CN216512153U

CN216512153U - Yarn feeding system of fixed creel robot

Info

Publication number: CN216512153U
Application number: CN202123254814.2U
Authority: CN
Inventors: 徐曙; 黄权章; 徐博; 陈东其; 曹烨程
Original assignee: Jiangsu Hejiali Intelligent Technology Co ltd
Current assignee: Jiangsu Hejiali Intelligent Technology Co ltd
Priority date: 2021-12-22
Filing date: 2021-12-22
Publication date: 2022-05-13
Anticipated expiration: 2031-12-22

Abstract

The application relates to the field of textile equipment, and discloses a yarn feeding system of a fixed creel robot, which comprises a tray conveying line, wherein the tray conveying line is used for conveying a whole stack of cone yarns; the automatic yarn feeding trolley is used for carrying the cone yarn to move to one side of the fixed creel and pushing the cone yarn to the fixed creel; the yarn grabbing robot is located between the automatic yarn feeding trolley and the tray conveying line and used for grabbing cone yarns and hanging the cone yarns on the automatic yarn feeding trolley. This application has the operation of the last yarn of convenient fixed creel, promotes the effect of yarn efficiency on the fixed creel.

Description

Yarn feeding system of fixed creel robot

Technical Field

The application relates to the field of textile equipment, in particular to a yarn feeding system of a fixed creel robot.

Background

The fixed creel is a frame for placing raw materials by the loom, the raw materials of the loom are generally cylindrical cone yarns, a plurality of yarn hanging rods are horizontally arranged on the fixed creel, and the cone yarns are sleeved on the yarn hanging rods and used by the loom.

When the fixed creel is fed with yarns, a forklift is generally used for driving a tray filled with cone yarns to reach one side of the fixed creel, and then the cone yarns are sleeved on a yarn hanging rod of the fixed creel manually.

In the process of implementing the application, the inventor finds that at least the following problems exist in the technology: the fixed creel is manually fed, so that physical consumption is large, feeding efficiency is low, and normal production work of the loom is influenced.

SUMMERY OF THE UTILITY MODEL

In order to facilitate the yarn feeding operation of the fixed creel and improve the yarn feeding efficiency of the fixed creel, the application provides a yarn feeding system of a fixed creel robot.

The application provides a yarn system on fixed creel robot adopts following technical scheme:

a yarn feeding system of a fixed creel robot comprises a tray conveying line, a yarn feeding device and a yarn feeding device, wherein the tray conveying line is used for conveying a whole stack of cone yarns;

the automatic yarn feeding trolley is used for carrying the cone yarn to move to one side of the fixed creel and pushing the cone yarn to the fixed creel;

the yarn grabbing robot is located between the automatic yarn feeding trolley and the tray conveying line, and is used for grabbing cone yarns and hanging the cone yarns on the automatic yarn feeding trolley.

Through adopting above-mentioned technical scheme, the tray that will put in a pile has section of thick bamboo yarn directly places on the tray transfer chain, utilize the tray transfer chain to carry the tray, can once only place a plurality of trays on the tray transfer chain, when the tray reaches and grabs yarn machine people one side, utilize and grab yarn machine people and snatch section of thick bamboo yarn, and place on the automatic dolly that goes up, utilize the automatic dolly that goes up to drive section of thick bamboo yarn and move to one side of fixed creel, go on the yarn operation, thereby the operation of going up of convenient fixed creel, promote the efficiency of yarn on the fixed creel.

Optionally, the tray transfer chain includes a plurality of end to end's conveyer, the end of tray transfer chain is provided with empty tray and piles up the machine, empty tray piles up the machine and is used for collecting empty tray, one side of the end of tray transfer chain sets up the baffle collection frame, the baffle collection frame is used for stacking the baffle.

Through adopting above-mentioned technical scheme, grab yarn machine robot and snatch the section of thick bamboo yarn of one deck after, take off the baffle and place on the baffle collection frame, then continue to snatch the section of thick bamboo yarn, section of thick bamboo yarn on the whole tray snatchs and accomplishes the back, and the conveyer continues to carry the tray, then utilizes empty tray stacker to collect empty tray to make the last yarn operation of fixed creel more convenient.

