CN106120071B - Warping fills yarn system - Google Patents
Warping fills yarn system Download PDFInfo
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- CN106120071B CN106120071B CN201610705034.XA CN201610705034A CN106120071B CN 106120071 B CN106120071 B CN 106120071B CN 201610705034 A CN201610705034 A CN 201610705034A CN 106120071 B CN106120071 B CN 106120071B
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- cheese
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- 230000007246 mechanism Effects 0.000 claims abstract description 224
- 235000013351 cheese Nutrition 0.000 claims abstract description 91
- 239000000463 material Substances 0.000 claims description 49
- 238000003860 storage Methods 0.000 claims description 33
- 125000006850 spacer group Chemical group 0.000 claims 1
- 238000004519 manufacturing process Methods 0.000 abstract description 5
- 238000000034 method Methods 0.000 abstract description 5
- 230000008569 process Effects 0.000 abstract description 5
- 238000005192 partition Methods 0.000 description 8
- 238000001514 detection method Methods 0.000 description 4
- 230000000007 visual effect Effects 0.000 description 4
- 230000009471 action Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 2
- 239000004753 textile Substances 0.000 description 2
- 241000252254 Catostomidae Species 0.000 description 1
- 238000005452 bending Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 238000009941 weaving Methods 0.000 description 1
Classifications
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- D—TEXTILES; PAPER
- D02—YARNS; MECHANICAL FINISHING OF YARNS OR ROPES; WARPING OR BEAMING
- D02H—WARPING, BEAMING OR LEASING
- D02H3/00—Warping machines
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- D—TEXTILES; PAPER
- D02—YARNS; MECHANICAL FINISHING OF YARNS OR ROPES; WARPING OR BEAMING
- D02H—WARPING, BEAMING OR LEASING
- D02H1/00—Creels, i.e. apparatus for supplying a multiplicity of individual threads
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- D—TEXTILES; PAPER
- D02—YARNS; MECHANICAL FINISHING OF YARNS OR ROPES; WARPING OR BEAMING
- D02H—WARPING, BEAMING OR LEASING
- D02H13/00—Details of machines of the preceding groups
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- Engineering & Computer Science (AREA)
- Textile Engineering (AREA)
- Replacing, Conveying, And Pick-Finding For Filamentary Materials (AREA)
Abstract
The present invention relates to a kind of warpings to fill yarn system.Warping dress yarn system includes Cun Sha mechanisms, transfer mechanism, grasping mechanism, feed mechanism and control mechanism.The warping fills yarn system and the warping system containing warping dress yarn system can fill cheese on creel automatically, and the entire yarn process that fills substantially can have the advantageous effect for saving manpower, reducing employee work intensity, improving production efficiency by machine independent operating.
Description
Technical Field
The invention relates to the field of textile machinery, in particular to a warping and yarn loading system.
Background
In the textile field, warping is a preparation process for weaving, and yarn loading is an important step in the warping production process. The traditional warping yarn loading is generally finished manually. When the yarn is loaded manually, the frequent bending operation of staff is needed, the labor intensity is high, the yarn loading efficiency is low, and the automatic production is not facilitated.
Disclosure of Invention
Based on this, it is necessary to provide a time-saving and labor-saving warping and yarn-loading system.
A beaming yarn loading system comprising:
the yarn storage mechanism is used for placing cheese;
the transfer mechanism is arranged close to the yarn storage mechanism, and a first yarn inserting rod used for placing cheese is arranged on the transfer mechanism;
the grabbing mechanism is arranged close to the yarn storage mechanism and the transfer mechanism and used for grabbing the cheese from the yarn storage mechanism and inserting the grabbed cheese into the first yarn inserting rod;
the feeding mechanism comprises a feeding guide rail, a feeding frame, a second yarn inserting rod and a feeding driving device, the feeding frame is arranged on the feeding guide rail, the second yarn inserting rod is arranged on the feeding frame, the feeding driving device is used for driving the feeding frame to move along the feeding guide rail, the feeding driving device can drive the feeding frame to move to the transfer mechanism and enable the second yarn inserting rod to be inserted into the cheese inserted on the first yarn inserting rod so as to take the cheese from the transfer mechanism, and the feeding driving device can also drive the feeding frame to move to the yarn frame and enable the cheese inserted on the second yarn inserting rod to be inserted into a yarn shaft of the yarn frame so as to enable the cheese to be transferred from the second yarn inserting rod to the yarn shaft; and
and the control mechanism is electrically connected with the grabbing mechanism and the feeding driving device to respectively control the grabbing mechanism and the feeding driving device to act.
