CN210064774U - Loading robot and automatic package transfer system - Google Patents
Loading robot and automatic package transfer system Download PDFInfo
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- CN210064774U CN210064774U CN201920408862.6U CN201920408862U CN210064774U CN 210064774 U CN210064774 U CN 210064774U CN 201920408862 U CN201920408862 U CN 201920408862U CN 210064774 U CN210064774 U CN 210064774U
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Abstract
The utility model discloses a loading robot, include: a crown block; the lifting sliding table mechanism is arranged on the crane body of the crown block and comprises a sliding table, a sliding table rail and a lifting device, the sliding table rail and the lifting device are fixedly connected with the crane body, and the lifting device drives the sliding table to move along the sliding table rail; the package loading mechanism is arranged on the sliding table and comprises a base, three loading rods horizontally arranged on the base, a base track and a front detection device for driving the base to move along the base track, and the base track is fixed on the sliding table; the transverse pushing mechanism is arranged on the sliding table and comprises a pushing ring sleeved on the loading rod and a pushing ring driving device for driving the pushing ring to move back and forth relative to the loading rod; and the control mechanism is respectively in communication connection with the travelling mechanism of the crown block, the lifting sliding table mechanism, the package loading mechanism and the transverse moving pushing mechanism.
Description
Technical Field
The utility model relates to a chemical fiber production technical field especially relates to a loading robot, automatic transfer system of package that is used for hanging the package to the yarn car on take error compensation.
Background
Chemical fiber (chemical fiber for short) is a basic raw material with wide application and huge consumption in production and life. The chemical fiber yield of China is in the absolute leading position of the world. With the increase of labor cost, chemical fiber production enterprises in China are gradually reducing the dependence on labor force, and greatly increasing automatic production equipment. In the automatic silk falling process in the chemical fiber production field, the workshop ground needs a silk passing vehicle, so that the workshop does not have a bulge or a groove larger than 2 cm, and a lower guide mechanism of a suspension type package transfer vehicle in an automatic silk falling system usually does not adopt a mode of a guide rail and a guide holding wheel, but adopts a mode of a guide column or a guide wheel and a ground rail groove. Chinese national patent CN208234289U, "an automatic doffing device for spinning cakes", discloses an automatic doffing device, which adopts a rail suspension mode and a wheel groove guiding mode, wherein a traveling mechanism drives an upright post to advance or retreat along a horizontal direction, so that a spinning rod assembly is inserted into a spinning tube or drives the spinning tube to be separated from a mounting shaft of the spinning tube, and a lifting mechanism drives a spinning arm mechanism to ascend or descend along a height direction of the upright post, so as to place the spinning tube on a spinning carriage in a post process, thereby completing doffing of the spinning tube. Because the width of the ground rail groove is limited by 2 cm, the strength of a single guide post and a guide wheel is often insufficient, if a mode of a plurality of guide posts or long guide sheets and the ground rail groove is adopted, the problems of straightness of the ground rail groove and parallelism of the ground rail groove and the top rail are easily caused to be blocked or swing left and right, the butt joint precision of the suspension type package transfer trolley and a winding machine during automatic wire falling is low, and the running speed of the package transfer trolley is influenced.
SUMMERY OF THE UTILITY MODEL
In order to solve the above problem, the utility model provides a loading robot, include: a crown block; the lifting sliding table mechanism is arranged on the crane body of the crown block and comprises a sliding table, a sliding table rail and a lifting device, the sliding table rail and the lifting device are fixedly connected with the crane body, and the lifting device drives the sliding table to move along the sliding table rail; the package loading mechanism is arranged on the sliding table and comprises a base, three loading rods horizontally arranged on the base, a base track and a front detection device for driving the base to move along the base track, and the base track is fixed on the sliding table; the transverse pushing mechanism is arranged on the sliding table and comprises a pushing ring sleeved on the loading rod and a pushing ring driving device for driving the pushing ring to move back and forth relative to the loading rod; and the control mechanism is respectively in communication connection with the travelling mechanism of the crown block, the lifting sliding table mechanism, the package loading mechanism and the transverse moving pushing mechanism.