Optionally, empty tray stacker includes that the tray piles up the frame, sets up jacking frame, the jacking piece that the drive jacking frame goes up and down and the fixed bearing subassembly that sets up on tray pile frame in tray pile frame bottom, the conveyer is followed pass in the tray pile frame, the last formation of tray pile frame holds the space that piles up of empty tray, jacking piece is less than conveyer plane setting, jacking frame is used for the tray jack-up of carrying to its body top, bearing subassembly is provided with two about tray direction of delivery symmetry, bearing subassembly is used for the bearing by the tray of jack-up.

Through adopting above-mentioned technical scheme, when empty tray transports to jacking frame top, utilize jacking piece to empty tray jack-up, then the bearing subassembly carries out the bearing to the tray by the jack-up, jacking frame resets simultaneously, when next empty tray transports to jacking frame top once more, jacking piece will next empty tray jacking to contradict with the tray of collecting before, the bearing to empty tray is relieved to bearing subassembly this moment, make the whole pile together of empty tray, then repeat above-mentioned step, realize piling up of empty tray.

Optionally, the bearing subassembly is including fixed setting up mounting panel, the bearing cardboard of slip setting on the mounting panel and the gliding driving piece of drive bearing cardboard on the tray stacked frame, the bearing cardboard is higher than the tray transfer chain sets up, the bearing cardboard slides along the direction of delivery of perpendicular to tray.

Through adopting above-mentioned technical scheme, utilize driving piece drive bearing cardboard to slide, the jacking piece is with empty tray jack-up back, and the bearing cardboard slides to the bottom of empty tray, carries out the bearing to empty tray, and the bearing cardboard slides the back that resets, removes the bearing to empty tray.

Optionally, except for the side closest to the end of the tray conveying line, the tray stacking frame is provided with a plurality of collecting limiting rods on the other three sides of the empty tray, the collecting limiting rods are vertically arranged, and the collecting limiting rods are fixedly connected with the tray stacking frame.

Through adopting above-mentioned technical scheme, when the tray that piles up was by the jacking, utilize and collect the gag lever post and carry on spacingly to the tray that piles up, make the tray that piles up more neat, be difficult for producing the slope, reduce the tray and pile up the back and produce the possibility of empting.

Optionally, the automatic yarn feeding trolley comprises a trolley body, a yarn hanging frame fixedly arranged on the trolley body and a plurality of yarn feeding rods horizontally arranged on one side of the yarn hanging frame, the yarn hanging frame is vertically arranged, a yarn pushing rod is slidably arranged on the yarn hanging frame and is located on one side, close to the yarn feeding rod, of the yarn hanging frame, and the yarn pushing rod slides along the direction parallel to the axis of the yarn feeding rod.

Through adopting above-mentioned technical scheme, utilize and go up the yarn pole and hang the yarn, then automatic yarn dolly automatic operation to the position that needs the yarn of going up, push away the yarn pole this moment and slide along being on a parallel with yarn pole axis direction, with section of thick bamboo yarn propelling movement to fixed creel on.

Optionally, the automatic yarn feeding trolley and the transfer and turning mechanism are further arranged between the tray conveying lines, the transfer and turning mechanism comprises a support frame, a rotating seat arranged on the support frame in a sliding mode, a transfer creel arranged on the rotating seat in a rotating mode and a plurality of transfer yarn rods fixedly arranged on the transfer creel, the rotating seat slides along the conveying direction perpendicular to the tray, and the transfer yarn rods are horizontally arranged.

Through adopting above-mentioned technical scheme, according to the technological requirement of loom some, fixed creel has the requirement of positive and negative direction to the section of thick bamboo yarn, when the direction of section of thick bamboo yarn needs to change, the transfer creel rotates to the orientation and grabs the yarn machine robot, it hangs on transfer yarn pole with grabbing good section of thick bamboo yarn earlier to grab the yarn machine robot, then the transfer creel rotates to the automatic dolly that goes up of orientation, and slide to the direction that is close to the automatic dolly that goes up yarn, make transfer yarn pole and last yarn pole align, on pushing up the yarn pole with the section of thick bamboo yarn on the transfer yarn pole, realize the change of section of thick bamboo yarn direction, adapt to the technological requirement of different looms.

Optionally, the transfer creel is provided with the transfer and pushes away the creel on the slip, the transfer pushes away the creel and is located the transfer creel is close to one side of transfer yarn pole, the transfer pushes away the creel along being on a parallel with the slip of transfer yarn pole axis direction.

