CN116750588A - Yarn barrel boxing system and yarn barrel boxing method - Google Patents
Yarn barrel boxing system and yarn barrel boxing method Download PDFInfo
- Publication number
- CN116750588A CN116750588A CN202310539291.0A CN202310539291A CN116750588A CN 116750588 A CN116750588 A CN 116750588A CN 202310539291 A CN202310539291 A CN 202310539291A CN 116750588 A CN116750588 A CN 116750588A
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- driving piece
- yarn
- boxing
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- 238000000034 method Methods 0.000 title claims abstract description 13
- 238000013459 approach Methods 0.000 claims abstract description 5
- 238000012856 packing Methods 0.000 claims description 14
- 238000004806 packaging method and process Methods 0.000 claims description 13
- 230000007306 turnover Effects 0.000 claims description 12
- 210000002310 elbow joint Anatomy 0.000 claims description 11
- 210000003857 wrist joint Anatomy 0.000 claims description 11
- 230000008859 change Effects 0.000 claims description 2
- 230000008569 process Effects 0.000 abstract description 5
- 235000017166 Bambusa arundinacea Nutrition 0.000 description 6
- 235000017491 Bambusa tulda Nutrition 0.000 description 6
- 241001330002 Bambuseae Species 0.000 description 6
- 235000015334 Phyllostachys viridis Nutrition 0.000 description 6
- 239000011425 bamboo Substances 0.000 description 6
- 238000012546 transfer Methods 0.000 description 4
- 238000004519 manufacturing process Methods 0.000 description 3
- 239000000835 fiber Substances 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 239000000126 substance Substances 0.000 description 2
- 239000004753 textile Substances 0.000 description 2
- 230000007704 transition Effects 0.000 description 2
- 230000000712 assembly Effects 0.000 description 1
- 238000000429 assembly Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000002452 interceptive effect Effects 0.000 description 1
- 238000002372 labelling Methods 0.000 description 1
- 238000005192 partition Methods 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
- 238000004804 winding Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H67/00—Replacing or removing cores, receptacles, or completed packages at paying-out, winding, or depositing stations
- B65H67/06—Supplying cores, receptacles, or packages to, or transporting from, winding or depositing stations
- B65H67/066—Depositing full or empty bobbins into a container or stacking them
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B35/00—Supplying, feeding, arranging or orientating articles to be packaged
- B65B35/30—Arranging and feeding articles in groups
- B65B35/36—Arranging and feeding articles in groups by grippers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H2701/00—Handled material; Storage means
- B65H2701/30—Handled filamentary material
- B65H2701/31—Textiles threads or artificial strands of filaments
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Container Filling Or Packaging Operations (AREA)
Abstract
The invention discloses a yarn barrel boxing system and a yarn barrel boxing method, wherein the yarn barrel boxing system comprises a frame, a carrying assembly and a clamping assembly, the clamping assembly comprises a fixed seat, a first clamp, a second clamp and a first driving piece, the fixed seat is connected with the carrying assembly, the first clamp is fixedly connected with the fixed seat, the clamping assembly is positioned by taking the first clamp as a reference, and a clamping tool is fixed on the first clamp; the second clamps are at least provided with one, are arranged at intervals along the length direction of the fixing seat, and are fixed with clamping tools; the first driving piece is provided with at least one, and is in one-to-one correspondence with the second clamp, and drives the second clamp to slide along the length direction of the fixing seat; the first driving piece drives the second clamp to approach or depart from the first clamp, the distance between the first clamp and the second clamp is adjusted to improve the space utilization rate, and collision damage is avoided in the yarn drum transferring process.
Description
Technical Field
The invention relates to the technical field of package of bobbins, in particular to a bobbin boxing system and a bobbin boxing method.
