WO2021142994A1 - 自动化筒子纱装纱上料系统 - Google Patents

自动化筒子纱装纱上料系统 Download PDF

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Publication number
WO2021142994A1
WO2021142994A1 PCT/CN2020/091464 CN2020091464W WO2021142994A1 WO 2021142994 A1 WO2021142994 A1 WO 2021142994A1 CN 2020091464 W CN2020091464 W CN 2020091464W WO 2021142994 A1 WO2021142994 A1 WO 2021142994A1
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Prior art keywords
yarn
package
loading
hanging
bobbin
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PCT/CN2020/091464
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English (en)
French (fr)
Inventor
徐达明
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立信染整机械(广东)有限公司
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Publication of WO2021142994A1 publication Critical patent/WO2021142994A1/zh

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
    • B65G47/90—Devices for picking-up and depositing articles or materials
    • D—TEXTILES; PAPER
    • D06—TREATMENT OF TEXTILES OR THE LIKE; LAUNDERING; FLEXIBLE MATERIALS NOT OTHERWISE PROVIDED FOR
    • D06B—TREATING TEXTILE MATERIALS USING LIQUIDS, GASES OR VAPOURS
    • D06B23/00—Component parts, details, or accessories of apparatus or machines, specially adapted for the treating of textile materials, not restricted to a particular kind of apparatus, provided for in groups D06B1/00 - D06B21/00
    • D06B23/04—Carriers or supports for textile materials to be treated