Through adopting above-mentioned technical scheme, after the middle commentaries on classics yarn pole aligns with last yarn pole, utilize the transfer to push away the creel and promote section of thick bamboo yarn and slide along the direction that is on a parallel with transfer yarn pole axis, make the section of thick bamboo yarn on the transfer yarn pole slide to supreme yarn pole on, further make things convenient for the last yarn operation of fixed creel, promote the efficiency of yarn on the fixed creel.

In summary, the present application includes at least one of the following beneficial technical effects:

1. the automatic yarn feeding trolley is used for driving the cone yarn to move to one side of the fixed creel to perform yarn feeding operation, so that the yarn feeding operation of the fixed creel is facilitated, and the yarn feeding efficiency of the fixed creel is improved;

2. after the yarn grabbing robot grabs a layer of cone yarns, the partition plate is taken down and placed on the partition plate collecting frame, then the cone yarns are continuously grabbed, after the cone yarns on the whole tray are grabbed, the conveyor continues to convey the tray, and then the empty tray is collected by using the empty tray stacking machine, so that the yarn feeding operation of fixing the yarn frame is more convenient;

3. according to the technological requirements of some looms, the fixed creel has the requirement of positive and negative direction to the section of thick bamboo yarn, when the direction of section of thick bamboo yarn needs to change, the transfer creel rotates to the orientation and grabs the yarn machine robot, it hangs the section of thick bamboo yarn of grabbing on the transfer yarn pole earlier to grab the yarn machine robot, then the transfer creel rotates to the automatic dolly that goes up the yarn of orientation, and slide to the direction that is close to the automatic dolly that goes up the yarn, make transfer yarn pole and last yarn pole align, on pushing the section of thick bamboo yarn on the transfer yarn pole to last yarn pole, realize the change of section of thick bamboo yarn direction, adapt to the technological requirements of different looms.

Drawings

Fig. 1 is a schematic overall structure diagram of an embodiment of the present application.

Fig. 2 is a schematic diagram showing a conveyor in cooperation with an empty tray stacker in an embodiment of the present application.

Fig. 3 is a schematic diagram showing the structure of an empty tray stacker in the embodiment of the present application.

FIG. 4 is a schematic view showing the structure of an automatic yarn feeding trolley in the embodiment of the present application.

Fig. 5 is a schematic diagram of a transfer mechanism embodied in the embodiment of the present application.

Description of reference numerals:

01. cone yarn; 02. a tray; 03. a partition plate; 1. a pallet conveyor line; 11. a conveyor; 2. automatic yarn feeding trolley; 21. a vehicle body; 22. a yarn hanging rack; 23. a yarn feeding rod; 24. pushing a yarn rod; 3. a yarn grabbing robot; 4. an empty tray stacker; 41. a tray stacking frame; 411. collecting the limiting rods; 42. a jacking frame; 421. a guide post; 43. a jacking piece; 44. a holding assembly; 441. mounting a plate; 442. supporting the clamping plate; 443. a drive member; 444. a guide bar; 5. a shelf for collecting the partition boards; 6. a transfer U-turn mechanism; 61. a support frame; 62. a rotating seat; 621. a rotary speed reducer; 63. transferring a creel; 64. a transfer yarn rod; 65. a middle pushing creel.

Detailed Description

The present application is described in further detail below with reference to figures 1-5.

The embodiment of the application discloses a yarn feeding system of a fixed creel robot. Referring to fig. 1, the yarn feeding system of the fixed creel robot comprises a tray conveying line 1, an automatic yarn feeding trolley 2 and a yarn grabbing robot 3, wherein the automatic yarn feeding trolley 2 is arranged on one side of the tray conveying line 1, and the yarn grabbing robot 3 is arranged between the yarn grabbing robot 3 and the automatic yarn feeding trolley 2.

Referring to fig. 1, the whole pile of the cheese 01 and the tray 02 are directly placed on the tray conveying line 1, the tray 02 is conveyed by the tray conveying line 1, when the tray 02 is conveyed to one side of the yarn grabbing robot 3, the yarn grabbing robot 3 is used for grabbing the cheese 01, the cheese 01 is hung on the automatic yarn feeding trolley 2, and then the automatic yarn feeding trolley 2 carries the cheese 01 to move to one side of the fixed creel for yarn feeding operation.

Referring to fig. 1, the pallet conveyor line 1 includes a plurality of conveyors 11 connected end to end, and the conveyors 11 are chain conveyors 11 in the prior art. An empty tray stacker 4 is arranged at a position close to the tail end of the tray conveying line 1, a partition collecting frame 5 is arranged on one side of the empty tray stacker 4, the partition collecting frame 5 is placed on the ground, and the partition collecting frame 5 is used for stacking a partition 03 between two layers of cone yarns 01.