In one embodiment, the yarn storing mechanism comprises a yarn storing frame, a plurality of rollers and a roller driving device, the plurality of rollers are arranged on the yarn storing frame side by side, the roller driving device is electrically connected with the control mechanism, the roller driving device is used for driving the rollers to rotate so as to send the stacking yarn on the rollers to be close to the grabbing mechanism, and the grabbing mechanism grabs the cheese from the stacking yarn; or
The yarn storage mechanism comprises a yarn storage rack, a conveying belt and a conveying belt driving device, the conveying belt is arranged on the yarn storage rack, the conveying belt driving device is electrically connected with the control mechanism and can be controlled by the control mechanism to drive the conveying belt to move, and a plurality of cheese spindle positions are arranged on the conveying belt.
In one embodiment, the yarn storing mechanism further comprises a position correcting device, the position correcting device is electrically connected with the control mechanism, and the position correcting device is used for detecting the position of the cheese on the upper layer of the stacking yarn to be currently grabbed and adjusting the position of the stacking yarn to be currently grabbed through the roller driving device according to the position of the residual cheese on the upper layer; or
The yarn storage mechanism further comprises a stepping sensing device, the stepping sensing device is electrically connected with the control mechanism, the stepping sensing device is used for automatically sensing whether cheese exists on the cheese spindle position in the front row, and when the stepping sensing device senses no cheese, the control mechanism controls the conveyor belt driving device to drive the conveyor belt to step one row of spindle positions.
In one embodiment, the transfer mechanism includes a first transfer rack and a first transfer rack rotation driving device, and the first transfer rack rotation driving device is electrically connected to the control mechanism; wherein,
the first transfer frame is provided with a plurality of first yarn inserting rods, the grabbing mechanism inserts the cheese on the first yarn inserting rods on the first transfer frame according to a first direction, and the first transfer frame rotation driving device is used for driving the first transfer frame to rotate.
In one embodiment, at least two sides of the first transfer rack are provided with the first yarn inserting rods, and the first yarn inserting rods are arranged in a row on the corresponding side of the first transfer rack.
In one embodiment, the transfer mechanism further includes a second transfer rack, a second transfer rack rotation driving device, and a second transfer rack movement driving device, and the second transfer rack rotation driving device and the second transfer rack movement driving device are respectively electrically connected to the control mechanism; wherein,
every two second transfer racks form a set, a plurality of first yarn inserting rods are arranged on each second transfer rack, the bobbin is inserted on the first yarn inserting rods on the second transfer racks according to a second direction by the grabbing mechanism, the second transfer rack rotation driving device is used for driving the second transfer racks to rotate, the second transfer rack movement driving device is used for adjusting the distance between the two second transfer racks in each set so as to transfer the bobbin on one of the second transfer racks and insert the bobbin on the other second transfer rack in the first direction, and the second direction is opposite to the first direction.
In one embodiment, at least two opposite sides of the second transfer rack are provided with the first yarn inserting rods, and the first yarn inserting rods are arranged in a row on the corresponding side of the second transfer rack.
In one embodiment, the control mechanism controls the grabbing mechanism to grab and insert the cheese with the large end facing downwards on the yarn storage mechanism onto the first transfer rack, and grab and insert the cheese with the small end facing downwards onto the second transfer rack.
In one embodiment, the gripping mechanism is a six-axis robot.
In one embodiment, the gripping mechanism has a plurality of gripping heads for gripping the cheese and the cheese separator, respectively.