Background
In the chemical fiber textile industry, when the yarn drum is wound, the yarn drum needs to be packaged in boxes and transported. In the existing production, the transfer of the yarn cylinder is realized by the existing clamp or gripper, and the problems of low space utilization rate, poor universality, easiness in damaging the yarn cylinder and the like exist when the yarn cylinder is transferred. In addition, the packing and the boxing of the yarn bobbins are finished by manual operation, and the problems of low operation efficiency, high cargo loss rate and the like exist.
Disclosure of Invention
In order to solve at least one of the above technical problems, the present invention provides a package system and a package method for packages, which adopts the following technical scheme:
the invention provides a yarn barrel boxing system which comprises a frame, a carrying assembly and a clamping assembly, wherein the frame is provided with a feeding station and a boxing station, the feeding station is used for placing yarn barrels to be carried, the boxing station is used for placing packing boxes, the feeding station is provided with a turnover assembly, and the turnover assembly is used for adjusting the placement angle of the yarn barrels to be carried; the handling assembly is used for handling the yarn bobbins at the feeding station to the boxing station, and is provided with a mounting end and a working end, the mounting end of the handling assembly is fixed on the frame, and the working end of the handling assembly is provided with at least three degrees of freedom to realize the transformation of the space positions of the yarn bobbins; the clamping assembly comprises a fixing seat, a first clamp, a second clamp and a first driving piece, the fixing seat is connected with the carrying assembly, the first clamp is fixedly connected with the fixing seat, the clamping assembly is positioned by taking the first clamp as a reference, and the first clamp is fixedly provided with a clamping tool; the second clamps are at least provided with one, are arranged at intervals along the length direction of the fixing seat with the first clamps, and each second clamp is fixed with a clamping tool; the first driving piece is at least provided with one, the first driving piece and the second clamp are arranged in one-to-one correspondence, the first driving piece drives the second clamp to slide along the length direction of the fixed seat, the second clamp also comprises a movable seat, the clamping tool is fixed on the movable seat, and the movable seat can move along the width direction of the fixed seat; the first driving piece drives the second clamp to approach or depart from the first clamp, the distance between the first clamp and the second clamp is adjusted, and the movable seat moves along the width direction of the fixed seat so that the first clamp and the second clamp are arranged in a staggered mode.
In some embodiments of the present invention, an output gear is fixed at an output end of the first driving member, a rack structure meshed with the output gear is fixed on the second clamp, and the first driving member drives the output gear to rotate so as to drive the second clamp to move along a length direction of the fixing seat through the rack structure.
In some embodiments of the present invention, the clamping assembly further includes a second driving member, where the second driving member is connected to the moving seat, and the second driving member drives the moving seat connected thereto to slide along a width direction of the fixed seat, so that the first clamp and the second clamp are staggered.
In some embodiments of the present invention, a lead screw is fixed at an output end of the second driving member, a slider is fixed on the second fixture, and the second driving member drives the lead screw to rotate so as to drive the slider to move along a width direction of the fixing seat.
In some embodiments of the invention, the fixing base is rotatably connected with the working end of the carrying assembly.
In some embodiments of the present disclosure, the handling assembly is configured as a mechanical arm, where the mechanical arm includes a base, a first arm, an elbow joint, a second arm, a wrist joint, and a third arm that are sequentially connected, the base is rotatably connected to the frame, the first arm is rotatably connected to the base, the elbow joint is rotatably connected to the first arm, the second arm is rotatably connected to the elbow joint, the wrist joint is rotatably connected to the second arm, the third arm is rotatably connected to the wrist joint, and the fixing base is fixedly connected to the third arm.
In some embodiments of the invention, the turnover assembly comprises a chassis, a turnover frame and a third driving piece, wherein the chassis is in sliding connection with the frame, and the third driving piece drives the turnover frame to rotate relative to the chassis so as to adjust the axial direction of the yarn barrel to be conveyed.
In some embodiments of the present invention, the package system further includes a control module, where the control module is electrically connected to both the handling assembly and the clamping assembly, and the control module is configured to coordinate a sequence of actions between the overturning assembly and the clamping assembly.
