CN114538205A - System for collecting and stacking filament ingots - Google Patents
System for collecting and stacking filament ingots Download PDFInfo
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- CN114538205A CN114538205A CN202210290628.4A CN202210290628A CN114538205A CN 114538205 A CN114538205 A CN 114538205A CN 202210290628 A CN202210290628 A CN 202210290628A CN 114538205 A CN114538205 A CN 114538205A
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- 238000004804 winding Methods 0.000 claims abstract description 60
- 230000007246 mechanism Effects 0.000 claims abstract description 57
- 238000012546 transfer Methods 0.000 claims abstract description 52
- 238000003860 storage Methods 0.000 claims description 79
- 238000007599 discharging Methods 0.000 claims description 41
- 230000007306 turnover Effects 0.000 claims description 16
- 238000000926 separation method Methods 0.000 claims description 12
- 238000009434 installation Methods 0.000 claims description 8
- 238000004891 communication Methods 0.000 claims description 7
- 238000000034 method Methods 0.000 claims description 7
- 238000013459 approach Methods 0.000 claims description 3
- 238000009826 distribution Methods 0.000 claims description 3
- 230000000694 effects Effects 0.000 abstract description 2
- 230000009471 action Effects 0.000 description 6
- 238000013461 design Methods 0.000 description 5
- 230000008569 process Effects 0.000 description 4
- 238000009987 spinning Methods 0.000 description 4
- 238000012423 maintenance Methods 0.000 description 3
- 238000012545 processing Methods 0.000 description 3
- 230000002457 bidirectional effect Effects 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 2
- 238000002360 preparation method Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000004806 packaging method and process Methods 0.000 description 1
- 230000001737 promoting effect Effects 0.000 description 1
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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
- B65H67/066—Depositing full or empty bobbins into a container or stacking 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
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
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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
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/901—Devices for picking-up and depositing articles or materials provided with drive systems with rectilinear movements only
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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
- 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
- B65G67/00—Loading or unloading vehicles
- B65G67/02—Loading or unloading land vehicles
- B65G67/04—Loading land vehicles
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
- Y02P70/50—Manufacturing or production processes characterised by the final manufactured product
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Abstract
The application relates to a wire ingot receiving and stacking system, which comprises wire ingot elasticizing and winding equipment, wherein the wire ingot elasticizing and winding equipment is provided with a discharge hole; turning a silk ingot; the carrying equipment comprises a moving mechanism, a temporary filament ingot placing frame and a transfer manipulator, wherein the moving mechanism moves back and forth between the filament ingot elasticizing and winding equipment and the filament ingot vehicle, and the temporary filament ingot placing frame is connected with the moving mechanism; the transfer manipulator is connected with the moving mechanism and used for transferring the filament ingots among the filament ingot elasticizing and winding equipment, the filament ingot temporary placing frame and the filament ingot vehicle. This application has the effect that can reduce the equipment cost that the silk spindle was received material and pile system.
Description
Technical Field
The application relates to the technical field of silk spindles, in particular to a silk spindle receiving and stacking system.
Background
The filament ingot, namely the filament is wound into a roll for convenient transportation and use, the center of the filament ingot is a cylinder for winding the filament, wherein the filament ingot can be manufactured by the filament ingot elasticizing winding device and then placed on a filament ingot vehicle, thereby facilitating the packaging treatment of the filament ingot by subsequent workers.
In the related art, the system for receiving and stacking the filament ingots comprises a plurality of filament ingot elasticizing and winding devices, a filament ingot vehicle and a carrying device, wherein each filament ingot elasticizing and winding device is provided with a discharge port, and after the filament ingot elasticizing and winding are completed, the filament ingots are conveyed to the discharge ports and wait for transfer; the ingot car is used for temporarily storing a plurality of ingots, and the ingot car is usually placed in a workshop at a position far away from the ingot elasticizing and winding equipment; the carrying device comprises a conveying belt, a first mechanical arm and a second mechanical arm, the conveying belt extends to the position of the ingot car from the ingot elasticizing and winding device, the first mechanical arm is arranged near the ingot elasticizing and winding device, the first mechanical arm is used for transferring the ingots to the conveying belt, the second mechanical arm is arranged near the ingot car, and the second mechanical arm is used for transferring the ingots from the conveying belt to the ingot car.
In view of the above-mentioned related technologies, there is a defect that the carrying device in the system for receiving and stacking the filament ingots comprises a conveyor belt, and when the distance between the filament ingot elasticizing device and the filament ingot car is long or the passable path between the filament ingot elasticizing device and the filament ingot car is not a straight line, the conveyor belt needs to be arranged in sections to meet the requirement that the distance is long or the passable path is not a straight line, so that the cost of the device of the system for receiving and stacking the filament ingots is high.
Disclosure of Invention
In order to reduce the equipment cost of the wire spindle receiving and stacking system, the application provides a wire spindle receiving and stacking system.
The application provides a wire spindle is received and stacking system adopts following technical scheme:
a system for receiving and stacking filament ingots comprises:
a spindle elasticizing and winding apparatus having a discharge port;
turning a silk ingot;
the carrying equipment comprises a moving mechanism, a temporary filament ingot placing frame and a transfer manipulator, wherein the moving mechanism moves back and forth between the filament ingot elasticizing and winding equipment and the filament ingot car, and the temporary filament ingot placing frame is connected with the moving mechanism; the transfer manipulator is connected with the moving mechanism and used for transferring the filament ingots among the filament ingot elasticizing and winding equipment, the filament ingot temporary placing frame and the filament ingot vehicle.
Through adopting above-mentioned technical scheme, after the processing is accomplished to the silk spindle winding equipment that elasticizes, the silk spindle just can be delivered to discharge gate department, let the silk spindle temporarily put the frame and shift near the manipulator removes the silk spindle winding equipment that elasticizes through the moving mechanism earlier this moment, then pass through the transfer manipulator and shift a plurality of silk spindles to the silk spindle temporarily put the frame gradually, then let the silk spindle temporarily put the frame and shift near the manipulator removes the silk spindle car, at last pass through the transfer manipulator and shift a plurality of silk spindles to the silk spindle car gradually, thereby just accomplished the receipts of silk spindle and pile work, compare in the mode that includes the conveyer belt in the haulage equipment, this kind of design, the holistic structure of haulage equipment is simpler, thereby can reduce the equipment cost that the silk spindle received the material and pile system.