Further, this overhead traveling crane includes: the vehicle body comprises a stand column, an upper cross beam and a lower cross beam; the traveling mechanism comprises a traveling driving mechanism arranged at the top of the vehicle body and a sky rail matched with the traveling driving mechanism to support the vehicle body to be suspended; the error compensation mechanism comprises a guide mechanism arranged at the bottom of the vehicle body and a ground rail groove matched with the guide mechanism; the guide mechanism comprises two guide shafts which are parallel to each other and vertical to the horizontal plane, and the lower parts of the guide shafts are vertically inserted into the ground rail grooves to limit the posture of the vehicle body.
Further, the guide mechanism further comprises: the guide shaft is connected with the lower rotating plate through a guide bearing; the rotary plate is fixed on the lower flange; the lower flange is movably connected to the upper flange through a rotary bearing, and the upper flange is fixed at the bottom of the vehicle body.
Preferably, the guide bearing includes an upper bearing and a lower bearing which are fitted over an upper portion of the guide shaft to define a vertical state of the guide shaft.
Preferably, the width of the ground rail groove is less than or equal to 2 cm.
Preferably, the lifting device is a lifting sling device driven by a servo motor.
Furthermore, the sliding table driving device further comprises a sliding table displacement sensor used for controlling the vertical sliding range of the sliding table, and the sliding table displacement sensor is arranged on the crown block body.
Furthermore, this forestope device includes the loading pole drive arrangement and the horizontal dress pole guide rail that sets up, and this loading pole drive arrangement and this loading pole guide rail fixed connection are in this slip table, and this loading pole drive arrangement drives this loading pole along this loading pole guide rail horizontal migration.
Preferably, the front detection device further comprises a loading rod in-place sensor arranged on the sliding table.
Furthermore, the push ring driving device is a rail slider device, and a rail of the push ring driving device is arranged on the base.
Preferably, the vehicle further comprises an anti-collision sensor for detecting a human body or an object, and the anti-collision sensor is arranged at the lower part of the vehicle body.
The utility model discloses still provide an automatic transfer system of package, set up between winder and yarn car for load the package paper tube to the winder, and take off the package from this winder and hang the yarn car on, this system includes: the paper tube filling device is used for filling the rolled paper tubes; a package transfer vehicle for transferring the package from the winding machine to the package buffer; a package buffer stage for buffering packages; the loading robot is used for hanging the package on the yarn car; and the control device is respectively in communication connection with the paper tube filling device, the package transfer trolley, the package buffer platform and the loading robot.
Further, the control device includes: the paper tube filling module is used for judging the empty shaft state of the winding machine, controlling the package transfer trolley to obtain a package paper tube from the paper tube filling device and filling the package paper tube to the winding machine; the package receiving module is used for judging whether the winding machine is fully wound with a package, controlling the package transfer trolley to be in butt joint with the winding machine so as to perform package receiving operation, and controlling the package transfer trolley to be in butt joint with the package buffer platform so as to perform package buffer operation; the package buffer module is used for controlling the package buffer platform to receive the package of the package transfer trolley; the package loading module is used for controlling the loading robot to acquire the package from the package caching platform and hang the package on a yarn vehicle; and the record transmission module is used for acquiring, recording and transmitting the package information.
Drawings
Fig. 1 is the utility model discloses a loading robot structure schematic diagram.
Fig. 2 is a schematic structural view of the package loading mechanism and the package ejecting mechanism of the loading robot according to the present invention.
Fig. 3A is a schematic front view cross-sectional structure diagram of the error compensation mechanism of the overhead traveling crane of the present invention.
Fig. 3B is a schematic front view of the error compensation mechanism of the overhead traveling crane according to the present invention.
Fig. 3C is a schematic top view of the error compensation mechanism of the overhead traveling crane of the present invention.
Fig. 3D is the utility model discloses an error compensation mechanism of overhead traveling crane looks sideways at the schematic diagram.