In some embodiments of the present invention, the package system further includes a vision module electrically connected to the control module, where the vision module is configured to identify a package box at the package station and feed back a signal to actuate the first driving member of the clamping assembly to start and adjust the relative positions of the first clamp and the second clamp.
The invention also provides a yarn barrel boxing method based on the yarn barrel boxing system, which comprises the following steps:
the overturning assembly overturns the bobbin carriage to be conveyed to the feeding station, so that the small end of the bobbin carriage to be conveyed is vertically upwards;
the operation end of the carrying assembly moves to the feeding station, and the clamping assembly grabs the yarn cylinder to be carried;
the working end of the carrying assembly moves to a boxing station, and the clamping assembly adjusts the relative position of the first clamp and the second clamp through the first driving piece so as to adapt to boxing requirements;
the clamping assembly is loosened to enable the yarn packages to fall into the packaging box, the operation end of the conveying assembly is moved to the feeding station to repeatedly convey the yarn packages until the packaging box is packaged.
The embodiment of the invention has at least the following beneficial effects: the yarn section of thick bamboo vanning system can be through the distance between clamping component regulation first anchor clamps and the second anchor clamps in order to be applicable to the snatching of different specification yarn section of thick bamboo products, and yarn section of thick bamboo snatchs the back of accomplishing, can also order about the second anchor clamps to be close to in order to improve space utilization to first anchor clamps, avoids taking place to collide with the damage in the yarn section of thick bamboo transfer process.
Drawings
The foregoing and/or additional aspects and advantages of the invention will become apparent and may be better understood from the following description of embodiments taken in conjunction with the accompanying drawings in which:
FIG. 1 is a schematic view of a clamping assembly including a second clamp;
FIG. 2 is a schematic structural view of a clamping assembly including three second clamps;
FIG. 3 is a schematic view of a package packing system including the clamping assembly provided in FIG. 2;
FIG. 4 is a schematic view of a handling assembly of the package system of FIG. 3;
fig. 5 is a schematic view of the overturning assembly in the package system provided in fig. 3.
Reference numerals: 100. a clamping assembly; 110. a fixing seat; 121. a first clamp; 122. a second clamp; 131. a first driving member; 132. a second driving member; 200. a handling assembly; 210. a base; 220. a first arm; 230. an elbow joint; 240. a second arm; 250. a wrist joint; 260. a third arm; 300. a flip assembly; 310. a chassis; 320. a roll-over stand; 330. a third driving member; 400. a frame.
Detailed Description
Embodiments of the present invention are described in detail below with reference to fig. 1 through 5, examples of which are illustrated in the accompanying drawings, wherein the same or similar reference numerals refer to the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the drawings are illustrative only and are not to be construed as limiting the invention.
In the description of the present invention, it should be understood that, if the terms "center", "middle", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "axial", "radial", "circumferential", etc. are used as directions or positional relationships based on the directions shown in the drawings, the directions are merely for convenience of description and for simplification of description, and do not indicate or imply that the apparatus or element to be referred to must have a specific direction, be constructed and operated in a specific direction, and thus should not be construed as limiting the present invention. Features defining "first", "second" are used to distinguish feature names from special meanings, and furthermore, features defining "first", "second" may explicitly or implicitly include one or more such features. In the description of the present invention, unless otherwise indicated, the meaning of "a plurality" is two or more.
In the description of the present invention, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.
In the chemical fiber textile industry, when the yarn drum is wound, the yarn drum needs to be packaged in boxes and transported. In the existing production, the transfer of the yarn cylinder is realized by the existing clamp or gripper, and the problems of low space utilization rate, poor universality, easiness in damaging the yarn cylinder and the like exist when the yarn cylinder is transferred. In addition, the packing and the boxing of the yarn bobbins are finished by manual operation, and the problems of low operation efficiency, high cargo loss rate and the like exist.