Preferably, the yarn spindle elasticizing and winding device is provided with two discharging support rods at the discharging port at intervals, one end of each discharging support rod is communicated with the discharging port, the other end of each discharging support rod extends in the direction far away from the discharging port, and the two discharging support rods are used for supporting two ends of a winding drum in a yarn spindle; the filament ingot placing frame comprises two vertical mounting plates, a plurality of temporary storage supporting pieces and limiting pieces, wherein the two vertical mounting plates are arranged at intervals, and the vertical mounting plates are connected with the moving mechanism; the temporary storage supporting pieces are distributed along the extending direction of the vertical mounting plates and comprise two temporary storage supporting blocks, the two temporary storage supporting blocks are respectively connected to the two vertical mounting plates, the length direction of each temporary storage supporting block is parallel to the length direction of the discharging supporting rod, and one end, close to the discharging supporting rod, of each temporary storage supporting block is higher than one end, far away from the discharging supporting rod; the limiting piece is arranged on the temporary storage supporting block and used for preventing the wire ingots from falling off from the lower end of the temporary storage supporting block.
By adopting the technical scheme, because the two discharging support rods are arranged at the discharging port and the temporary filament placing frame comprises two temporary storage support blocks, the two ends of a winding drum on the filament are respectively supported by the two discharging support rods during the processing of the filament elasticizing winding equipment, then the temporary storage support blocks can be moved to proper positions through the moving mechanism, then the filament is pushed to move along the direction of the discharging support rods by the transferring mechanical arm, after the filament is separated from one end of the discharging support rods, which is far away from the discharging port, the filament falls to the upper sides of the two temporary storage support blocks, finally the filament gradually moves to the lower end of the temporary storage support blocks at the temporary storage support blocks until the filament stays at the lower end of the temporary storage support blocks through the limiting piece, thereby achieving the purpose of transferring the filament from the discharging port to the temporary filament placing frame, and the design mode, when in transfer, the silk ingots are only needed to be pushed along one direction, thereby simplifying the structure of the transfer manipulator.
Preferably, the limiting piece is a sinking notch arranged on the temporary storage supporting block, the sinking notch is arranged on one side of the two temporary storage supporting blocks close to each other, and the sinking notch is also communicated with the upper side of the temporary storage supporting block; the temporary storage supporting block is provided with a separating block and a return spring, the separating block is rotatably connected to the temporary storage supporting block and is provided with a driving force application end and a driven limiting end, the driving force application end rotates to enter and exit from the inner wall of the sinking gap far away from one end of the discharging supporting rod, and when the previous wire ingot is positioned at one end of the sinking gap far away from the discharging supporting rod, the driving force application end can roll out of the inner wall of the sinking gap; the driven limit end rotates into and out of the inner wall of one end of the sinking notch close to the discharging support rod, and when the driving force application end rotates out of the inner wall of the sinking notch, the driven limit end and the inner wall of one end of the sinking notch close to the discharging support rod form a separation notch for accommodating the next filament ingot; the reset spring is connected with the temporary storage supporting block and the separating block and used for enabling the driven limiting end to rotate out of the inner wall of the sinking notch.
By adopting the technical scheme, on one hand, due to the arrangement of the sinking gap, when the filament ingot falls onto the temporary storage supporting block, the inner wall of the lower layer gap can play an axial limiting role on the filament ingot in a vibration state, so that the filament ingot can be quickly restored to a state of moving along the length direction of the temporary storage supporting block, the process of transferring the filament ingot to the lower end of the temporary storage supporting block is more stable, and the position of the filament ingot can be conveniently determined when the filament ingot needs to be transferred; on the other hand, the arrangement of the separating block and the return spring ensures that when the previous wire spindle moves to the lower end of the temporary storage supporting block, the previous wire spindle can touch the active force application end, so that the driving force application end is rotated out of the inner wall of the sinking gap, and the driven limit end is rotated into the inner wall of the sinking gap to form a separation gap, so that when the next filament ingot enters the temporary storage supporting block, the winding drum of the next filament ingot can be embedded into the separation gap, the latter ingot can not move to the lower end of the temporary storage supporting block, so that the subsequent ingot can not be influenced by the latter ingot when the former ingot is transferred, meanwhile, after the previous spindle is taken away, the reset spring can lead the separation block to reset and rotate so as to lead the driven limit end to rotate out of the inner wall of the sinking gap, and then the latter ingot can move to the lower one end department of temporary storage supporting shoe, and then can promote the capacity of ingot temporary storage frame on the basis of keeping the ingot to shift steadily.
Preferably, the transfer robot includes a first transfer mechanism, and the first transfer mechanism includes:
the vertical mounting rack is connected to the moving mechanism;
the vertical sliding seat is connected to the vertical mounting rack in a sliding mode and moves along the distribution direction of the temporary storage supporting pieces;
the vertical driving piece is connected with the vertical sliding seat;
the first horizontal sliding seat is connected to the vertical sliding seat in a sliding mode and moves along the length direction of the temporary storage supporting block;
the first horizontal driving piece is connected with the first horizontal sliding seat;
the two clamping jaw blocks are connected to the first horizontal sliding seat in a sliding mode and can approach or depart from each other along the connecting line direction of the two temporary storage supporting blocks;
the clamping jaw driving piece is connected with the clamping jaw blocks and used for enabling the two clamping jaw blocks to be close to or far away from each other.