Fig. 4 is a schematic structural view of the automatic package transferring system of the present invention.
Fig. 5 is a schematic structural diagram of a control device of the automatic package transferring system of the present invention.
Wherein the reference numerals are:
1: a winding machine 2: package transfer car (buggy)
3: and (4) yarn vehicle: control device
5: paper tube filling device 6: package buffer storage table
7: the loading robot 8: package of paper
11: winding shaft
21: the socket lever 51: paper tube roll
61: the cache bar 711: vehicle body
711-1: upright column 711-2: upper beam
711-3: the lower cross member 712: walking driving mechanism
713: the sky rail 714: guide mechanism
714-1: guide shaft
714-2: upper guide bearing 714-3: lower guide bearing
714-4: rotary plate 714-5: lower flange
714-6: upper flange 714-7: slewing bearing
721: the sliding table 722: sliding table track
723: lifting device 724: sliding table displacement sensor
74: package loading mechanism 731: base seat
732: the truck-loading lever 733: front detecting device
734: base rail 735: front detecting sensor for loading rod
741. 741': the push ring 742: push ring driving device
743: push ring rail 75: control mechanism
76: anti-collision scanner
Detailed Description
The following detailed description of the embodiments of the present invention is provided in connection with the accompanying drawings, which illustrate only one embodiment of the invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by a person of ordinary skill in the art without any creative effort belong to the protection scope of the present invention.
The utility model discloses an automatic transfer system of package is a full-automatic system, aims at realizing that the chemical fiber trade package is by the automatic transportation of shaping district to next process to improve chemical fiber production technology, the controlgear cost subtracts the labour and reduces workman intensity of labour.
The loading robot in the automatic package transferring system is a suspension type three-axis loading robot, so that loading of three-axis packages can be realized simultaneously, and the loading efficiency is improved. The distance between the upper and lower three shafts of the loading robot is the same as the distance between the shafts of the package temporary storage table and the distance between the upper and lower three positions of the wire hanging position of the special package trolley (wire trolley).
The utility model discloses a loading robot adopts the overhead traveling crane system, and ground is the ground rail groove, because the workshop needs special silk car to pass through, so the ground rail groove can not be too wide, what need adopt is the narrow groove. Because the ground rail groove is very narrow, the guide shaft of the guide mechanism is installed on the rotary plate by adopting a bearing, the guide shaft is inserted into the ground rail groove, and the guide shaft can rotate and rub with the ground rail groove in a rolling manner when the loading robot runs. And the front guide shaft and the rear guide shaft can rotate around the whole body of the overhead traveling crane, so that self-centering can be realized when the overhead rail groove and the overhead rail are horizontal, and the overhead traveling crane body deformation caused by poor parallelism of the overhead rail and the overhead rail groove is prevented from being subjected to torsion. And the side force caused by poor parallelism of the top rail and the ground rail groove can be reduced.
Fig. 1 is the utility model discloses a loading robot structure schematic diagram. As shown in fig. 1, the loading robot of the present invention includes a crown block, a lifting sliding table mechanism, a package loading mechanism, a traverse pushing mechanism and a control mechanism; the overhead travelling crane comprises a crane body, a travelling mechanism and an error compensation mechanism, wherein the crane body is of a frame structure and comprises a vertical column 711-1, an upper cross beam 711-2 and a lower cross beam 711-3, and a plurality of middle cross beams can be arranged between the upper cross beam 711-2 and the lower cross beam 711-3 so as to enhance the structural strength of the crane body or facilitate the mounting of equipment; the traveling mechanism comprises a traveling driving mechanism 712 and a sky rail 713, the traveling driving mechanism 712 and the sky rail 713 are matched with each other, in this embodiment, the traveling driving mechanism 712 is a traveling wheel device and comprises 1 driving wheel, 1 driven wheel and 8 groups of guide wheels, the vehicle body is hung on the sky rail 713 through a C-shaped structure and provides horizontal driving, the driving wheel is driven by a servo motor to meet the accuracy requirement that the horizontal direction movement error of the vehicle body is within 5 mm, and the traveling mechanism is widely applied to overhead travelling crane systems of production activities in various industries and belongs to a conventional technical means, so the details are omitted; error compensation mechanism includes guiding mechanism 714 and ground rail groove 715, and guiding mechanism 714 and ground rail groove 715 mutually support, play the slope error effect that reduces the overhead traveling crane plummet direction, for the smooth and easy operation of the interior silk car of convenient shaping district, ground rail 715 has adopted the ground rail groove that does not bulge ground, and the ground rail groove is the slot, and the slot width is not more than 2 centimetres. In this embodiment, the suspension type package transfer car (buggy) that the adoption has the same structure with the loading robot, consequently, loading robot car can transport the same day rail of sharing and ground rail with the suspension type package, also can set up independent day rail and ground rail, the utility model discloses not use this as the limit.