The invention relates to a yarn barrel boxing system, which comprises a frame 400, a carrying assembly 200 and a clamping assembly 100, wherein the frame 400 is provided with a feeding station and a boxing station, the feeding station is used for placing yarn barrels to be carried, the boxing station is used for placing packaging boxes, the overturning assembly 300 is arranged at the feeding station, and the overturning assembly 300 is used for adjusting the placing angle of the yarn barrels to be carried; the handling component 200 is used for handling the yarn packages at the loading station to the boxing station, the handling component 200 is provided with a mounting end and a working end, the mounting end of the handling component 200 is fixed on the frame 400, and the working end of the handling component 200 is provided with at least three degrees of freedom to realize the change of the space positions of the yarn packages; the fixing seat 110 of the clamping assembly 100 is connected with the working end of the carrying assembly 200, and the clamping assembly 100 is used for grabbing a yarn tube to be carried and moving the yarn tube to the boxing station through the carrying assembly 200. The yarn package box system can adjust the distance between the first clamp 121 and the second clamp 122 through the clamping assembly 100 so as to be suitable for grabbing yarn package products with different specifications, and after the yarn package grabbing is completed, the second clamp 122 can be driven to approach the first clamp 121 so as to improve the space utilization rate, and collision damage is avoided in the yarn package transferring process.
Specifically, the clamping assembly 100 includes a fixing seat 110, a first clamp 121, a second clamp 122, and a first driving member 131, the first clamp 121 is fixedly connected with the fixing seat 110, the clamping assembly 100 is positioned with the first clamp 121 as a reference, and a clamping tool is fixed on the first clamp 121; at least one second clamp 122 is arranged, the second clamp 122 and the first clamp 121 are arranged at intervals along the length direction of the fixed seat 110, and each second clamp 122 is fixed with a clamping tool; the first driving member 131 is at least provided with one, the first driving member 131 is arranged in one-to-one correspondence with the second clamp 122, and the first driving member 131 drives the second clamp 122 to slide along the length direction of the fixing seat 110; wherein, the first driving member 131 drives the second clamp 122 to approach or separate from the first clamp 121, and adjusts the distance between the first clamp 121 and the second clamp 122. The clamping assembly 100 can adjust the distance between the first clamp 121 and the second clamp 122 so as to be suitable for grabbing yarn packages of different specifications, and space utilization is improved.
In some embodiments, an output gear is fixed at an output end of the first driving member 131, a rack structure meshed with the output gear is fixed to the second clamp 122, and the first driving member 131 drives the output gear to rotate so as to drive the second clamp 122 to move along the length direction of the fixing seat 110 through the rack structure. Specifically, when the second jigs 122 are provided in plurality, a rack structure is provided in a sectional type corresponding to each of the second jigs 122 to limit the moving range of each of the second jigs 122. In other embodiments, each second clamp 122 is connected to an output gear, the fixing base 110 is fixed with a rack structure, the rack structure is configured as a whole section along the length direction of the fixing base 110 to expand the moving range of each second clamp 122, and the first driving member 131 drives the output gear to rotate so as to drive the second clamp 122 to move along the rack structure. It should be understood that in other embodiments, the first driving member 131 and the second clamp 122 may be connected through a worm and gear structure, or the first driving member 131 may be configured as a telescopic motor directly connected to the second clamp 122, or other connection manners capable of driving the second clamp 122 to move along the length direction of the fixing base 110.
Specifically, the second fixture 122 further includes a moving seat, and the clamping fixture is fixedly mounted on the moving seat, and the moving seat can move along the width direction of the fixed seat. After the first driving member 131 drives the second clamp 122 to complete the position adjustment along the length direction of the fixed seat 110, the moving seat moves along the width direction of the fixed seat 110 to enable the first clamp 121 and the second clamp 122 to be staggered, so as to adapt to the loading station, and enable the plurality of bobbins grabbed by the clamping assembly 100 to be more compact.