Referring to fig. 2 and 3, the empty tray stacker 4 includes a tray stacking frame 41, a lift frame 42, a lift member 43, and a holding member 44, the tray stacking frame 41 being vertically disposed, the conveyor 11 passing through the middle of the tray stacking frame 41, and a stacking space for accommodating the empty tray 02 being formed on the tray stacking frame 41. Jacking piece 43 is fixed to be set up on tray stack frame 41, and jacking piece 43 can be cylinder, hydro-cylinder or jacking motor, and jacking motor is taken as the example to this embodiment, and jacking motor's jacking axle moves along vertical direction, and jacking piece 43 is less than 11 conveying plane settings of conveyer.

Referring to fig. 3, the jacking frame 42 is fixedly connected with a jacking shaft of the jacking motor, a plurality of guide posts 421 are arranged at the bottom of the jacking frame 42, the guide posts 421 slide to penetrate through the tray stacking frame 41, and the guide posts 421 are used for guiding and limiting the sliding of the jacking frame 42.

Referring to fig. 3, two of the seating members 44 are symmetrically disposed about the conveying direction of the tray 02, each seating member 44 includes a mounting plate 441, a seating catch plate 442, and a driving member 443, the mounting plate 441 is vertically disposed on the tray stacking frame 41 and is fixedly connected to the tray stacking frame 41, and the mounting plate 441 is disposed higher than the conveying plane of the conveyor 11. The holding catch 442 is located on the side of the mounting plate 441 adjacent the tray 02.

Referring to fig. 3, the driving element 443 is fixedly disposed on the mounting plate 441, the driving element 443 may be an air cylinder or an electric cylinder, in this embodiment, the driving element 443 is an air cylinder, a piston rod of the air cylinder slides through the mounting plate 441, the piston rod of the air cylinder moves along the plate perpendicular to the conveying direction of the tray 02, and the supporting clamping plate 442 is fixedly connected to the piston rod of the air cylinder.

Referring to fig. 2 and 3, in the direction of height, leave the clearance that supplies tray 02 to get into between bearing cardboard 442 and the tray transfer chain 1, when empty tray 02 was transported to jacking frame 42 top, utilize jacking piece 43 with empty tray 02 jack-up, then bearing cardboard 442 forward slides to the below of tray 02 edge, carries by the tray 02 of jack-up, and then jacking frame 42 resets.

Referring to fig. 3, when the next empty tray 02 is transported to the position above the jacking frame 42 again, the jacking piece 43 jacks the next empty tray 02 to be abutted against the tray 02 collected before, at this time, the supporting clamping plate 442 slides reversely, the supporting of the empty tray 02 is released, the empty trays 02 are all stacked together, and then the steps are repeated, so that the empty trays 02 are stacked.

Referring to fig. 3, in order to guide and limit the sliding of the support card 442, two guide rods 444 are fixedly connected to each support card 442, the guide rods 444 are disposed along the sliding direction of the support card 442, and the two guide rods 444 are slidably inserted into the mounting plate 441.

Referring to fig. 1 and 4, the automatic yarn feeding trolley 2 comprises a trolley body 21, a yarn hanging rack 22 and a yarn feeding rod 23, the yarn hanging rack 22 is fixedly arranged on the trolley body 21, the yarn hanging rack 22 is vertically arranged, the yarn feeding rod 23 is provided with a plurality of groups along the horizontal direction on one side of the yarn hanging rack 22, the yarn feeding rod 23 in each group is arranged along the vertical direction, the yarn feeding rod 23 is horizontally arranged, one end of the yarn feeding rod 23 is fixedly connected with the yarn hanging rack 22, and the arrangement rule and the arrangement interval of the yarn feeding rod 23 are consistent with the arrangement rule and the arrangement interval of the yarn hanging rod. Yarn grabbing robot 3 is a finished product purchased in the prior art, a plurality of outward-expanding electric clamping jaws are arranged on a manipulator of yarn grabbing robot 3, and yarn grabbing robot 3 grabs the bobbin yarn 01 and then sleeves the bobbin yarn on yarn feeding rod 23.