The lifting sliding table mechanism comprises a sliding table 721, a sliding table rail 722 and a lifting device 723, the sliding table 721 is a mounting platform of the package loading mechanism and the package pushing-out mechanism, the sliding table rail 232 is arranged on the upright column 711-1, the sliding table 721 is driven by the lifting device 723 to move up and down along the sliding table rail 722 to drive the package loading mechanism and the package pushing-out mechanism to move up and down, so that the package loading mechanism can align a yarn car in the vertical direction to load a package; in this embodiment, the lifting device 723 adopts a manner of two sets of reels driven by a servo motor and lifting straps to lift the sliding table 721, so as to meet the precision requirement that the vertical sliding error of the sliding table 721 is within 5 mm, and achieve the effects of simplifying the structure, reducing noise, making the operation more stable and reducing the equipment cost; other linear drive modes can also be adopted to hoist mechanism, for example be wire rope lifting means, hinge lifting means, linear electric motor lifting means or screw slider lifting means etc, the utility model discloses not use this as the limit.
The control mechanism 75 is a conventional PLC controller, and controls the crown block, the lift slide mechanism, the package loading mechanism, and the package ejecting mechanism by receiving a control signal from the control device. The control mechanism 75 is disposed between the vertical columns 711-1 at the lower part of the overhead traveling crane, and may be disposed at other positions that do not hinder the receiving operation of the package transfer trolley, but the present invention is not limited thereto.
Fig. 2 is a schematic structural view of the package loading mechanism and the package ejecting mechanism of the loading robot according to the present invention. As shown in fig. 2, the package loader mechanism includes a base 731, a loading bar 732, a lead 733, and a base rail 734; the loading rods 732 are horizontally disposed and fixedly connected to the base 731, in this embodiment, the loading rods 732 are 3 to correspond to 3 lines of buffer rods of the package buffer platform, the base 731 is movably connected to the sliding platform 721 through the front detecting device 733 and the base rail 734, and can move horizontally under the driving of the front detecting device 733 to drive the loading rods 732 to move forward or return in the process of carrying out the package operation or the loading operation, the front detecting device 733 adopts a rack and pinion mode driven by a servo motor or other linear driving modes, such as a linear motor, a cylinder piston or a screw slider, etc., but the present invention is not limited thereto; the package pushing mechanism includes a push ring 741 and a push ring driving device 742, wherein the push ring 741 is fitted around the loading lever 732 and is driven by the push ring driving device 742 to move in an axial direction of the loading lever 732 so as to push out the package hung on the loading lever 732, and the push ring 741' is in a state when the push ring 741 is in a pushing position in fig. 2.