Further, the clamping assembly 100 further includes a second driving member 132, where the second driving member 132 is connected to the second clamp 122, and the second driving member 132 drives the second clamp 122 connected thereto to slide along the width direction of the fixing base 110, so that the first clamp 121 and the second clamp 122 are staggered. Referring to the drawings, when the second clamps 122 are provided with a plurality of second clamps 122, two second clamps 122 on two sides of the first clamp 121 are correspondingly connected with the second driving members 132, the second driving members 132 drive the second clamps 122 to slide along the width direction of the fixing seat 110 so as to enable the plurality of bobbins grabbed by the clamps to be staggered, and then the first driving members 131 drive the second clamps 122 to slide along the length direction of the fixing seat 110 so as to enable the adjacent two clamps to be close, so that the plurality of bobbins grabbed by the clamping assembly 100 are more compact, the space utilization rate is improved, and collision of the bobbins in the transferring process is avoided. It will be appreciated that the second driving members 132 may be spaced to save cost and may be disposed in a one-to-one correspondence with the second clamps 122 to increase the flexibility of the gripping assembly 100 to grip the package.
In this embodiment, the output end of the second driving member 132 is fixed with a screw, the screw extends along the width direction of the fixing base 110, the second fixture 122 is fixed with a slider, and the second driving member 132 drives the screw to rotate so as to drive the slider to move along the width direction of the fixing base 110. It can be appreciated that the second driving member 132 and the second clamp 122 can be connected by a ball screw pair, so as to improve the accuracy of the movement of the second clamp 122 along the width direction of the fixing base 110. In other embodiments, the second drive 132 is configured as a telescoping motor to directly drive the movement of the second clamp 122, or is engaged by a rack and pinion or the like to drive the movement of the second clamp 122.
In some of the embodiments, the clamping tool is arranged as a clamping cylinder, and the clamping cylinder props against the hollow yarn tube of the yarn cylinder in an inward expanding manner to realize clamping so as to avoid damage to the yarn wound on the outer surface of the yarn cylinder. It can be appreciated that the clamping tool for taking the yarn collet out through the hollow yarn tube belongs to a common device in the art, and is not described herein.
It will be appreciated that in the production of bobbins, the spacing between bobbins placed after winding is large, while the spacing between bobbins is small in consideration of the packaging and transportation costs during the packaging of bobbins. Therefore, when the handling assembly 200 transfers the bobbins from the loading station to the boxing station, the first driving member 131 and the second driving member 132 are combined to adjust the interval between the bobbins, so that the bobbin can adapt to the specification of the packaging box.
Further, the handling assembly 200 is configured as a mechanical arm, and in combination with the accompanying drawings, the mechanical arm includes a base 210, a first arm 220, an elbow joint 230, a second arm 240, a wrist joint 250, and a third arm 260, which are sequentially connected, the base 210 is rotationally connected with the frame 400, the first arm 220 is rotationally connected with the base 210, the elbow joint 230 is rotationally connected with the first arm 220, the second arm 240 is rotationally connected with the elbow joint 230, the wrist joint 250 is rotationally connected with the second arm 240, the third arm 260 is rotationally connected with the wrist joint 250, and the fixing base 110 is fixedly connected with the third arm 260. Specifically, the base 210 connected to the frame 400 is a mounting end, the third arm 260 connected to the fixing base 110 is a working end, specifically, in this embodiment, the working end has six degrees of freedom, the mechanical arm realizes the position adjustment of the clamping assembly 100 through the swinging of the first arm 220, the elbow joint 230, the second arm 240 and the wrist joint 250, and the rotation of the third arm 260 realizes the angle adjustment of the clamping assembly 100, so that the clamping assembly 100 connected to the working end can flexibly and accurately place the yarn packages at the designated positions of the packaging boxes.