Definitions

  • the utility model relates to a set of high-efficiency automatic package yarn loading and feeding system, which belongs to the technical field of printing and dyeing automation.
  • the package yarn wrapped around the yarn has always been manually stacked on the yarn bamboo of the yarn reel, and then the yarn reel is transported into the dyeing vat of the dyeing machine.
  • dyeing and finishing machinery as an important industrial industry has been listed as a key project of industrial automation.
  • the above-mentioned manual-operated package yarn loading method is the first part of the solution.
  • the use of electromechanical control instead of manual processing can greatly improve production efficiency and economic benefits.
  • In order to fully build the configuration of an unmanned dyeing factory there is an urgent need for a set of automatic package yarn loading and feeding system.
  • the purpose of the utility model is to provide a set of high-efficiency automatic package yarn loading system, which can comprehensively improve the operating efficiency and economic benefits of package yarn package, and further meet the needs of unmanned dyeing factory's package yarn integrated automatic yarn loading equipment. .
  • the automatic package yarn loading and feeding system of the present utility model includes a yarn hanging rack, a mechanical arm, a package picking fixture and a feeding device, and the yarn hanging rack is provided with a plurality of places for placing The bobbin of the bobbin yarn, the bobbin yarn picking jig is set at the end of the mechanical arm, and is used to pick up the bobbin yarn on the yarn hanging rack, and the feeding device is set above the yarn tray for picking up The package yarn is transferred to the yarn tray.
  • the hanging bobbins are installed on the hanging rack in vertical and horizontal rows to form a two-sided yarn hanging bobbin matrix, and each hanging bobbin is installed on the hanging rack at a certain inclination angle. From the side, therefore, the two-sided yarn-hanging bobbin axis matrix forms a Y-shape, which is a Y-shaped yarn-hanging rack.
  • the angle at which the hanging bobbin is installed is not limited. The angle of inclination is to allow the bobbin yarn to lean on its own weight to naturally slide down to the bottom of the hanging bobbin to reach a consistent position so that the mechanical arm can cooperate with the package picking jig Come pick up the cheese.
  • the bobbin yarn has a male surface and a female surface.
  • the main reason is the difference in the inner diameter of the core tube sleeve.
  • the outer diameter of the bobbin must be smaller than the inner diameter of the female surface, but at the same time larger than the inner diameter of the female surface.
  • the inner diameter of the surface so as to ensure that the package yarn must be sleeved on the hanging bobbin in the same mother surface direction.
  • the length of the yarn hanging bobbin is about half of the height of the package yarn, so that the other half of the length is reserved for the claw hand of the package picking fixture to enter the bobbin shaft to clamp the package yarn.
  • the bottom of the yarn hanging rack is provided with pulleys, so as to cooperate with the transportation tools in the factory, so that the yarn hanging rack can move back and forth between the cheese yarn storage warehouse and the automatic yarn loading system.
  • the size, size, inclination angle of the hanging bobbin, the number, density and material of the hanging bobbin matrix of the said hanging rack are all based on many practical considerations, such as production speed, mechanical stress level and Selected based on factors such as industrial safety.
  • the said mechanical arm is used to cooperate with the package yarn picking fixture to pick up the package yarn from the hanging rack, and then transport the package yarn to the pipe of the feeding system. Since the Y-shaped yarn hanger has a two-sided yarn hanger matrix, two mechanical arms can be used to alternately take yarns on both sides of the yarn hanger according to the programmed control sequence, so that the feeding process continues.
  • the robot arm is a multi-axis articulated robot arm, because it needs to quickly pick up the package yarn on the hanging rack, and needs to change the direction and position of the package yarn picking jig in the narrow space in order to reach the height.
  • the selection of the size, size, type, etc. of the robot arm is based on factors such as flexible transportation function, load weight, creel size, loading system frame size, and overall transportation space limitations.
  • the package picking fixture is provided with two rows of package claws, each row is equipped with multiple package claws, so as to be able to grab multiple packages on the yarn rack at the same time, to achieve the designated yarn loading Feeding speed.
  • the package gripper is equipped with a micro mechanical elbow hinge, which cooperates with a multi-axis articulated mechanical arm to switch the direction and position of the package picking fixture, so that the package gripper can accurately enter the core tube sleeve. Then use a driving device (such as an air cylinder) to push the micro-mechanical lever to expand the claws of the package to clamp the inner wall of the package.
  • a driving device such as an air cylinder
  • the robot arm will drive the yarn picking fixture to leave the yarn creel and transport it to the pipe of the feeding device above the yarn tray.
  • the air cylinder is controlled to contract the claw hand of the micro-mechanical lever and cooperate with the robot arm to move. Position action, so that the two rows of packages on the package picking fixture can be unloaded and dropped into the tube in sequence.