Referring to fig. 4, in order to facilitate the unloading of the yarn hanging rack 22, a yarn pushing rod 24 is arranged on one side of the yarn hanging rack 22 close to the yarn feeding rods 23, one yarn pushing rod 24 is arranged corresponding to each group of yarn feeding rods 23, the yarn feeding rods 23 penetrate through the yarn pushing rods 24, the yarn pushing rods 24 axially slide along the yarn feeding rods 23, and the yarn pushing rods 24 are driven by air cylinders arranged on the yarn hanging rack 22. After the automatic yarn feeding trolley 2 carries the cone yarn 01 to a yarn feeding position, the cone yarn 01 is pushed to the fixed creel by the sliding of the yarn pushing rod 24.

Referring to fig. 1 and 5, in actual production, due to the technological requirements of some looms, the fixed creel has the requirement of the front and back directions of the cone yarn 01, so that the cone yarn 01 needs to be reversed sometimes. Consequently still be provided with the transfer mechanism of turning round 6 between automatic yarn dolly 2 and the tray transfer chain 1 of going up, the transfer mechanism of turning round 6 includes support frame 61, rotate seat 62, transfer creel 63 and transfer yarn pole 64, support frame 61 is fixed to be set up subaerial, it slides and sets up on support frame 61 to rotate seat 62, it slides along the direction of delivery of perpendicular to tray 02 to rotate seat 62, the slip of rotating seat 62 is realized through the cylinder that sets up on support frame 61, the slip of rotating seat 62 leads and spacing through linear guide and gliding cooperation.

Referring to fig. 4 and 5, a rotary speed reducer 621 is fixedly arranged on the rotary base 62, the transfer creel 63 is vertically arranged, and the bottom of the transfer creel 63 is fixedly connected with the rotary speed reducer 621. A plurality of transfer yarn rods 64 are fixedly arranged on one side of the transfer creel 63, the transfer yarn rods 64 are horizontally arranged, and the arrangement rule and the arrangement interval of the transfer yarn rods 64 are consistent with those of the upper yarn rods 23.

Referring to fig. 5, a transfer pushing creel 65 is further slidably disposed on the transfer creel 63, the transfer pushing creel 65 is located on one side of the transfer creel 63 close to the transfer yarn rod 64, the transfer pushing creel 65 slides in a direction parallel to the axis of the transfer yarn rod 64, and the sliding of the transfer pushing creel 65 is realized by an air cylinder disposed on the transfer creel 63.

Referring to fig. 4 and 5, when the cheese 01 needs to be reversed, the cheese 01 is hung on the transfer yarn rod 64, and then the intermediate transfer creel 65 pushes the cheese 01 on the transfer yarn rod 64 to the yarn hanging frame 22, so that compared with the case that the cheese 01 is directly hung on the yarn hanging frame 22, the direction of the cheese 01 is changed.

The implementation principle of the yarn feeding system of the fixed creel robot in the embodiment of the application is as follows: the bobbin yarn 01 of the whole pile is directly placed on the tray conveying line 1 together with the tray 02, the tray 02 is conveyed by the tray conveying line 1, when the tray 02 reaches one side of the yarn grabbing robot 3, the bobbin yarn 01 is grabbed by the yarn grabbing robot 3 and hung on the yarn feeding rod 23 of the automatic yarn feeding trolley 2, then the automatic yarn feeding trolley 2 automatically runs to the position where yarn is needed to be fed, the yarn pushing rod 24 slides along the direction parallel to the axis of the yarn feeding rod 23 at the moment, and the bobbin yarn 01 is pushed to the fixed creel.

Grab yarn robot 3 and snatch the section of thick bamboo yarn 01 back of one deck, take off baffle 03 and place on baffle collecting rack 5, utilize baffle collecting rack 5 to collect baffle 03, then continue to snatch section of thick bamboo yarn 01, the section of thick bamboo yarn 01 on the whole tray 02 snatchs the completion back, and conveyer 11 continues to carry tray 02, then utilizes empty tray stacker 4 to collect empty tray 02.

When the bobbin yarn 01 needs to be reversed, the transfer creel 63 rotates to face the yarn grabbing robot 3, the bobbin yarn 01 is hung on the transfer yarn rod 64, then the transfer creel 63 rotates to face the automatic yarn feeding trolley 2 and slides towards the direction close to the automatic yarn feeding trolley 2, the bobbin yarn 01 on the transfer yarn rod 64 is pushed to the yarn feeding rod 23 of the automatic yarn feeding trolley 2 by utilizing the sliding of the transfer yarn pushing creel 65, and the reversing of the bobbin yarn 01 is finally realized.