Fig. 3A is the utility model discloses an error compensation mechanism of overhead traveling crane looks squarely sectional structure schematic diagram, and fig. 3B is the utility model discloses an error compensation mechanism of overhead traveling crane looks squarely sectional structure schematic diagram, and fig. 3C is the utility model discloses an error compensation mechanism of overhead traveling crane looks down the structural schematic diagram, and fig. 3D is the utility model discloses an error compensation mechanism of overhead traveling crane looks sideways at the structural schematic diagram. As shown in fig. 3A, 3B, 3C and 3D, the guiding mechanism includes two sets of guiding shafts, which are inserted into the ground rail groove to guide the body of the overhead traveling crane, each set of guiding shafts includes a guiding shaft 714-1, the guiding shaft 714-1 is connected to both sides of the joint of the revolving plate 714-4 and the lower flange 714-5 through an upper guiding bearing 714-2 and a lower guiding bearing 714-3, the lower flange 714-5 is connected to the revolving plate 714-4 and is connected to the upper flange 714-6 through a revolving bearing 714-7, and the upper flange 714-6 is connected to the lower beam 711-3; the guide shaft 714-1 is connected with the rotary plate 714-4 through two bearings (an upper guide bearing 714-2 and a lower guide bearing 714-3), so that the bearing capacity of the guide shaft 714-1 on radial acting force can be increased, and the guide precision is further improved; in this embodiment, the guide shaft 714-1 is connected to the upper guide bearing 714-2 and the lower guide bearing 714-3 by a threaded nut, the upper guide bearing 714-2, the lower guide bearing 714-3 and the rotating plate 714-4 are connected by a pressing plate bolt, the rotating plate 714-4 is connected to the lower flange 714-5, the lower flange 714-5 is connected to the rotating bearing 714-7, the rotating bearing 714-7 is connected to the upper flange 714-6, and the lower beam 711-3 of the upper flange 714-6 is connected to the lower beam by a bolt, or may be fixedly connected in other manners, such as welding, riveting, and the like.
In order to make the receiving operation more accurate, the package transfer trolley of the utility model is also provided with a plurality of sensors, as shown in fig. 1, 2, and 3A, a vehicle body stroke sensor 712-1 for controlling the horizontal traveling range of the vehicle body is provided on the travel driving mechanism 712, a sliding table displacement sensor 724 for controlling the vertical sliding range of the sliding table 721 is arranged on the upright 711-1, a loading lever in-place sensor 735 for controlling the loading lever 732 to butt against the package buffer table or the yarn car is provided on the sliding table 721, and a collision avoidance scanner 76 for detecting a human body or an object, which is provided at the lower portion of the pillar 711-1, the car body travel sensor 712-1 and the sliding table displacement sensor 724 are travel switches, the loading rod in-place sensor 735 is a proximity switch, the collision avoidance scanner 76 is an infrared scanner or an ultrasonic scanner, and the above sensors can also be other sensors with corresponding functions.
The utility model discloses still provide an automatic transfer system of package, set up between winder and yarn car. Fig. 4 is a schematic structural view of the automatic package transferring system of the present invention. As shown in fig. 4, the automatic package transferring system of the present invention includes: the automatic packaging machine comprises a winding machine 1, a package transfer trolley 2, a yarn trolley 3, a control device 4, a paper tube filling device 5, a package buffer table 6 and a loading robot 7, wherein the yarn trolley 3 is arranged at a transfer station P1, and the control device 4 is respectively in communication connection with the package transfer trolley 2, the paper tube filling device 5, the package buffer table 6 and the loading robot 7; when the paper tube package loading operation is performed, the package transfer trolley 2 is butted with the paper tube loading device 5 under the control of the control device 4, the receiving rod 21 receives the paper tube package 51, and then is butted with the winding machine 1 of the hollow shaft, and the paper tube package 51 on the receiving rod 21 is loaded on the winding shaft 11 of the winding machine 1; when the package transfer operation is performed, the package transfer vehicle 2 is butted against the winding machine 1 under the control of the control device 4, the receiving rod 21 receives the package 8, transfers the package 8 to the transfer station P1, and buffers the package on the buffer rod 61 of the package buffer table 6, and when the control device 4 issues a loading instruction, the loading robot 7 is butted against the designated buffer rod 61 of the package buffer table 6 according to the loading instruction, the pusher of the designated buffer rod 61 pushes the package 8 to the loading rod 732 of the loading robot 7, and the loading robot 7 is butted against the yarn car 3, and the package 8 is hung on the yarn hanging positions of the yarn car 3 one by one. In the embodiment of the present invention, the yarn car 3 has A, B two sides, and each side has a plurality of yarn hanging positions, and the yarn car 3 can rotate, so that the loading robot 7 can hang the package on the yarn hanging positions on the A, B two sides of the yarn car 3.