Specifically, the overturning assembly 300 includes a chassis 310, an overturning frame 320, and a third driving member 330, wherein the chassis 310 is slidably connected with the frame 400, and the third driving member 330 drives the overturning frame 320 to rotate relative to the chassis 310 to adjust the axial direction of the yarn packages to be carried. Referring to the drawings, the third driving member 330 is configured as a telescopic cylinder, one end of which is rotatably connected to the bottom frame 310 and the other end of which is rotatably connected to the roll-over stand 320, and the telescopic cylinder is extended or shortened to drive the roll-over stand 320 to be unfolded or folded with respect to the bottom frame 310. In some embodiments, the chassis 310 is also connected to the frame 400 through a telescopic cylinder, so as to drive the chassis 310 to move along the frame 400, so as to facilitate the handling assembly 200 to grasp the yarn packages.
It will be appreciated that the overturning assembly 300 further comprises a clamping structure, the bobbin carriage filled with bobbins is fixed to the overturning frame 320 by the clamping structure, and then the telescopic cylinder is started to drive the overturning frame 320 to rotate until the bobbins vertically face upwards, the telescopic cylinder stops acting, and the overturning frame 320 and the underframe 310 are relatively fixed to finish transferring and boxing of all bobbins on the bobbin carriage by the to-be-carried assembly 200.
In this embodiment, the frame 400 includes a fourth driving member and a plurality of driving rollers, the driving rollers are disposed at the boxing station, and the fourth driving member drives the plurality of driving rollers to rotate through chain transmission, so as to realize replacement of the packaging box at the boxing station. In some of these embodiments, transition stations are disposed on each side of the boxing station, and the boxes of the transition stations are not provided with top covers, so as to avoid interference with the robotic arms during operation.
Further, the package system further includes a control module electrically connected to the handling assembly 200 and the clamping assembly 100, and the control module is configured to coordinate a sequence of actions between the overturning assembly 300 and the clamping assembly 100. In some embodiments, the control module is further electrically connected to the frame 400, so as to drive the chassis 310 of the overturning assembly 300 to move along the frame 400, and control the loading and unloading of the packing boxes at the boxing station.
In some embodiments, the yarn package system further includes a vision module electrically connected to the control module, the vision module is configured to identify a package box at the package station and feed back a signal, so as to drive the first driving member 131 of the clamping assembly 100 to start, and adjust the relative positions of the first clamp 121 and the second clamp 122. Specifically, the vision module can recognize the specification, the partition plate position and the like of the packaging box at the boxing station, then the first driving piece 131 and the second driving piece 132 of the driving clamping assembly 100 are started, and the positions of the carried yarn bobbins are analyzed and adjusted, so that the yarn bobbins are stored in the carton in a non-interfering and non-collision manner, and the boxing quality is improved. In some of these embodiments, the vision module is also capable of identifying the bobbin cart at the loading station, adjusting the distance between the first clamp 121 and the second clamp 122 for bobbin gripping according to different bobbin product specifications. It will be appreciated that in other embodiments, the package system may further include a labeling module including RFID or NFC technology to replace the vision module, so as to achieve the purpose of coordinating the shapes of the clamping assemblies 100 at the loading station and the packaging station.
The invention also relates to a yarn package method, which is implemented based on the yarn package system, and comprises the following steps:
the overturning assembly 300 overturns the bobbin carriage to be carried to the feeding station so that the small end of the bobbin carriage to be carried is vertically upwards;
the operation end of the carrying assembly 200 moves to the feeding station, and the clamping assembly 100 grabs the yarn packages to be carried;
the working end of the carrying assembly 200 moves to a boxing station, and the clamping assembly 100 adjusts the relative positions of the first clamp 121 and the second clamp 122 through the first driving piece 131 so as to adapt to boxing requirements;
the clamping assembly 100 is released to drop the package into the package, and the working end of the handling assembly 200 is moved to the loading station to repeat the handling of the package to complete the packing of one package.
In this embodiment, in the vanning process, baffle behind the yarn section of thick bamboo filling one deck in the packing box is placed through the manual work to in time inspect the adjustment to the yarn section of thick bamboo position in the case, guarantee vanning product quality.
In the following, the invention is described in detail with reference to a specific embodiment, it being noted that the following description is merely illustrative and not a specific limitation of the invention.
