) | 2021-10-20 | 2021-10-20 | Automatic gantry production line for spindle stacking and working method thereof |
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| Publication Number | Publication Date |
|---|---|
| CN113772430A true CN113772430A (en) | 2021-12-10 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111218312.6A Pending CN113772430A (en) | 2021-10-20 | 2021-10-20 | Automatic gantry production line for spindle stacking and working method thereof |
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| CN (1) | CN113772430A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114434725A (en) * | 2021-12-27 | 2022-05-06 | 沪金(苏州)实业有限公司 | Forming process and forming production line of thin-wall polypropylene cup body |
| CN115158940A (en) * | 2022-07-11 | 2022-10-11 | 武汉纺织大学 | Spindle counter weight screening stereoscopic storage warehouse |
| CN115815447A (en) * | 2022-12-14 | 2023-03-21 | 江苏华兑金属科技有限公司 | Stacking and blanking device for batch stamping parts |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114434725A (en) * | 2021-12-27 | 2022-05-06 | 沪金(苏州)实业有限公司 | Forming process and forming production line of thin-wall polypropylene cup body |
| CN115158940A (en) * | 2022-07-11 | 2022-10-11 | 武汉纺织大学 | Spindle counter weight screening stereoscopic storage warehouse |
| CN115815447A (en) * | 2022-12-14 | 2023-03-21 | 江苏华兑金属科技有限公司 | Stacking and blanking device for batch stamping parts |
| CN115815447B (en) * | 2022-12-14 | 2023-10-27 | 江苏华兑金属科技有限公司 | Stacking and discharging device for batch stamping parts |
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