In one embodiment, the warping and yarn loading system further comprises a protection mechanism, the protection mechanism is electrically connected with the control mechanism, the protection mechanism is used for detecting whether an operator or an obstacle exists within a preset distance from the grabbing mechanism, and if the operator or the obstacle is detected, the control mechanism controls the grabbing mechanism to stop acting.
In one embodiment, the warping yarn loading system further comprises a material moving mechanism, wherein the material moving mechanism comprises a material moving seat, a material moving guide rail, a material moving driving device and a material moving positioning device; the material moving driving device is electrically connected with the control mechanism and can be controlled by the control mechanism to act; the material moving seat is arranged on the material moving guide rail and can be driven by the material moving driving device to move on the material moving guide rail; the material moving positioning device is used for positioning the position of the material moving seat on the material moving guide rail;
the yarn storage mechanism, the transfer mechanism and the grabbing mechanism are arranged on the material moving seat and can be driven by the material moving driving device to move among different creel feeding areas.
In one embodiment, the feeding guide rails comprise a first feeding guide rail and a second feeding guide rail vertically connected with the first feeding guide rail; the feeding driving device comprises a first feeding driving device and a second feeding driving device; the feeding frame is arranged on the second feeding guide rail; the first feeding driving device is used for driving the second feeding guide rail to move on the first feeding guide rail, and the second feeding driving device is used for driving the feeding frame to move on the second feeding guide rail.
In one embodiment, the feeding mechanism further comprises a yarn shaft position detection device, the yarn shaft position detection device is electrically connected with the control mechanism, and the control mechanism adjusts the position of the feeding rack according to the position of the yarn shaft on the yarn rack to be yarn loaded, which is detected by the yarn shaft position detection device, so as to correspond to the corresponding position of the yarn shaft on the yarn rack to be yarn loaded.
Above-mentioned warping dress yarn system can adorn the cheese on the creel automatically, and whole dress yarn process can be by machine independent operation basically, has the beneficial effect of practicing thrift the manpower, reducing staff working strength, improving production efficiency.
Drawings
FIG. 1 is a schematic diagram of a warping system according to an embodiment;
FIG. 2 is a schematic structural view of a yarn storing mechanism of the yarn storing mechanism in FIG. 1;
FIG. 3 is a schematic structural view of a yarn storing mechanism in other embodiments;
FIG. 4 is a schematic structural view of the grasping mechanism in FIG. 1;
FIG. 5 is a schematic structural view of the transfer mechanism and the material transferring mechanism in FIG. 1;
fig. 6 is a schematic structural view of the feeding mechanism in fig. 1.
Detailed Description
To facilitate an understanding of the invention, the invention will now be described more fully with reference to the accompanying drawings. Preferred embodiments of the present invention are shown in the drawings. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.
It will be understood that when an element is referred to as being "secured to" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.
As shown in fig. 1 and 6, the warping system of an embodiment includes a warping loading system 10, a creel 20, and a warping machine 30. The warping loading system 10 is used to automatically load a bobbin yarn into a bobbin 22 of a creel 20. The head of the warping machine 30 is provided at one end of the creel 20, and is used for warping the cheese on the creel 20.
In this embodiment, the creels 20 have a plurality of rows, and adjacent creels 20 are arranged in a V-shape with their ends being close together. Each two rows of creels 20 form a group and are provided with the head of the warper 30 at the ends that are close to each other. Further, in the present embodiment, there are multiple sets of creels 20, and multiple sets of creels 20 are sequentially arranged in the creel area in the factory, and correspondingly, there are multiple heads of the warping machine 30, which are respectively arranged corresponding to the sets of creels 20.
In this embodiment, there are also multiple sets of the beaming dress yarn system 10. Each set of the warping and loading system 10 corresponds to two sets of creels 20 and is movable between the two sets of creels 20 to supply cheese separately. Preferably, the mechanism of the beaming yarn loading system 10 and the warper 30 are respectively arranged at two ends of each set of creels 20, that is, the beaming yarn loading system 10 is arranged at the end of the two creels 20 far away from each other.