By adopting the technical scheme, when the filament ingot is transferred to the temporary storage supporting block from the discharge supporting rod, the vertical sliding seat is firstly enabled to move upwards through the vertical driving piece until the clamping jaw block moves to the upper part of the filament ingot to be transferred, then the first horizontal driving piece enables the first horizontal sliding seat to move towards the direction close to the discharge port until the clamping jaw block moves to the position right below the filament ingot to be transferred, then the vertical sliding seat is enabled to move downwards through the vertical driving piece until the clamping jaw block moves to a proper position, then the two clamping jaw blocks are enabled to approach each other through the clamping jaw driving piece so as to enable the two clamping jaw blocks to clamp the filament ingot, then the first horizontal sliding seat of the first horizontal driving piece moves towards the direction far away from the discharge port until the filament ingot moves to the upper part of the higher supporting block to be temporarily stored, then the vertical sliding seat moves downwards through the vertical driving piece, and finally the two clamping jaw blocks are enabled to be far away from each other through the clamping jaw driving piece, so as to place the filament ingot on the higher end of the temporary storage supporting block, thereby completing the first transfer work of the filament ingot.
Preferably, the clamping jaw block is provided with a support column, and the support column is used for extending into an inner ring of a winding drum on a wire spindle.
Through adopting above-mentioned technical scheme, because of the setting of support column, then when two clamping jaw pieces were lived with the silk spindle centre gripping, can let the support column stretch into the inner circle of reel on the silk spindle, so at the in-process that vertical slide and first horizontal slide removed, the silk spindle can not drop from two clamping jaw pieces because of vertical slide and the slight shake of first horizontal slide to help promoting the stability of the transfer in-process of silk spindle.
Preferably, the clamping jaw driving part comprises a clamping driving motor, a driving pulley, a driven pulley and a connecting belt, and the clamping driving motor is arranged on the first horizontal sliding seat; the driving belt wheel is fixedly connected to an output shaft of the clamping driving motor; the driven belt wheel is rotationally connected to the first horizontal sliding seat; the connecting belt is sleeved between the driving belt wheel and the driven belt wheel, and two parts of the connecting belt, which are parallel to the connecting direction of the driving belt wheel and the driven belt wheel, are respectively connected with the two clamping jaw blocks.
By adopting the technical scheme, when the two clamping jaw blocks are close to or far away from each other, the driving belt wheel can be rotated clockwise or anticlockwise through the clamping driving motor, in the process, the connecting belt can also correspondingly rotate clockwise or anticlockwise, and the two clamping jaw blocks are respectively connected to the two sides of the connecting belt, so that when the connecting belt rotates clockwise or anticlockwise, the two clamping jaw blocks can move close to or far away from each other, compared with a mode of realizing the mutual close to or far away of the two clamping jaw blocks through a bidirectional screw rod, the design mode has the advantages that the structural form of the clamping jaw driving piece is simpler, meanwhile, if the clamping jaw blocks are detachably connected with the connecting belt, the structural form between the clamping jaw blocks and the connecting belt is simpler, and therefore, in the process of using the clamping jaw driving piece for a long time, the relative position between the two clamping jaw blocks can be conveniently adjusted, and then be convenient for in time to the correct work of haulage equipment.
Preferably, an avoiding notch is formed in the sinking notch and located at the lower end of the temporary storage supporting block, and the avoiding notch is used for exposing a winding drum on a wire ingot; the transfer robot further includes a second transfer mechanism, the second transfer mechanism including:
the base sliding seat is fixedly connected with the vertical mounting rack, the vertical mounting rack is connected to the moving mechanism in a sliding mode through the base sliding seat, and the base sliding seat can move towards the direction close to or far away from the temporary filament ingot placing rack;
the basic driving piece is arranged on the moving mechanism and is connected with the basic sliding seat;
the second horizontal sliding seat is connected to the vertical sliding seat in a sliding mode, and the sliding direction of the second horizontal sliding seat is parallel to that of the first horizontal sliding seat;
the second horizontal driving piece is connected with the second horizontal sliding seat;
the turnover box is rotatably connected to the second horizontal sliding seat, can move from one side of the second horizontal sliding seat close to the temporary spindle rack to one side far away from the temporary spindle rack, and is provided with an installation cavity, and the inner wall of the installation cavity is provided with a communication port;
the overturning driving piece is arranged on the second horizontal sliding seat and is connected with the overturning box;
the two stretching sliding seats are connected to the inner wall of the installation cavity in a sliding mode and can be close to or far away from each other;
the opening and closing driving piece is arranged on the turnover box and connected with the opening sliding seat;
and the two abutting blocks are arranged, one ends of the two abutting blocks are respectively connected to the two opening sliding seats, the other ends of the two abutting blocks extend out of the communication port, and the abutting blocks are used for abutting against the inner ring of the winding drum on the spindle.
By adopting the technical scheme, when the spindle is transferred to the spindle vehicle from the spindle temporary rack, the basic sliding seat is firstly moved towards the direction far away from the spindle temporary rack by the basic driving piece to avoid collision between the abutting block and the spindle on the temporary supporting block, the second horizontal driving piece is used for moving the second horizontal sliding seat towards the direction of the spindle to be transferred, the basic sliding seat is moved towards the direction close to the spindle temporary rack by the basic driving piece until the abutting block enters the inner ring of the winding drum on the spindle, the two expanding sliding seats are mutually kept away by the opening driving piece until the abutting block abuts against the inner wall of the winding drum on the spindle, then the vertical sliding seat is moved upwards by the vertical driving piece to enable the spindle to leave the sinking gap, the overturning box is moved to the side, far away from the spindle temporary rack, of the second horizontal sliding seat, and finally the vertical driving piece, Under the combined action of the vertical sliding seat, the second horizontal driving piece, the second horizontal sliding seat, the basic driving piece and the basic sliding seat, the filament ingots can be placed at preset positions on the filament ingot car, and therefore the second transfer work of the filament ingots is completed.
Preferably, the opening and closing driving member includes:
the first rotating rod is rotatably connected to the inner wall of the mounting cavity, and the rotating axis of the first rotating rod is perpendicular to the moving direction of the opening sliding seat;
the two second rotating rods are arranged, one ends of the two second rotating rods are respectively hinged to two ends of the first rotating rod, the other ends of the two second rotating rods are respectively hinged to the two opening sliding seats, and when the first rotating rod rotates, one end, connected with the first rotating rod, of the second rotating rod can move towards or away from the position where the rotation center of the first rotating rod is located;
the driving screw rod is connected to the inner wall of the turnover cavity in a rotating mode and is in threaded connection with the opening sliding seat.