  • the yarn reel will rotate or move its position so that the next empty yarn of the yarn reel is aligned with the guide barrel for feeding until all the yarns on the yarn reel are filled with the bobbins. yarn.
  • the driving mode of the opening and contraction of the package claw hand is not limited to the use of air cylinders, and other electromechanical devices can be used as the driving power source.
  • the size and size design of the entire package picking fixture is selected based on factors such as the load weight, the size of the hanging rack, the size of the package gripper and the overall transportation space limitation.
  • the said feeding device is arranged above the frame of the yarn reel, including the frame and the guide tube and the guide barrel arranged on the frame.
  • the guide tube uses its own inclination and is responsible for transporting the bobbin yarn in a natural sliding method.
  • the guide tube also constitutes a transport buffer.
  • the guide bucket is responsible for turning the package yarn from the guide tube into the yarn bamboo that is guided into the yarn reel in a vertical direction, and the guide bucket will be aligned with the yarn bamboo staying on the yarn reel.
  • the size and size design of the feeding system are determined based on factors such as the size of the package, the load weight, the overall transportation space, and the limitations of the yarn loading and feeding system.
  • the automatic package yarn loading and feeding system can not only improve the production efficiency and economic benefits, but also reduce the chance of contacting the yarn surface during the yarn loading and loading process, so that the quality of the package yarn after dyeing can be effectively controlled.
  • Fig. 1 shows the automatic package yarn feeding system according to the present invention.
  • Figure 2 shows the two robot arms alternately picking up and transporting the package yarn on both sides of the hanging rack;
  • Figure 3 shows the structure of the package picking jig and the package gripper;
  • Figure 4 shows the situation of the package gripper picking up the package;
  • 5 means that the robotic arm alternately carries out yarn lifting and yarn releasing to the feeding system according to the control sequence.
  • 1 is the yarn hanger
  • 2 is the robotic arm
  • 3 is the package yarn
  • 4 is the package yarn picking fixture
  • 5 is the package gripper
  • 6 is the yarn reel
  • 7 is the yarn bamboo
  • 8 is the guide tube
  • 9 is the guide barrel
  • 10 is the frame of the feeding device
  • 11 is the drive cylinder
  • 12 is the barrel core tube sleeve.
  • the automatic package yarn loading and feeding system includes a yarn hanging frame 1, two multi-axis articulated robot arms 2, a package yarn picking fixture 4 mounted on the robot arm 2 and a device on the The guide tube 8 and the guide barrel 9 on the rack 10 of the material system.
  • the cheese 3 is installed on the support of the creel 1 in vertical and horizontal rows to form a matrix of cheese 3 on both sides.
  • the cheese 3 is installed on the bracket at a fixed angle and inclined downward, so that the cheese 3 can naturally slide down to the bottom of the hanging bracket by its own weight to reach a consistent hanging position to match the robot arm 2.
  • the yarn hanging rack 1 has twelve rows and eight rows, that is, a total of ninety-six packages 3 can be hung.
  • Figure 2 shows that two mechanical arms 2 are respectively located on both sides of the yarn hanging rack 1.
  • the yarn picking jig 4 is alternately used to pick up the yarn 3 from the yarn hanging rack 1 according to the control sequence, and the yarn is hanging in cooperation with the yarn picking jig 4
  • the bobbin yarn 3 is transported back and forth between the rack 1 and the guide tube 8.
  • each cheese picking fixture 4 is provided with two rows of cheese grippers 5 to drive the cylinder 11 to push. Since each row is equipped with 6 cheese grippers 5, this means that each The cheese picking jig 4 can pick up 12 cheeses 3 at the same time.
  • Figure 4 shows that the package gripper 5 is designed by using the drive cylinder 11 to push the micro-mechanical elbow hinge.
  • the package picking fixture 4 can reach the entire range of the creel 1 matrix.
  • the mechanical arm 2 to accurately insert the cheese gripper 5 into the inner diameter of the bobbin sleeve 12, and then control the driving cylinder 11 to expand or contract the cheese gripper 5, and then the cheese 3 can be clamped or loosened to achieve extraction.
  • Fig. 5 shows that the robot arms 2 on both sides of the yarn hanging frame 1 will alternately carry out the action of lifting and releasing the yarn according to the control sequence, so that the yarn loading and feeding process is uninterrupted.
  • the clamping and releasing action time of each package gripper 5 can be independently controlled. For example, when picking up the cheese 3, the two rows of cheese grippers 5 will be clamped at the same time.
  • the robot arm 2 will transport the package picking jig 4 to the guide tube 8 above the yarn tray 6.
  • the cheese 3 will be discharged by the cheese gripper 5 and drop into the guide tube 8.
  • the cheese 3 will then slide along the inclination of the guide tube 8, and be guided by the guide barrel 9 to slide.
  • the yarn reel 6 will make a proper angle rotation or position movement, so that the next empty yarn bamboo 7 can be aligned with the guide barrel 9 for feeding.
  • the automatic yarn loading and feeding system will control the removal of the empty yarn rack 1 and replace it with another fully loaded yarn rack 1. Such actions of picking up, putting out and replacing the hanging frame 1 will cycle until all the yarns 7 on the yarn reel 6 are filled with the cheese 3, and the entire automatic yarn loading and feeding process is completed.