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

1. The utility model provides a yarn system on fixed creel robot which characterized in that: the device comprises a tray conveying line (1), wherein the tray conveying line (1) is used for conveying a whole stack of cone yarns (01);

the automatic yarn feeding trolley (2) is used for carrying the cone yarn (01) to move to one side of the fixed creel and pushing the cone yarn (01) to the fixed creel;

the automatic yarn feeding device comprises a yarn grabbing robot (3), the yarn grabbing robot (3) is located between the automatic yarn feeding trolley (2) and the tray conveying line (1), and the yarn grabbing robot (3) is used for grabbing cone yarns (01) and hanging the cone yarns on the automatic yarn feeding trolley (2).

2. A fixed creel robotic loading system as claimed in claim 1, wherein: tray transfer chain (1) includes conveyer (11) of a plurality of end to end, the end of tray transfer chain (1) is provided with empty tray stacker (4), empty tray stacker (4) are used for collecting empty tray (02), one side of the end of tray transfer chain (1) sets up baffle collection frame (5), baffle collection frame (5) are used for stacking baffle (03).

3. A fixed creel robotic loading system as claimed in claim 2, wherein: empty tray stacker (4) stack frame (41), set up jacking frame (42), the jacking piece (43) that drive jacking frame (42) go up and down and fixed bearing subassembly (44) of setting on tray stack frame (41) in tray stack frame (41) bottom at tray stack frame (41), conveyer (11) are followed pass in tray stack frame (41), form the stack space who holds empty tray on tray stack frame (41), jacking piece (43) are less than conveyer (11) plane of delivery sets up, jacking frame (42) are used for jacking tray (02) of carrying to its body top, bearing subassembly (44) are provided with two about tray direction of delivery symmetry, bearing subassembly (44) are used for the bearing by the tray (02) of jack-up.

4. A fixed creel robotic loading system as claimed in claim 3, wherein: the bearing assembly (44) comprises a mounting plate (441) fixedly arranged on the tray stacking frame (41), a bearing clamping plate (442) arranged on the mounting plate (441) in a sliding mode and a driving piece (443) driving the bearing clamping plate (442) to slide, the bearing clamping plate (442) is arranged higher than the tray conveying line (1), and the bearing clamping plate (442) slides along the conveying direction perpendicular to the trays (02).

5. A fixed creel robotic loading system as claimed in claim 3, wherein: except that the tray stacking frame (41) is closest to one side of the tail end of the tray conveying line (1), a plurality of collecting limiting rods (411) are arranged on the other three sides of the empty tray (02), the collecting limiting rods (411) are vertically arranged, and the collecting limiting rods (411) are fixedly connected with the tray stacking frame (41).

6. A fixed creel robotic loading system as claimed in claim 1, wherein: the automatic yarn feeding trolley (2) comprises a trolley body (21), a yarn hanging rack (22) fixedly arranged on the trolley body (21) and a plurality of yarn feeding rods (23) horizontally arranged on one side of the yarn hanging rack (22), wherein the yarn hanging rack (22) is vertically arranged; hang yarn rack (22) and go up the slip and be provided with and push away yarn pole (24), it is located to push away yarn pole (24) hang yarn rack (22) and be close to go up one side of yarn pole (23), push away yarn pole (24) along being on a parallel with go up yarn pole (23) axis direction and slide.

7. A fixed creel robotic loading system as claimed in claim 1, wherein: automatic go up yarn dolly (2) with still be provided with between tray transfer chain (1) and change U-turn mechanism (6), well change U-turn mechanism (6) including support frame (61), slide rotation seat (62) of setting on support frame (61), rotate transfer creel (63) that set up on rotating seat (62) and fixed a plurality of well commentaries on classics yarn pole (64) that set up on transfer creel (63), it slides along the direction of delivery of perpendicular to tray (02) to rotate seat (62), well commentaries on classics yarn pole (64) level sets up.

8. A fixed creel robotic loading system as claimed in claim 7, wherein: the slip is provided with transfer and pushes away creel (65) on transfer creel (63), transfer pushes away creel (65) and is located transfer creel (63) are close to one side of well commentaries on classics yarn pole (64), the transfer pushes away creel (65) along being on a parallel with well commentaries on classics yarn pole (64) axis direction slides.