By adopting the technical scheme, when the two opening sliding seats are close to or far away from each other, the driving screw rod is firstly driven to rotate, in the process, one of the opening sliding seats can move towards the direction close to or far away from the other opening sliding seat along the axis direction of the driving screw rod, and simultaneously, under the matching of the first rotating rod and the two second rotating rods, the other opening sliding seat can move in the opposite direction, so that the aim of enabling the two opening sliding seats to be close to or far away from each other is fulfilled, compared with a mode of enabling the two opening sliding seats to be close to or far away from each other through a bidirectional screw rod, the design mode has the advantages that firstly, the whole structure of the opening and closing driving part is simpler, the required precision of each element is not high, secondly, if the movement between the two opening sliding seats fails, the connection between the first rotating rod and the second rotating rod can be conveniently released, therefore, the maintenance work of the conveying equipment can be conveniently and timely carried out on the basis of not damaging the elements.
Preferably, the moving mechanism is an AGV intelligent vehicle.
Through adopting above-mentioned technical scheme, on the one hand, moving mechanism is the mode of AGV intelligent vehicle, then can realize the purpose of removing wantonly on the horizontal plane through simpler structural style, and on the other hand, AGV intelligent vehicle can also judge whether the discharge gate department that a plurality of silk spindles add the coiling equipment that plays is the silk spindle to make haulage equipment can receive material and pile work to the silk spindle more intelligently.
In summary, the present application includes at least one of the following beneficial technical effects:
1. compared with the mode that the conveying equipment comprises the conveying belt, the conveying equipment is simpler in overall structure due to the design mode, and therefore equipment cost of a wire ingot receiving and stacking system can be reduced;
2. by arranging two discharging supporting rods at the discharging opening and arranging the temporary filament placing frame comprising two temporary storage supporting blocks, the filament can be pushed along one direction when the filament is transferred for the first time, so that the structure of the transferring manipulator can be simplified;
3. the mode that is AGV intelligent vehicle through moving mechanism, on the one hand, can realize the purpose of removing wantonly on the horizontal plane through simpler structural style, on the other hand, can also judge whether the discharge gate department that a plurality of silk spindles add the coiling equipment is the silk spindle to make handling equipment can receive material and pile work to the silk spindle more intelligently.
Drawings
Fig. 1 is a schematic structural view of a system for receiving and stacking filament ingots according to an embodiment of the present disclosure.
Fig. 2 is a schematic structural view of a filament spindle temporary rack in the embodiment of the present application.
Fig. 3 is a schematic view of a transfer robot in an embodiment of the present application.
Fig. 4 is a schematic view of a first transfer mechanism in an embodiment of the present application.
Fig. 5 is a schematic view of a second transfer mechanism in an embodiment of the present application.
Description of reference numerals: 1. a wire spindle elasticizing and winding device; 11. a discharge port; 12. a discharging support rod; 2. turning a silk ingot; 3. a handling device; 31. a moving mechanism; 32. temporarily placing the silk ingots on a frame; 321. a vertical mounting plate; 322. temporarily storing the supporting piece; 3221. temporarily storing the supporting block; 323. sinking the notch; 3231. avoiding the notch; 33. transferring the manipulator; 4. a separation block; 41. an active force application end; 42. a driven limit end; 43. separating the notches; 5. a return spring; 6. a first transfer mechanism; 61. a vertical mounting rack; 62. a vertical slide carriage; 63. a vertical drive; 64. a first horizontal slide; 65. a first horizontal drive member; 66. a jaw block; 661. a support pillar; 67. a jaw drive; 671. a clamping drive motor; 672. a driving pulley; 673. a driven pulley; 674. connecting a belt; 7. a second transfer mechanism; 71. a base slide; 72. a base drive member; 73. a second horizontal slide; 74. a second horizontal drive; 75. turning over the box; 751. a mounting cavity; 752. a communication port; 76. turning over the driving piece; 77. opening the sliding seat; 78. an opening and closing driving piece; 781. a first rotating lever; 782. a second rotating lever; 783. driving a lead screw; 79. and a supporting block.
Detailed Description
The present application is described in further detail below with reference to figures 1-5.
The embodiment of the application discloses a system for receiving and stacking wire ingots. Referring to fig. 1, the wire ingot receiving and stacking system comprises a wire ingot elasticizing and winding device 1, a wire ingot car 2 and a handling device 3, specifically, the wire ingot elasticizing and winding device 1 is usually installed in a workshop, the wire ingot elasticizing and winding device 1 is provided with a plurality of wire ingot elasticizing and winding devices, each wire ingot elasticizing and winding device 1 is provided with a discharge port 11, and the plurality of discharge ports 11 are distributed in a rectangular array; the ingot car 2 is also installed in the workshop, and the ingot car 2 will usually be at a remote location from the ingot elasticizing winding apparatus 1; the carrying device 3 comprises a moving mechanism 31, a temporary filament rack 32 and a transfer manipulator 33, wherein the moving mechanism 31 can reciprocate between the filament-ingot spring-adding winding device 1 and the filament-ingot vehicle 2, the temporary filament rack 32 is connected with the moving mechanism 31, the transfer manipulator 33 is also connected with the moving mechanism 31, and the transfer manipulator 33 is used for transferring the filament ingot onto the temporary filament rack 32 firstly and then onto the filament-ingot vehicle 2, so that the work of receiving and stacking the filament ingot is achieved.
Referring to fig. 1, the moving mechanism 31 is an AGV intelligent vehicle, and the moving mechanism 31 can determine which discharge port 11 has a filament ingot, so as to move the filament ingot temporary rack 32 and the transfer manipulator 33 to the vicinity of the discharge port 11 having the filament ingot, thereby receiving the filament ingot in time; the spinning ingot elasticizing winding device 1 is provided with two discharging support rods 12 at the discharge port 11, the two discharging support rods 12 are parallel to each other and horizontally arranged, one end of each discharging support rod 12 is communicated with the discharge port 11, the other end of each discharging support rod extends towards the direction far away from the discharge port 11, and the two discharging support rods 12 are respectively supported at two ends of a winding drum on the spinning ingot, so that the spinning ingot can be stopped on the two discharging support rods 12, and preparation is made for the first transfer of the subsequent spinning ingot.