Abstract

一种自动化筒子纱装纱上料系统，包括挂纱架(1)、机械臂(2)、筒子纱拾取夹具(4)和上料装置，所述的挂纱架(1)上设有多个用来放置筒子纱(3)的挂纱管轴，所述的筒子纱拾取夹具(4)设置在机械臂(2)的末端，用来拾取挂纱架(1)上的筒子纱(3)，所述的上料装置设置在纱盘(6)上方，用于将拾取后的筒子纱(3)传送于纱盘(6)上。所述的自动化筒子纱自动装纱上料系统，可以全面提升筒子纱(3)装纱的操作效率和经济效益，进一步配合无人化染厂的筒子纱综合自动装纱设备需要。

Description

自动化筒子纱装纱上料系统 技术领域
本实用新型涉及一套高效能自动化筒子纱装纱上料系统, 属于印染自动化技术领域。
 背景技术
在纱线染色工业中, 一直以来都是以人手方法将绕了纱线的筒子纱叠放在纱盘的纱竹上, 跟着将纱盘运送进染色机的染缸内。也有较先进的装纱方法是利用机械臂直接抓取纱的表面，但以上操作方法会有可能碰伤纱的表面，影响之后染纱的整体质素。     随着科技的发展以及国家对自动化技术的积极推动, 作为一个重要工业产业的染整机械已被列入工业自动化的重点项目。为配合智能染厂项目发展, 上述使用人手操作的筒子纱装纱上料方法是为首要解决的一部份, 以机电控制代替人手去处理, 能大大提升生产效率和经济效益。为了全面打造无人化染厂的配置, 一套配合自动化筒子纱装纱上料系统实是有迫切需求的。
 技术问题
本实用新型的目的是提供一套高效能筒子纱自动装纱上料系统, 可以全面提升筒子纱装纱的操作效率和经济效益，进一步配合无人化染厂的筒子纱综合自动装纱设备需要。
 技术解决方案
具体来说, 本实用新型所述的自动化筒子纱装纱上料系统,包括挂纱架、机械臂、筒子纱拾取夹具和上料装置，所述的挂纱架上设有多个用来放置筒子纱的挂纱管轴，所述的筒子纱拾取夹具设置在机械臂的末端，用来拾取挂纱架上的筒子纱，所述的上料装置设置在纱盘上方,用于将拾取后的筒子纱传送于纱盘上。
进一步的，所述的挂纱管轴以垂列和横行方式装设在挂纱架上, 形成两面挂纱管轴矩阵，而每支挂纱管轴以一定的倾斜角度装设在挂纱架上, 因此从侧面看来, 两面挂纱管轴矩阵形成一个Y字形状，为Y字形挂纱架。     所述挂纱管轴倾斜装设的角度不限，倾斜角度是让筒子纱倚靠自身的重量可以自然向下滑到挂纱管轴的底部, 达到一致的位置，以便机械臂可以配合筒子纱拾取夹具来拾取筒子纱。
   所述的筒子纱有公面和母面之分, 主要是筒芯管套内径大小的分别，利用此内径差别, 挂纱管轴的外径要细过母面内径，但同时要大过公面内径, 这样便能确保筒子纱必须以一致的母面方向套入挂纱管轴上。     进一步的,所述挂纱管轴的长度大约是筒子纱高度的一半, 以便预留另外一半长度让筒子纱拾取夹具的爪手可以进入筒芯管轴来夹紧筒子纱。     进一步的, 所述挂纱架的底部设有滑轮, 以便配合厂内的运输工具, 可令挂纱架在筒子纱贮存仓库和装纱自动上料系统之间往返移动。
   所述的挂纱架, 其尺寸、大小、挂纱管轴倾斜角度, 挂纱管轴矩阵的数量、密度和材质等都是要基于多方面实际情况考虑, 例如生产速量, 机械应力水平和工业安全等因素而选定的。     所述的机械臂, 用于配合筒子纱拾取夹具来将筒子纱从挂纱架上拾取, 并跟着将筒子纱运送到上料系统的导管去。由于Y形挂纱架有两面挂纱矩阵, 所以应用两台机械臂, 可以分别在挂纱架两边按编程控制次序交替取纱，从而使上料过程不断进行。
    进一步的，所述的机械臂为多轴关节式机械臂, 因为需要快速拾取挂纱架上的筒子纱, 并需要在陕窄的空间内转换筒子纱拾取夹具的方向和位置,以便能达到高效率和灵活运送的目的。     所述的机械臂的尺寸、大小、类型等的选定是基于灵活运送功能、负载重量、挂纱架尺寸、上料系统机架尺寸和整体运送空间限制等因素而选用。
    进一步的，所述筒子纱拾取夹具设置有两排筒子纱爪手,每排装有多个筒子纱爪手, 以便能同时在挂纱架上抓取多个筒子纱, 来达到指定的装纱上料速度。     进一步的，所述筒子纱爪手设有微型机械肘铰, 配合多轴关节式机械臂来转换筒子纱拾取夹具的方向和位置，可以令筒子纱的爪手准确地进入筒芯管套内, 跟着使用驱动装置（例如气缸）推动微型机械杠杆,令筒子纱的爪手扩张来夹紧筒芯管套的内壁。