Fig. 5 is a schematic diagram of a control device of an automatic package transfer system according to the present invention, as shown in fig. 5, the automatic package transfer system of the present invention is controlled by the control device to perform package transfer control, the control device includes a paper tube loading module 41, a package receiving module 42, a package buffer module 43, a package loading module 44 and a record transmission module 45, wherein the paper tube loading module 41 is used for determining an empty shaft state ① of the winding machine 1, when the winding machine 1 is in the empty shaft state, the paper tube loading module 41 sends a paper tube loading command ② to the package transfer vehicle 2 and the paper tube loading device 5, the package transfer vehicle 2 runs to the paper tube loading device 5 to receive a package paper tube and then runs to the winding machine 1 of the empty shaft to load the package tube onto the winding shaft of the winding machine 1, the package buffer module 42 is used for determining whether the package on the winding machine 1 is full, if the package transfer vehicle 1 is full, the package buffer module sends a package buffer command ④ to the package transfer vehicle 2 to control module to control the package buffer module to receive the package buffer record buffer when the package buffer record transfer information on the package transfer vehicle 2, the package receiving module 6, and the package buffer module sends a package buffer module to receive the package buffer record transfer vehicle buffer command 3876, when the package buffer record information from the package transfer vehicle 6, the package transfer vehicle 2, the package transfer vehicle transfer module 6, the package buffer module 6, the package transfer vehicle transfer module 6, the package transfer vehicle transfer module 6, the package buffer module is used for monitoring module, the package buffer module 6, and the package buffer module sends a package buffer module, the package buffer module 6, when the package buffer module, the package buffer module is used for monitoring module, the package buffer module 6, the package buffer module sends a package buffer module, the package buffer module 6, the package buffer module is used for monitoring module, the package buffer module is used for monitoring module.
The description and applications of the present invention are illustrative and are not intended to limit the scope of the invention to the embodiments described above. Variations and modifications of the embodiments disclosed herein are possible, and alternative and equivalent various components of the embodiments will be apparent to those skilled in the art. It will be clear to those skilled in the art that the present invention may be embodied in other forms, structures, arrangements, proportions, and with other components, materials, and parts, without departing from the spirit or essential characteristics thereof. Thus, if such modifications and variations of the present invention fall within the scope of the claims and their equivalents, the present invention is also intended to include such modifications and variations.
Claims (13)
1. A loading robot, comprising:
a crown block;
the lifting sliding table mechanism is arranged on the crane body of the crown block and comprises a sliding table, a sliding table rail and a lifting device, the sliding table rail and the lifting device are fixedly connected with the crane body, and the lifting device drives the sliding table to move along the sliding table rail;
the package loading mechanism is arranged on the sliding table and comprises a base, three loading rods horizontally arranged on the base, a base track and a front detection device for driving the base to move along the base track, and the base track is fixed on the sliding table;
the transverse pushing mechanism is arranged on the sliding table and comprises a pushing ring sleeved on the loading rod and a pushing ring driving device for driving the pushing ring to move back and forth relative to the loading rod;
and the control mechanism is respectively in communication connection with the travelling mechanism of the crown block, the lifting sliding table mechanism, the package loading mechanism and the transverse moving pushing mechanism.
2. The loading robot of claim 1, wherein the crown block comprises:
the vehicle body comprises a stand column, an upper cross beam and a lower cross beam;
the traveling mechanism comprises a traveling driving mechanism arranged on the upper cross beam and a top rail matched with the traveling driving mechanism to support the vehicle body to be suspended;
the error compensation mechanism comprises a guide mechanism arranged on the lower cross beam and a ground rail groove matched with the guide mechanism;
the guide mechanism comprises two guide shafts which are parallel to each other and vertical to the horizontal plane, and the lower parts of the guide shafts are vertically inserted into the ground rail grooves to limit the posture of the vehicle body.