Referring to fig. 1 and 2, the temporary filament spindle rack 32 includes two vertical mounting plates 321, two temporary storage supports 322, and a limiting member, the two vertical mounting plates 321 are parallel to each other and spaced from each other, and the vertical mounting plates 321 are fixedly connected to the moving mechanism 31; the temporary storage support 322 is provided with a plurality of, a plurality of temporary storage support 322 are along the extending direction evenly distributed of vertical mounting plate 321, wherein each temporary storage support 322 includes two temporary storage supporting blocks 3221, two temporary storage supporting blocks 3221 are fixed connection respectively on one side that two vertical mounting plates 321 are close to each other, and the length direction of two temporary storage supporting blocks 3221 is on a parallel with the length direction of ejection of compact bracing piece 12, and the one end that temporary storage supporting block 3221 is close to ejection of compact bracing piece 12 is higher than the one end of keeping away from ejection of compact bracing piece 12, so when the silk spindle falls to temporary storage supporting block 3221, the silk spindle can move to the lower one end department of temporary storage supporting block 3221, thereby make preparations for the second time of transfer.
Referring to fig. 1 and 2, the limiting member is a sinking notch 323 formed in the temporary storage support block 3221, the sinking notch 323 is formed in one side of the two temporary storage support blocks 3221, and the sinking notch 323 is communicated with the upper side of the temporary storage support block 3221, so that after the filament ingot falls into the upper side of the temporary storage support block 3221, two ends of the winding drum on the filament ingot can fall into the sinking notch 323, and then the winding drum moves to a position where the sinking notch 323 is close to the lower end of the temporary storage support block 3221 until the winding drum on the filament ingot abuts against the inner wall of the sinking notch 323, thereby achieving the purpose of limiting the filament ingot at the lower end of the temporary storage support block 3221.
Referring to fig. 1 and 2, in order to further increase the capacity of the temporary support frame 32 for the filament ingot, each temporary support block 3221 is provided with a separation block 4 and a return spring 5, specifically, the separation block 4 is rotatably connected to the temporary support block 3221 through the middle position thereof, the rotation plane of the separation block 4 is parallel to the length direction of the temporary support block 3221, the separation block 4 further has a driving force application end 41 and a driven limit end 42, wherein the driving force application end 41 can rotate in and out of the inner wall of the sinking gap 323 near the lower end of the temporary support block 3221, and when the filament ingot is at the lower end of the temporary support block 3221, the driving force application end 41 rotates out of the inner wall of the sinking gap 323, the driven limit end 42 can rotate in and out of the inner wall of the lower gap near the higher end of the temporary support block 3221, and when the driving force application end 41 rotates out of the inner wall of the sinking gap 323, the driven stopper 42 is rotated into the inner wall of the sinking notch 323 and forms a separation notch 43 with the inner wall of the sinking notch 323 for accommodating the next ingot.
Referring to fig. 1 and 2, after the previous filament ingot falls onto the temporary storage support block 3221, the filament ingot gradually moves toward the lower end of the temporary storage support block 3221 until the previous filament ingot moves to the lower end of the temporary storage support block 3221, and meanwhile, the previous filament ingot presses the active force application end 41, so that the active force application end 41 rotates out of the inner wall of the sinking gap 323, and then when the next filament ingot falls to the higher end of the temporary storage support block 3221, the winding drum on the next filament ingot is embedded into the separation gap 43, so that one temporary storage support member 322 can accommodate two filament ingots, and meanwhile, an appropriate distance can be maintained between the two filament ingots to prevent the occurrence of mutual interference during subsequent transfer.
Referring to fig. 1 and 3, the transfer robot 33 includes a first transfer mechanism 6, specifically, the first transfer mechanism 6 includes a vertical mounting frame 61, a vertical slide 62, a vertical driving member 63, a first horizontal slide 64, a first horizontal driving member 65, a jaw block 66, and a jaw driving member 67, and the vertical mounting frame 61 is connected to the moving mechanism 31; the vertical sliding base 62 is connected to the vertical mounting rack 61 in a sliding manner through a guide rail, and the sliding direction of the vertical sliding base 62 is parallel to the distribution direction of the temporary storage supporting pieces 322; the vertical driving member 63 is connected with the vertical sliding base 62, and the vertical driving member 63 realizes the vertical movement of the vertical sliding base 62 through a motor and a belt transmission mode; the first horizontal sliding seat 64 is slidably connected to the vertical sliding seat 62, and the moving direction of the first horizontal sliding seat 64 is parallel to the length direction of the temporary storage supporting block 3221; the first horizontal driving element 65 is connected with the first horizontal sliding base 64, and the first horizontal driving element 65 realizes the horizontal movement of the first horizontal sliding base 64 through the cooperation of a motor and a gear rack, so that the first horizontal sliding base 64 can be moved to a proper position near the discharge hole 11 under the combined action of the vertical sliding base 62, the vertical driving element 63 and the first horizontal driving element 65 to perform the first ingot transferring work.
Referring to fig. 3 and 4, two clamping jaw blocks 66 are provided, two clamping jaw blocks 66 are slidably connected to the first horizontal sliding base 64, the sliding direction of the two clamping jaw blocks 66 is parallel to the axial direction of the winding drum on the wire spindle, the two clamping jaw blocks 66 can be close to or far away from each other, and one ends of the two clamping jaw blocks 66 far away from the first horizontal sliding base 64 are both connected with supporting columns 661 capable of extending into the inner ring of the winding drum on the wire spindle; the clamping jaw driving member 67 comprises a clamping driving motor 671, a driving pulley 672, a driven pulley 673 and a connecting belt 674, the clamping driving motor 671 is fixedly connected to the first horizontal sliding seat 64, the driving pulley 672 is coaxially and fixedly connected to an output shaft of the clamping driving motor 671, the driven pulley 673 is rotatably connected to the first horizontal sliding seat 64, the connecting belt 674 is sleeved between the driving pulley 672 and the driven pulley 673, and two parts of the connecting belt 674 parallel to the connecting direction of the driving pulley 672 and the driven pulley 673 are respectively and fixedly connected with the two clamping jaw blocks 66, so that after the clamping driving motor 671 is started, the two clamping jaw blocks 66 can be moved close to or away from each other by clockwise or anticlockwise winding of the connecting belt 674.