Referring to fig. 1, fig. 2, fig. 4, fig. 5 and fig. 6, the warping and yarn loading system 10 of the present embodiment includes a yarn storing mechanism 100, a transferring mechanism 200, a grabbing mechanism 300, a material moving mechanism 400, a feeding mechanism 500 and a control mechanism 600.
The yarn storage mechanism 100 is used for placing the cheese 91. In the present embodiment, the yarn storing mechanism 100 includes a yarn storing frame 110, a roller 120, and a roller driving device (not shown). The drum 120 is plural. A plurality of rollers 120 are arranged side by side on the bank 110. The roller driving device is electrically connected to the control mechanism 600, and is controlled by the control mechanism 600. The drum drive is used to drive the drum 120 in rotation to bring the pile of veils 90 on the drum 120 close to the gripping mechanism 300.
The package 90 is formed by stacking a plurality of layers of cheese 91, and the yarns 91 between adjacent layers are separated by cheese dividers 92. There may be a case where the large and small ends of the yarn are stored up alternately in each layer of the bobbin yarn 91. Each yarn storage mechanism 100 may have multiple stacks of flat yarns 90 placed thereon.
In the present embodiment, the yarn accumulating mechanism 100 further includes a position correcting device. The position calibration device is electrically connected to the control mechanism 600. The position correcting device is used for detecting the position of the bobbin 91 on the upper layer of the stacking yarn 90 to be grabbed currently, and adjusting the position of the stacking yarn 90 to be grabbed currently through the roller driving device according to the position of the remaining bobbin 91 on the upper layer.
As shown in fig. 3, in other embodiments, the yarn storing mechanism 800 may also be a belt type structure, such as a storage rack 810, a belt 820 and a belt driving device. Wherein the conveyor belt 820 is provided on the creel 810. The conveyor belt driving device is electrically connected to the control mechanism 600 and can be controlled by the control mechanism 600 to drive the conveyor belt 820 to move. The conveyor belt 820 is provided with a plurality of cheese spindle positions 830. The cheese placed on the cheese spindle 830 is placed in a specific orientation, preferably in a big end down orientation. The plurality of yarn positions 830 are preferably arranged in a plurality of rows and columns. Further, in this embodiment, the yarn storing mechanism 800 further includes a step sensing device. The step sensor is electrically connected to the control mechanism 600. The stepping sensing device is used for automatically sensing whether cheese 91 exists on the cheese spindle position 830 at the forefront row, and when the stepping sensing device senses that no cheese 91 exists at the forefront row, the control mechanism 600 controls the conveyor belt driving device to drive the conveyor belt 820 to step by one spindle position.
The transfer mechanism 200 is provided near the yarn accumulating mechanism 100, and temporarily accumulates the yarns 91. The transfer mechanism 200 is provided with a first yarn inserting rod 210 for placing the cheese 91. The grabbing mechanism 300 is disposed close to the yarn storing mechanism 100 and the transferring mechanism 200. The grasping mechanism 300 is used for grasping the cheese 91 from the yarn storing mechanism 100 and inserting the grasped cheese 91 into the first yarn inserting rod 210.
In the present embodiment, the transfer mechanism 200 includes a first transfer frame 220, a first transfer frame rotation driving device, a second transfer frame 230, a second transfer frame rotation driving device, and a second transfer frame moving driving device. The first transfer rack rotation driving device, the second transfer rack rotation driving device, and the second transfer rack movement driving device are electrically connected to the control mechanism 600, respectively, and can be controlled by the control mechanism 600 to operate.
The first transfer frame 220 is provided with a plurality of first yarn inserting rods 210. The grabbing mechanism 300 inserts the bobbin yarn 91 on the first yarn inserting rod 210 on the first middle rotating stand 220 according to the first direction. Specifically, in this embodiment, the first transfer rack 220 is a rectangular parallelepiped columnar structure, and the first yarn inserting rods 210 are disposed on three sides of the rectangular parallelepiped columnar structure, and the first yarn inserting rods 210 are disposed in a row on the corresponding side of the first transfer rack 220, for example, each side is provided with a row of the first yarn inserting rods 210 distributed along the vertical direction. The first transfer frame rotation driving device is used for driving the first transfer frame 220 to rotate, for example, to rotate 90 degrees each time, so that after the cheese 91 is loaded on one side, the rotation is switched to the next side to continue to load the yarn. It is understood that in other embodiments, the shape of the first transfer stand 220 is not limited to the rectangular parallelepiped columnar structure, and the first yarn inserting bar 210 may be provided on two or more sides of the first transfer stand 220, and the first transfer stand 220 may be driven to rotate by a corresponding angle by the first transfer stand rotation driving device to switch between different sides.