   当取纱完成后,机械臂会带动筒子纱拾取夹具离开筒子纱架, 并运送到纱盘上方上料装置的导管上, 那时再控制气缸来收缩微型机械杠杆的爪手以及配合机械臂移位动作, 令筒子纱拾取夹具上的两排筒子纱可以按序地卸落进导管内。当一支纱竹装满后，纱盘会作出角度旋转或位置移动，好让纱盘的下一支空纱竹对准导桶以作上料，直至纱盘上所有纱竹都装满筒子纱。
所述筒子纱爪手张开、收缩动作的驱动方式不局限于使用气缸，可利用其它机电装置作驱动动力来源。     整个筒子纱拾取夹具的尺寸、大小设计是基于负载重量,挂纱架尺寸,筒子纱爪手尺寸和整体运送空间限制等因素而选定。
    所述的上料装置设置在纱盘的机架上方,包括机架和设置在机架上的导管和导桶，导管是利用其自身的倾斜度, 负责将筒子纱以自然滑行的方法运送到导桶去, 导管同時亦构成了一个运送缓冲作用。而导桶则负责将筒子纱从导管转为以垂直方向引进入纱盘的纱竹上，且导桶会对准待在纱盘的纱竹。
    所述上料系统的尺寸, 大小设计是基于筒子纱的尺寸、负载重量、整体运送空间和装纱上料系统限制等因素而决定。
 有益效果
所述的自动化筒子纱装纱上料系统不但能提升生产效率和经济效益, 还在装纱上料过程中减低接触到纱面的机会，令筒子纱染色后的质量得到有效控制。
 附图说明
图1表示本实用新型所述的自动化筒子纱装纱上料系统。
图2表示两台机械臂在挂纱架两边不断交替地提取和运送筒子纱； 图3表示筒子纱拾取夹具及筒子纱爪手的结构； 图4表示筒子纱爪手提取筒子纱的情况； 图5表示机械臂按控制次序交替进行提纱和放纱到上料系统。 其中, 1为挂纱架，2为机械臂，3为筒子纱，4为筒子纱拾取夹具，5为筒子纱爪手, 6为纱盘，7为纱竹，8为导管，9为导桶，10为上料装置机架, 11为驱动气缸，12为筒芯管套。
 本发明的最佳实施方式
下面结合附图和实施例, 对本实用新型所述的技术方案进行非限制性的描述。
    如图1所示, 所述的自动化筒子纱装纱上料系统，包括挂纱架1, 两台多轴关节式机械臂2, 装配在机械臂2上的筒子纱拾取夹具4和装置在上料系统机架10上的导管8和导桶9。     如图1和图2所示, 筒子纱3以垂列和横行的方式装置在挂纱架1的支架上, 形成前后两面筒子纱3矩阵。筒子纱3是以固定角度向下倾斜装设在支架上的, 好让筒子纱3能倚靠本身的重量自然向下滑到挂纱支架的底部, 达到一致的挂纱位置, 以配合机械臂2来拾取。在此实施案例中, 挂纱架1设有十二列和八行, 即一共可挂放九十六个筒子纱3。
    图2表示两台机械臂2分别位于挂纱架1的两边，按控制次序交替地使用筒子纱拾取夹具4来从挂纱架1上提取筒子纱3,并且配合筒子纱拾取夹具4在挂纱架1和导管8之间来回运送筒子纱3。     在此实施例中,图3表示每个筒子纱拾取夹具4是设有两排以驱动气缸11推动的筒子纱爪手5, 由于每排装有6个筒子纱爪手5, 这表示每个筒子纱拾取夹具4可以同时提取12个筒子纱3。
    图4表示筒子纱爪手5是使用驱动气缸11推动微型机械肘铰而设计的, 配合选用的多轴关节式机械臂2,可以令筒子纱拾取夹具4到达整个挂纱架1的矩阵范围, 并利用机械臂2令筒子纱爪手5准确地插入筒芯管套12的内径, 跟着控制驱动气缸11来扩张或收缩筒子纱爪手5, 便可夹紧或放松筒子纱3, 从而达到提取和卸放筒子纱3的功能。     图5表示在挂纱架1两边的机械臂2会按控制次序交替进行提纱放纱的动作，从而使装纱上料过程不间断。每个筒子纱爪手5的夹紧和放松动作时间都可以独立控制。例如提取筒子纱3时就会将两排筒子纱爪手5在同一时间夹紧。
当筒子纱拾取夹具4上的两排筒子纱爪手5完成提取筒子纱3后，机械臂2便将筒子纱拾取夹具4运至纱盘6上方的导管8,在机械臂2的位移及每一个筒子纱爪手5的驱动气缸11收缩动作配合下，筒子纱3会由筒子纱爪手5卸放落导管8, 筒子纱3再随着导管8的斜度滑行, 经导桶9引领滑进纱盘6上的纱竹7上。当一支纱竹7装满筒子纱3后，纱盘6会作出适当的角度旋转或位置移动，好让下一支空纱竹7可以对准导桶9来进行上料。当挂纱架1上的所有筒子纱3都被提取完时, 自动装纱上料系统会控制移走空载挂纱架1, 并换上另一台满载挂纱架1。这样的提纱,放纱和更换挂纱架1的动作会循环,直至纱盘6上所有的纱竹7都装满筒子纱3, 整个自动化装纱上料过程便完成。
    应该理解的是, 上述内容包括附图均非对所述技术方案的限制, 事实上, 凡以相同或近似原理对所述技术方案进行的改进, 包括结构的尺寸、形状、所用材质的改变,以及功能相似组件的替换, 都在本实用新型所要求保护的技术方案之内。