The underframe 310 of the turnover assembly 300 moves away from the feeding station along the frame 400 until the bobbin conveyor line clamps the bobbin carriage and returns to the feeding station along the frame 400, and the third driving piece 330 is started to drive the turnover frame 320 to rotate until the bobbin is vertically upwards, and the movement of the carrying assembly 200 is waited;
the operation end of the carrying assembly 200 drives the clamping assembly 100 to move to the feeding station, the vision module recognizes the specification and the interval of the yarn bobbins on the yarn bobbin carriage, the vision module feeds back signals to the control module, the control module controls the first driving piece 131 and the second driving piece 132 to start, and the relative positions between the first clamp 121 and each second clamp 122 are adjusted;
the operation end of the carrying assembly 200 is downward so that the first clamp 121 and the second clamp 122 contact the yarn cylinder to be carried, the clamping tool is started, feedback signals are fed back to the control module after clamping is completed, the control module drives the carrying assembly 200 to move, and the operation end moves from the feeding station to above the boxing station;
the vision module recognizes the specification of the packing box and the yarn drum in the box, feeds back a signal to the control module, and the control module drives the carrying assembly 200 to correspondingly adjust the space position of the working end and drives the clamping assembly 100 to adjust the relative position relation between the first clamp 121 and the second clamp 122;
after the adjustment is completed, the working end falls down, the clamping tool is loosened to enable the yarn packages to fall down to the corresponding positions, and the carrying assembly 200 returns to the feeding station to be subjected to the next boxing operation until the boxing of one packing box is completed.
In the description of the present specification, if a description appears that makes reference to the term "one embodiment," "some examples," "some embodiments," "an exemplary embodiment," "an example," "a particular example," or "some examples," etc., it is intended that the particular feature, structure, material, or characteristic described in connection with the embodiment or example be included in at least one embodiment or example of the invention. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiments or examples. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
The embodiments of the present invention have been described in detail with reference to the drawings, but the present invention is not limited to the above embodiments, and various changes can be made within the knowledge of one of ordinary skill in the art without departing from the spirit of the present invention.
Claims (10)
1. Yarn package vanning system, its characterized in that includes:
the machine frame (400) is provided with a feeding station and a boxing station, wherein the feeding station is used for placing yarn bobbins to be conveyed, the boxing station is used for placing packing boxes, the feeding station is provided with a turnover assembly (300), and the turnover assembly (300) is used for adjusting the placing angle of the yarn bobbins to be conveyed;
the handling assembly (200) is used for handling the yarn bobbins at the feeding station to the boxing station, the handling assembly (200) is provided with a mounting end and a working end, the mounting end of the handling assembly (200) is fixed on the frame (400), and the working end of the handling assembly (200) is provided with at least three degrees of freedom to realize the change of the space positions of the yarn bobbins;
the clamping assembly (100), the clamping assembly (100) comprises a fixed seat (110), a first driving piece (131), a first clamp (121) and a second clamp (122), the fixed seat (110) is connected with the carrying assembly (200), the first clamp (121) is fixedly connected with the fixed seat (110), the clamping assembly (100) is positioned by taking the first clamp (121) as a reference, and a clamping tool is fixed on the first clamp (121); the second clamps (122) are at least provided with one, the second clamps (122) and the first clamps (121) are arranged at intervals along the length direction of the fixed seat (110), and each second clamp (122) is fixed with a clamping tool; the first driving piece (131) is at least provided with one, the first driving piece (131) and the second clamp (122) are arranged in a one-to-one correspondence, the first driving piece (131) drives the second clamp (122) to slide along the length direction of the fixed seat (110), the second clamp (122) further comprises a movable seat, the clamping fixture is fixed on the movable seat, and the movable seat can move along the width direction of the fixed seat (110);
the first driving piece (131) drives the second clamp (122) to approach or separate from the first clamp (121), the distance between the first clamp (121) and the second clamp (122) is adjusted, and the movable seat moves along the width direction of the fixed seat (110) so that the first clamp (121) and the second clamp (122) are arranged in a staggered mode.