Referring to fig. 1 and 3, after the two gripper blocks 66 grip the ingot from the discharge port 11, the ingot is placed on the temporary storage support block 3221 by the cooperation of the vertical slide 62 and the first horizontal slide 64, and the carrying device 3 is moved between different ingot springing and winding devices 1 by the action of the moving mechanism 31 until the ingot temporary rack 32 is full of ingots, so that the moving mechanism 31 can be moved to the vicinity of the ingot car 2 to prepare for the second transfer.
Referring to fig. 1 and 2, the sinking notch 323 is provided with an avoiding notch 3231 at a lower end of the temporary storage support block 3221, and the avoiding notch 3231 exposes the winding drum on the yarn spindle for facilitating the second transfer.
Referring to fig. 3 and 5, in this embodiment, the transfer robot 33 further includes a second transfer mechanism 7, specifically, the second transfer mechanism 7 further includes a base slide 71, a base driving member 72, a second horizontal slide 73, a second horizontal driving member 74, a turnover box 75, a turnover driving member 76, an opening slide 77, an opening and closing driving member 78, and a abutting block 79, the base slide 71 is slidably connected to the moving mechanism 31, the vertical mounting bracket 61 is slidably connected to the moving mechanism 31 through the base slide 71, and the vertical mounting bracket 61 can move toward or away from the temporary filament placement bracket 32; the basic driving piece 72 is connected with the basic sliding seat 71, and the basic driving piece 72 realizes the horizontal movement of the basic sliding seat 71 through a motor and a lead screw; the second horizontal sliding base 73 is connected to the vertical sliding base 62 in a sliding manner, and the moving direction of the second horizontal sliding base 73 is parallel to that of the first horizontal sliding base 64; the second horizontal driving member 74 is connected to the second horizontal sliding base 73, and the second horizontal driving member 74 is a combination of a motor and a rack and pinion to realize the horizontal movement of the second horizontal sliding base 73, so that the second horizontal sliding base 73 can be moved to a proper position under the combined action of the base sliding base 71, the base driving member 72 and the second horizontal driving member 74.
Referring to fig. 3 and 5, the turnover box 75 is rotatably connected to one end of the second horizontal slide 73 by a rotating shaft, and the turnover box 75 is located at one end of the second horizontal slide 73 away from the jaw block 66, and the turnover box 75 can move from one side of the second horizontal slide 73 close to the temporary holding frame 32 to the other side away from the temporary holding frame 32, and the turnover box 75 further has a mounting cavity 751 for accommodating components, and the mounting cavity 751 is further opened with a communication port 752 communicating with the outside; the turnover driving member 76 is arranged on the second horizontal sliding base 73, the turnover driving member 76 is connected with the turnover box 75, and the turnover driving member 76 realizes the rotation of the turnover box 75 through a motor and a belt transmission mode; two expanding sliders 77 are arranged, the two expanding sliders 77 are slidably connected to the inner wall of the mounting cavity 751 through guide rails, and the two expanding sliders 77 can move close to or away from each other; the opening and closing driving piece 78 is arranged on the turnover box 75, and the opening and closing driving piece 78 is connected with the two opening sliding seats 77 so as to realize the mutual approaching or separating of the two opening sliding seats 77; the two abutting blocks 79 are provided, one ends of the two abutting blocks 79 are respectively fixedly connected to the two opening sliding seats 77, the other ends of the two abutting blocks 79 extend out of the communication opening 752, and the abutting blocks 79 are tile-shaped, so that the abutting blocks 79 can abut against the inner wall of the winding drum on the spindle.
Referring to fig. 3 and 5, when the ingot is transferred to the ingot car 2, the abutting block 79 is extended into the inner ring of the winding drum on the ingot by the combined action of the base slide 71, the vertical slide 62 and the second horizontal slide 73, then the two opening slides 77 are separated from each other by the opening and closing driving member 78 until the abutting block 79 abuts against the inner ring of the winding drum on the ingot, then the ingot is separated from the temporary supporting block 3221 by the vertical slide 62, the turning box 75 is moved to the side of the second horizontal slide 73 away from the ingot temporary rack 32 by the turning driving member 76, and finally the ingot is moved to the preset position on the ingot car 2 by the combined action of the base slide 71, the vertical slide 62 and the second horizontal slide 73, so that the second transfer work of the ingot is completed.
Referring to fig. 3 and 5, in the present embodiment, after the movement between the two opening sliders 77 is failed, for maintenance convenience, the opening and closing driving member 78 includes a first rotating rod 781, a second rotating rod 782 and a driving screw 783, the first rotating rod 781 is rotatably connected to the inner wall of the installation cavity 751 through the middle position thereof, and the connection between the first rotating rod 781 and the installation cavity 751 is on the connecting line between the two opening sliders 77; two second rotating rods 782 are provided, one ends of the two second rotating rods 782 are respectively hinged to two ends of the first rotating rod 781, the other ends of the two second rotating rods 782 are respectively hinged to the two opening slide seats 77, and when the first rotating rod 781 rotates, one end of the second rotating rod 782 connected with the first rotating rod 781 can move to a central position close to or far away from the first rotating rod 781; the driving screw 783 is rotatably connected to the inner wall of the installation cavity 751, and the driving screw 783 is further in threaded connection with one of the opening sliders 77, so that in the event of a failure, maintenance work can be conveniently performed on the opening and closing driving member 78 by releasing the connection between the first rotating rod 781 and the second rotating rod 782.