3. The loading robot of claim 2, wherein the guide mechanism further comprises:
the guide shaft is connected with the lower rotating plate through a guide bearing;
the rotary plate is fixed on the lower flange;
the lower flange is movably connected to the upper flange through a rotary bearing, and the upper flange is fixed at the bottom of the vehicle body.
4. The loading robot as claimed in claim 3, wherein the guide bearing includes an upper bearing and a lower bearing, the upper bearing and the lower bearing being fitted over an upper portion of the guide shaft to define a vertical state of the guide shaft.
5. The loading robot of claim 3, wherein the width of the ground rail slot is less than or equal to 2 cm.
6. The loading robot of claim 1, wherein the lifting mechanism is a servo motor driven lifting sling mechanism.
7. The loading robot as claimed in claim 6, wherein the slide table driving means further includes a slide table displacement sensor for controlling a vertical sliding range of the slide table, provided on the body of the overhead traveling crane.
8. The loading robot of claim 1, wherein the front probing device comprises a loading rod driving device and a horizontally arranged loading rod guide rail, the loading rod driving device and the loading rod guide rail are fixedly connected to the sliding table, and the loading rod driving device drives the loading rod to move horizontally along the loading rod guide rail.
9. The loading robot of claim 8, wherein the front detecting means further comprises a loading lever in-position sensor provided on the slide table.
10. The loading robot of claim 1, wherein the push ring driving device is a rail slider device, and a rail of the push ring driving device is disposed on the base.
11. The loading robot of claim 5, further comprising a collision avoidance sensor for detecting a human body or an object, disposed at a lower portion of the vehicle body.
12. An automatic package transfer system, arranged between a winding machine and a yarn car, for loading a paper tube package into the winding machine and taking off the package from the winding machine to be hung on the yarn car, is characterized by comprising:
the paper tube filling device is used for filling the rolled paper tubes;
a package transfer vehicle for transferring the package from the winding machine to the package buffer;
a package buffer stage for buffering packages;
a loading robot as claimed in any one of claims 1 to 11 for loading the package onto the creel; and
and the control device is respectively in communication connection with the paper tube filling device, the package transfer trolley, the package buffer platform and the loading robot.
13. The automatic package transfer system of claim 12, wherein the control device comprises:
the paper tube filling module is used for judging the empty shaft state of the winding machine, controlling the package transfer trolley to obtain a package paper tube from the paper tube filling device and filling the package paper tube to the winding machine;
the package receiving module is used for judging whether the winding machine is fully wound with a package, controlling the package transfer trolley to be in butt joint with the winding machine so as to perform package receiving operation, and controlling the package transfer trolley to be in butt joint with the package buffer platform so as to perform package buffer operation;
the package buffer module is used for controlling the package buffer platform to receive the package of the package transfer trolley;
the package loading module is used for controlling the loading robot to acquire the package from the package caching platform and hang the package on a yarn vehicle; and
and the recording and transmitting module is used for acquiring, recording and transmitting the package information.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920408862.6U CN210064774U (en) | 2019-03-28 | 2019-03-28 | Loading robot and automatic package transfer system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920408862.6U CN210064774U (en) | 2019-03-28 | 2019-03-28 | Loading robot and automatic package transfer system |
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| CN210064774U true CN210064774U (en) | 2020-02-14 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111776878A (en) * | 2020-07-01 | 2020-10-16 | 兴惠化纤集团有限公司 | Sea-island composite filament production equipment and production process thereof |
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2019
- 2019-03-28 CN CN201920408862.6U patent/CN210064774U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111776878A (en) * | 2020-07-01 | 2020-10-16 | 兴惠化纤集团有限公司 | Sea-island composite filament production equipment and production process thereof |
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