Every two second intermediate turrets 230 constitute one set. Each second transfer frame 230 is provided with a plurality of first yarn inserting rods 210. The grabbing mechanism 300 inserts the bobbin yarn 91 on the first yarn inserting rod 210 on the second middle rotating stand 230 according to the second direction. Specifically, in the present embodiment, the second transfer frame 230 has an elongated rectangular parallelepiped columnar structure, two opposite side surfaces of the second transfer frame are provided with the first yarn inserting rods 210, and the first yarn inserting rods 210 are arranged in a row on the corresponding side surface of the second transfer frame 230. The number and the arrangement positions of the first yarn inserting rods 210 on the two second middle rotating frames 230 in the set correspond. It is understood that in other embodiments, the second transfer stand 230 is not limited to the rectangular parallelepiped columnar structure, and the first yarn inserting bars 210 may be provided on three or more sides of the second transfer stand 230.
The second transfer stand rotation driving means is for driving the second transfer stand 230 to rotate, for example, 180 ° at a time. The second transfer carriage movement driving means is used to adjust the distance between the two second transfer carriages 230 in each set. The second transfer frame rotating driving device can rotate the side surface of one of the second transfer frames 230 filled with the cheese 91 to face the other second transfer frame 230, and then the two second transfer frames 230 are close to each other under the cooperation of the second transfer frame moving driving device, so that the cheese 91 on one of the second transfer frames 230 is transferred and inserted onto the other second transfer frame 230 in the first direction. The second direction is opposite to the first direction.
In this embodiment, the control mechanism 600 controls the gripping mechanism 300 to grip and insert the bobbin yarn 91 with the large end facing downward on the yarn storage mechanism 100 onto the first intermediate rotating frame 220, so that the large end of the bobbin yarn 91 faces inward, and grip and insert the bobbin yarn 91 with the small end facing downward onto one of the second intermediate rotating frames 230, where the bobbin yarn 91 faces outward on the second intermediate rotating frame 230. When the second transfer frame rotation driving device is in action fit with the second transfer frame moving driving device, and the cheese 91 on the second transfer frame 230 is transferred to another second transfer frame 230 in a set, the transferred cheese 91 also becomes inward-facing with the big end.
The transfer mechanism 200 of the present embodiment is not limited to be used in the process of warping and loading yarn as a cheese transfer mechanism, and can be used in other situations where the cheese 91 needs to be arranged in a direction by cooperating with the following grasping mechanism 300 to form a cheese arranging device. The cheese arranging device can automatically arrange the direction of the cheese 91 without manual operation, and is high in efficiency.
It is understood that in other embodiments, when the cheese is placed on the storage mechanism in a specific direction, such as the belt-type structure shown in fig. 3, the transfer mechanism 200 may only include the first transfer frame 220 and the first transfer frame rotation driving device.
In this embodiment, the gripper mechanism 300 is a six-axis robot. The grasping mechanism 300 has a plurality of grasping heads composed of different grippers or suckers to grasp the cheese 91 and the cheese partition 92, respectively. As in the present embodiment, the grasping head for grasping the cheese 91 is composed of a plurality of (e.g., two or more) upright posts 310 capable of extending into the cheese 91, and is correspondingly provided with an upright post driving device such as a cylinder, etc., to drive the upright posts 310 to move, so as to open or close the upright posts 310, when the cheese 91 needs to be grasped, the upright posts 310 open, and when the cheese 91 is transferred, the upright posts 310 close; as in the present exemplary embodiment, the gripping head for gripping the bobbin partition 92 is formed by a plurality of suction cups 320, the suction cups 320 being connected to a vacuum device for sucking the bobbin partition 92 by applying a vacuum. In this embodiment, the grasping head for grasping the cheese 91 and the grasping head for grasping the cheese partition 92 are both mounted on a base 330, and the base 330 is mounted on the last-stage robot arm of the grasping mechanism 300 with a six-axis robot structure, and can be moved to a desired position by the robot arms at different stages in a matching manner.