The implementation principle of the system for receiving and stacking the silk ingots is as follows: after the processing of the filament ingot elasticizing winding device 1 is completed, the filament ingot is sent to the discharge port 11, at this time, the filament ingot temporary frame 32 and the transfer manipulator 33 are moved to the vicinity of the filament ingot elasticizing winding device 1 through the moving mechanism 31, then the plurality of filament ingots are gradually transferred to the filament ingot temporary frame 32 through the transfer manipulator 33, then the filament ingot temporary frame 32 and the transfer manipulator 33 are moved to the vicinity of the filament ingot vehicle 2 through the moving mechanism 31, and finally the plurality of filament ingots are gradually transferred to the filament ingot vehicle 2 through the transfer manipulator 33, so that the receiving and stacking work of the filament ingots is completed.
The above embodiments are preferred embodiments of the present application, and the protection scope of the present application is not limited by the above embodiments, so: all equivalent changes made according to the structure, shape and principle of the present application shall be covered by the protection scope of the present application.
Claims (8)
1. The utility model provides a silk spindle is received and pile system which characterized in that: the method comprises the following steps:
a spindle elasticizing and winding device (1), the spindle elasticizing and winding device (1) having a discharge opening (11);
a spindle vehicle (2);
the carrying device (3) comprises a moving mechanism (31), a filament ingot temporary frame (32) and a transfer manipulator (33), the moving mechanism (31) reciprocates between the filament ingot elasticizing and winding device (1) and the filament ingot car (2), and the filament ingot temporary frame (32) is connected with the moving mechanism (31); the transfer manipulator (33) is connected with the moving mechanism (31), and the transfer manipulator (33) is used for transferring the filament ingots among the filament ingot elasticizing and winding equipment (1), the filament ingot temporary placing frame (32) and the filament ingot vehicle (2).
2. The system for receiving and stacking ingots according to claim 1, wherein: the filament ingot elasticizing winding equipment (1) is provided with two discharging support rods (12) at the discharging port (11) at intervals, one end of each discharging support rod (12) is communicated with the discharging port (11), the other end of each discharging support rod extends in the direction far away from the discharging port (11), and the two discharging support rods (12) are used for supporting two ends of a winding drum in a filament ingot; the filament ingot placing frame comprises two vertical mounting plates (321), a plurality of temporary storage supporting pieces (322) and limiting pieces, the two vertical mounting plates (321) are arranged at intervals, and the vertical mounting frames (61) are connected with the moving mechanism (31); the temporary storage supporting pieces (322) are distributed along the extending direction of the vertical mounting plates (321), each temporary storage supporting piece (322) comprises two temporary storage supporting blocks (3221), the two temporary storage supporting blocks (3221) are connected to the two vertical mounting plates (321) respectively, the length direction of each temporary storage supporting block (3221) is parallel to the length direction of the discharge supporting rod (12), and one end, close to the discharge supporting rod (12), of each temporary storage supporting block (3221) is higher than one end, far away from the discharge supporting rod (12); the limiting piece is arranged on the temporary storage supporting block (3221) and is used for preventing a wire spindle from falling off from one lower end of the temporary storage supporting block (3221);
the system for receiving and stacking ingots according to claim 2, wherein: the limiting piece is a sinking notch (323) arranged on the temporary storage supporting block (3221), the sinking notch (323) is arranged on one side of the two temporary storage supporting blocks (3221) close to each other, and the sinking notch (323) is further communicated with the upper side of the temporary storage supporting block (3221); the temporary storage supporting block (3221) is provided with a separating block (4) and a return spring (5), the separating block (4) is rotatably connected to the temporary storage supporting block (3221), the separating block (4) is provided with a driving force application end (41) and a driven limiting end (42), the driving force application end (41) rotates to enter and exit from the inner wall of one end, away from the discharging supporting rod (12), of the sinking notch (323), and when a previous spindle is located at one end, away from the discharging supporting rod (12), of the sinking notch (323, the driving force application end (41) can rotate out of the inner wall of the sinking notch (323); the driven limit end (42) rotates to enter and exit the inner wall of one end, close to the discharging support rod (12), of the sinking notch (323), and when the driving force application end (41) rotates out of the inner wall of the sinking notch (323), the driven limit end (42) and the inner wall of one end, close to the discharging support rod (12), of the sinking notch (323) form a separation notch (43) for accommodating the next wire ingot; the return spring (5) is connected with the temporary storage supporting block (3221) and the separating block (4), and the return spring (5) is used for enabling the driven limiting end (42) to rotate out of the inner wall of the sinking notch (323).
3. The system of claim 3, wherein: the transfer robot (33) comprises a first transfer mechanism (6), the first transfer mechanism (6) comprising:
the vertical mounting rack (61) is connected to the moving mechanism (31);
the vertical sliding seat (62) is connected to the vertical mounting rack (61) in a sliding mode, and the vertical sliding seat (62) moves along the distribution direction of the temporary storage supporting pieces (322);
a vertical driving member (63) connected with the vertical sliding seat (62);
the first horizontal sliding seat (64) is connected to the vertical sliding seat (62) in a sliding mode, and the first horizontal sliding seat (64) moves along the length direction of the temporary storage supporting block (3221);
a first horizontal driving member (65) connected with the first horizontal sliding base (64);
the number of the clamping jaw blocks (66) is two, the two clamping jaw blocks (66) are connected to the first horizontal sliding base (64) in a sliding mode, and the two clamping jaw blocks (66) can move close to or away from each other along the connecting line direction of the two temporary storage supporting blocks (3221);
and the clamping jaw driving piece (67) is connected with the clamping jaw blocks (66), and the clamping jaw driving piece (67) is used for enabling the two clamping jaw blocks (66) to approach or separate from each other.
4. The system for receiving and stacking wire ingots according to claim 4, wherein: the clamping jaw block (66) is provided with a supporting column (661), and the supporting column (661) is used for extending into an inner ring of a winding drum on a wire spindle.