Claims (10)

  1. 一种自动化筒子纱装纱上料系统,其特征在于：包括挂纱架、机械臂、筒子纱拾取夹具和上料装置，所述的挂纱架上设有多个用来放置筒子纱的挂纱管轴，所述的筒子纱拾取夹具设置在机械臂的末端，用来拾取挂纱架上的筒子纱，所述的上料装置设置在纱盘上方,用于将拾取后的筒子纱传送于纱盘上。
  2. 根据权利要求1所述的自动化筒子纱装纱上料系统,其特征在于：所述的挂纱管轴以垂列和横行方式装设在挂纱架上, 形成两面挂纱管轴矩阵，每支挂纱管轴以一定的倾斜角度装设在挂纱架上。
  3. 根据权利要求1或2所述的自动化筒子纱装纱上料系统,其特征在于：所述挂纱管轴的长度大约是筒子纱高度的一半。
  4. 根据权利要求1或2所述的自动化筒子纱装纱上料系统,其特征在于：所述挂纱架的底部设有滑轮。
  5. 根据权利要求1或2所述的自动化筒子纱装纱上料系统,其特征在于：所述机械臂的数量为两台，分别在挂纱架两边按编程控制次序交替取纱。
  6. 根据权利要求1或2所述的自动化筒子纱装纱上料系统,其特征在于：所述的机械臂为多轴关节式机械臂。
  7. 根据权利要求1或2所述的自动化筒子纱装纱上料系统,其特征在于：所述筒子纱拾取夹具设置有两排筒子纱爪手,每排装有多个筒子纱爪手。
  8. 根据权利要求1或2所述的自动化筒子纱装纱上料系统,其特征在于：所述筒子纱爪手设有微型机械肘铰，配合多轴关节式机械臂来转换筒子纱拾取夹具的方向和位置。
  9. 根据权利要求1或2所述的自动化筒子纱装纱上料系统,其特征在于：所述筒子纱爪手进入筒芯管套内, 跟着使用驱动装置推动微型机械杠杆,令筒子纱的爪手扩张来夹紧筒芯管套的内壁。
  10. 根据权利要求1或2所述的自动化筒子纱装纱上料系统,其特征在于：所述的上料装置设置在纱盘的机架上方,包括机架和设置在机架上的导管和导桶，导管是利用其自身的倾斜度, 负责将筒子纱以自然滑行的方法运送到导桶去, 导管同时亦构成了一个运送缓冲作用；导桶则负责将筒子纱从导管转为以垂直方向引进入纱盘的纱竹上，且导桶在运输时会对准纱盘上的纱竹。
PCT/CN2020/091464 2020-01-18 2020-05-21 自动化筒子纱装纱上料系统 WO2021142994A1 (zh)

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