When the grabbing mechanism 300 grabs the cheese 91 on the stacking plate yarn 90, after one layer of cheese 91 is grabbed, the grabbing mechanism 300 automatically switches grabbing heads to grab the cheese partition 92 and store the cheese partition at a designated partition storage position.
The grabbing mechanism 300 is provided with a visual recognition device. The visual recognition device is electrically connected to the control mechanism 600. The visual recognition device can position the cheese on the yarn storage mechanism 100, so as to control the grabbing position through the control mechanism 600, and can set the grabbing initial position according to the recognition result.
The grabbing mechanism 300 of the embodiment can be widely applied to various occasions requiring mechanical automatic grabbing of cheese as a cheese grabbing device, and can be matched with other grabbing heads to grab required materials, for example, the grabbing mechanism can be matched with the suction cup 320 to suck various plates such as a cheese partition plate and the like through vacuumizing.
Further, in this embodiment, the warping system 10 also includes a protection mechanism. The protection mechanism is electrically connected to the control mechanism 600. The protection mechanism is used for detecting whether an operator or an obstacle is present within a preset distance from the grasping mechanism 300, and if an operator or an obstacle is detected, the control mechanism 600 controls the grasping mechanism 300 to stop operating, so as to prevent the grasping mechanism 300 from being damaged by mistake or the obstacle to the operator within the operating area of the grasping mechanism 300. The protection mechanism can be realized by devices such as a grating and the like.
The material moving mechanism 400 includes a material moving base 410, a material moving guide rail 420, a material moving driving device, and a material moving positioning device 440. The material moving driving device is electrically connected to the control mechanism 600 and can be controlled by the control mechanism 600 to operate. The material transferring base 410 is disposed on the material transferring guide rail 420 and can be driven by the material transferring driving device to move on the material transferring guide rail 420. The material-moving positioning device 440 is preferably a hydraulic positioning system for positioning the position of the material-moving seat 410 on the material-moving guide rail 420. The yarn storing mechanism 100, the transferring mechanism 200 and the grabbing mechanism 300 are arranged on the material moving seat 410 and can be driven by the material moving driving device to move among the material loading areas of different creels 20, so that the bobbin loading requirements of a set of the yarn storing mechanism 100, the transferring mechanism 200 and the grabbing mechanism 300 for supplying a plurality of warping machines 30 are met.
The feeding mechanism 500 includes a feeding guide rail 510, a feeding frame 520, a second yarn inserting rod 530 and a feeding driving device. The feeding frame 520 is provided on the feeding rail 510. The second yarn inserting bar 530 is provided on the feeding frame 520. The feeding driving device is used for driving the feeding frame 520 to move along the feeding guide rail 510. The feeding driving device can drive the feeding rack 520 to move to the transfer mechanism 200 and enable the second yarn inserting rod 530 to be inserted into the cheese 91 inserted on the first yarn inserting rod 210 so as to remove the cheese 91 from the transfer mechanism 200. The feeding driving device can also drive the feeding rack 520 to move to the creel 20 and enable the cheese 91 inserted on the second yarn inserting rod 530 to be inserted on the yarn shaft 22 of the creel 20 so as to transfer the cheese 91 from the second yarn inserting rod 530 to the yarn shaft 22.