2. The package system according to claim 1, wherein: the output end of the first driving piece (131) is fixedly provided with an output gear, the second clamp (122) is fixedly provided with a rack structure meshed with the output gear, and the first driving piece (131) drives the output gear to rotate so as to drive the second clamp (122) to move along the length direction of the fixing seat (110) through the rack structure.
3. The package system according to claim 1, wherein: the clamping assembly (100) further comprises a second driving piece (132), the second driving piece (132) is connected with the movable seat, and the second driving piece (132) drives the movable seat connected with the second driving piece to slide along the width direction of the fixed seat (110), so that the first clamp (121) and the second clamp (122) are arranged in a staggered mode.
4. A package packing system according to claim 3, wherein: the output end of the second driving piece (132) is fixed with a screw rod, the second clamp (122) is fixed with a sliding block, and the second driving piece (132) drives the screw rod to rotate so as to drive the sliding block to move along the width direction of the fixed seat (110).
5. The package system according to claim 1, wherein: the fixed seat (110) is rotatably connected with the working end of the carrying assembly (200).
6. The package packing system of claim 5, wherein: the handling assembly (200) is arranged to be a mechanical arm, the mechanical arm comprises a base (210), a first arm rod (220), an elbow joint (230), a second arm rod (240), a wrist joint (250) and a third arm rod (260) which are sequentially connected, the base (210) is rotationally connected with the frame (400), the first arm rod (220) is rotationally connected with the base (210), the elbow joint (230) is rotationally connected with the first arm rod (220), the second arm rod (240) is rotationally connected with the elbow joint (230), the wrist joint (250) is rotationally connected with the second arm rod (240), the third arm rod (260) is rotationally connected with the wrist joint (250), and the fixing seat (110) is fixedly connected with the third arm rod (260).
7. The package system according to claim 1, wherein: the turnover assembly (300) comprises a bottom frame (310), a turnover frame (320) and a third driving piece (330), wherein the bottom frame (310) is in sliding connection with the frame (400), and the third driving piece (330) drives the turnover frame (320) to rotate relative to the bottom frame (310) so as to adjust the axial direction of a yarn barrel to be conveyed.
8. The package system according to claim 1, wherein: the yarn package boxing system further comprises a control module, wherein the control module is electrically connected with the carrying assembly (200) and the clamping assembly (100), and the control module is used for coordinating the action sequence between the overturning assembly (300) and the clamping assembly (100).
9. The package system according to claim 8, wherein: the yarn bobbin boxing system further comprises a vision module, wherein the vision module is electrically connected with the control module, and is used for identifying a packaging box at a boxing station and feeding back signals so as to drive a first driving piece (131) of the clamping assembly (100) to start and adjust the relative position of the first clamp (121) and the second clamp (122).
10. A package packing method, implemented on the basis of a package packing system according to any one of claims 1 to 9, comprising:
the overturning assembly (300) overturns the bobbin carriage to be conveyed to the feeding station, so that the small end of the bobbin carriage to be conveyed is vertically upwards;
the operation end of the carrying assembly (200) moves to the feeding station, and the clamping assembly (100) grabs the yarn cylinder to be carried;
the working end of the carrying assembly (200) moves to a boxing station, and the clamping assembly (100) adjusts the relative positions of the first clamp (121) and the second clamp (122) through the first driving piece (131) so as to adapt to boxing requirements;
the clamping assembly (100) is loosened to enable the yarn packages to fall into the packaging box, the operation end of the carrying assembly (200) is moved to the feeding station to repeatedly carry the yarn packages until the packaging box is packaged.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310539291.0A CN116750588B (en) | 2023-05-12 | Yarn barrel boxing system and yarn barrel boxing method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310539291.0A CN116750588B (en) | 2023-05-12 | Yarn barrel boxing system and yarn barrel boxing method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN116750588A true CN116750588A (en) | 2023-09-15 |
| CN116750588B CN116750588B (en) | 2024-06-04 |
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