5. The system for receiving and stacking wire ingots according to claim 4, wherein: the clamping jaw driving piece (67) comprises a clamping driving motor (671), a driving belt wheel (672), a driven belt wheel (673) and a connecting belt (674), and the clamping driving motor (671) is arranged on the first horizontal sliding base (64); the driving belt wheel (672) is fixedly connected to an output shaft of the clamping driving motor (671); the driven pulley (673) is rotationally connected to the first horizontal sliding seat (64); the connecting belt (674) is sleeved between the driving belt wheel (672) and the driven belt wheel (673), and two parts, parallel to the connecting direction of the driving belt wheel (672) and the driven belt wheel (673), of the connecting belt (674) are respectively connected with the two clamping jaw blocks (66).
6. The system for receiving and stacking wire ingots according to claim 4, wherein: an avoiding notch (3231) is formed in the sinking notch (323) at the lower end of the temporary storage supporting block (3221), and the avoiding notch (3231) is used for exposing a winding drum on a wire ingot; the transfer robot (33) further comprises a second transfer mechanism (7), the second transfer mechanism (7) comprising:
the base sliding seat (71) is fixedly connected with the vertical mounting rack (61), the vertical mounting rack (61) is connected to the moving mechanism (31) in a sliding mode through the base sliding seat (71), and the base sliding seat (71) can move towards the direction close to or far away from the temporary filament ingot placing rack (32);
a base driving member (72) arranged on the moving mechanism (31), wherein the base driving member (72) is connected with the base sliding seat (71);
the second horizontal sliding seat (73) is connected to the vertical sliding seat (62) in a sliding mode, and the sliding direction of the second horizontal sliding seat (73) is parallel to the sliding direction of the first horizontal sliding seat (64);
a second horizontal driving member (74) connected with the second horizontal sliding base (73);
the overturning box (75) is rotatably connected to the second horizontal sliding base (73), the overturning box (75) can move from one side, close to the wire ingot temporary frame (32), of the second horizontal sliding base (73) to one side, far away from the wire ingot temporary frame (32), the overturning box (75) is provided with a mounting cavity (751), and the inner wall of the mounting cavity (751) is provided with a communication opening (752);
the overturning driving piece (76) is arranged on the second horizontal sliding seat (73), and the overturning driving piece (76) is connected with the overturning box (75);
two expanding sliding seats (77) are arranged, the two expanding sliding seats (77) are connected to the inner wall of the installation cavity (751) in a sliding mode, and the two expanding sliding seats (77) can move close to or away from each other;
the opening and closing driving piece (78) is arranged on the turnover box (75), and the opening and closing driving piece (78) is connected with the opening sliding seat (77);
the two abutting blocks (79) are arranged, one ends of the two abutting blocks (79) are connected to the two opening sliding seats (77) respectively, the other ends of the two abutting blocks extend out of the communication opening (752), and the abutting blocks (79) are used for abutting against the inner ring of the winding drum on the spindle.
7. The system of claim 7, wherein: the opening and closing driving member (78) comprises:
the first rotating rod (781) is rotatably connected to the inner wall of the installation cavity (751), and the rotating axis of the first rotating rod (781) is perpendicular to the moving direction of the opening sliding seat (77);
the number of the second rotating rods (782) is two, one end of each of the two second rotating rods (782) is hinged to the two ends of the corresponding first rotating rod (781), the other end of each of the two second rotating rods (782) is hinged to the corresponding two opening sliding seats (77), and when the corresponding first rotating rod (781) rotates, one end of each of the second rotating rods (782) connected with the corresponding first rotating rod (781) can move to a position close to or far away from the rotation center of the corresponding first rotating rod (781);
drive lead screw (783), drive lead screw (783) rotate to be connected on the inner wall in upset chamber, drive lead screw (783) with one of them open slide (77) threaded connection.
8. The system for receiving and stacking ingots according to claim 1, wherein: the moving mechanism (31) is an AGV intelligent vehicle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210290628.4A CN114538205B (en) | 2022-03-23 | 2022-03-23 | Wire ingot material collecting and stacking system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210290628.4A CN114538205B (en) | 2022-03-23 | 2022-03-23 | Wire ingot material collecting and stacking system |
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| CN114538205A true CN114538205A (en) | 2022-05-27 |
| CN114538205B CN114538205B (en) | 2024-02-23 |
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Family Cites Families (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE19641823A1 (en) * | 1995-10-13 | 1997-04-17 | Barmag Barmer Maschf | Unit to store full bobbins taken from bobbin winder |
| CN202558365U (en) * | 2011-05-12 | 2012-11-28 | 乌斯特技术股份公司 | Clamping device for bobbin and taper pipe |
| CN202987217U (en) * | 2012-11-19 | 2013-06-12 | 苏州通达物流机器有限公司 | Wire ingot car |
| CN206985354U (en) * | 2017-03-19 | 2018-02-09 | 福建景丰科技有限公司 | Silk ingot unloads fortune system |
| CN207671428U (en) * | 2017-11-30 | 2018-07-31 | 东莞市卓能纺织服装有限公司 | A kind of weaving spindle handling device |
| CN210558623U (en) * | 2019-07-04 | 2020-05-19 | 浙江精功机器人智能装备有限公司 | Automatic wire ingot feeding equipment of elasticizer |
| CN110407030B (en) * | 2019-08-22 | 2024-03-22 | 闽江学院 | Intelligent textile production system based on AGV trolley |
| CN212047531U (en) * | 2020-04-09 | 2020-12-01 | 湖北宝塔沛博循环科技有限公司 | Special transfer device for finished paper rolls in paper mill |
| CN113526229A (en) * | 2020-04-17 | 2021-10-22 | 阳程科技股份有限公司 | Bobbin material placing device and method thereof |
| CN113896030A (en) * | 2020-06-22 | 2022-01-07 | 东华大学 | Spinning cake processing system and spinning cake processing method |
| CN213472899U (en) * | 2020-07-07 | 2021-06-18 | 杭州鲲鹏自动化科技有限公司 | Spindle transfer moped |
| CN215625917U (en) * | 2021-05-11 | 2022-01-25 | 意欧斯物流科技(上海)有限公司 | Automatic doffing robot with transfer rack |
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