The first yarn inserting rod 210, the second yarn inserting rod 530 and the grabbing mechanism 300 of this embodiment are all composed of a plurality of columns, and are correspondingly provided with column driving devices, such as two columns, and the columns are connected with column driving devices such as air cylinders, when the cheese 91 is transferred, the column driving devices can control the plurality of columns to be spread or combined, when the cheese 91 is grabbed on the stacking plate yarn 90, the grabbing head of the grabbing mechanism 300 is inserted into a bobbin of the cheese 91, the corresponding column driving devices drive the columns to be spread, the cheese 91 is propped up and fixed from the bobbin of the cheese 91, when the cheese 91 is grabbed on the first yarn inserting rod 210 by the grabbing mechanism 300, the column driving devices drive the columns of the first yarn inserting rod 210 to be spread, the columns on the corresponding grabbing heads are combined, the cheese 91 can be transferred from the grabbing heads to the first yarn inserting rod 210, the same applies to the transfer from the first yarn inserting rod 210 to the second yarn inserting rod 530. Preferably, for the first yarn inserting rod 210 (e.g. the first yarn inserting rod 210 on the corresponding side of the first transfer rack 220 and/or the second transfer rack 230) and the second yarn inserting rod 530 on the corresponding side, the upright post driving device controls the action of the first yarn inserting rod 210 and/or the second yarn inserting rod 530 on the corresponding side in a linkage manner.
In this embodiment, the feeding rail 510 includes a first feeding rail 512 and a second feeding rail 514 vertically connected to the first feeding rail 512. The feeding driving device comprises a first feeding driving device and a second feeding driving device. The feeding rack 520 is provided on the second feeding rail 514. The first feeding driving device is used for driving the second feeding rail 514 to move on the first feeding rail 512. The second feeding driving device is used for driving the feeding rack 520 to move on the second feeding guide rail 514. The first feeding rail 512 and the second feeding rail 514 cooperate to form a two-dimensional moving plane, and the feeding rack 520 can be moved to any desired position.
In this embodiment, the feeding mechanism 510 further includes a yarn shaft position detecting device. The yarn shaft position detecting device is electrically connected to the control mechanism 600. The control mechanism 600 adjusts the position of the cradle 520 according to the position of the yarn shaft 22 on the creel 20 to be loaded detected by the yarn shaft position detecting device so as to correspond to the position of the corresponding yarn shaft 22 on the creel 20 to be loaded.
The control mechanism 600 is electrically connected to each of the driving device, the position correcting device (or the stepping sensing device), the grasping mechanism 300, the visual recognition device, the protection mechanism, and the yarn shaft position detecting device, etc., to receive corresponding detection signals and control the corresponding mechanisms to operate. The control mechanism 600 may be implemented by a computer or a Programmable Logic Controller (PLC), etc., and has an input and display interface for human interaction, so as to facilitate monitoring and operation by an operator.
Specifically, in this embodiment, when the bobbin 91 is stored on the yarn storage mechanism 100, the control mechanism 600 may control the yarn storage mechanism 100 to move to send the bobbin 91 to the vicinity of the grabbing mechanism 300 for grabbing by the grabbing mechanism 300, the grabbing mechanism 300 inserts the grabbed bobbin 91 onto the first yarn inserting rod 210 of the transfer mechanism 200, the control mechanism 600 controls the transfer mechanism 200 to move so that the bobbin 91 to be removed on the transfer mechanism 200 is inserted onto the first yarn inserting rod 210 in the direction that the large end faces inward, then the control mechanism 600 controls the feeding mechanism 500 to move so that the bobbin 91 on the first yarn inserting rod 210 is transferred onto the second yarn inserting rod 530 on the feeding frame 520, the bobbin 91 is outward in the large end on the second yarn inserting rod 530, then the control mechanism 600 controls the feeding mechanism 500 to move according to the position of the yarn shaft 22 on the yarn frame 20 to be loaded, so as to transport the bobbin 91 to the position to be loaded, and transfers the bobbin yarn 91 to the yarn shaft 22. In the process of yarn loading, the control mechanism 600 can also control the movement of the material moving mechanism 400 according to the yarn loading requirements of different creel 20-level beamers 30, so as to move the yarn storing mechanism 100, the transfer mechanism 200 and the grabbing mechanism 300 to the required positions.
Above-mentioned warping dress yarn system 10 and contain this warping dress yarn system 10's warping system can adorn cheese 91 on creel 20 automatically, and whole dress yarn process can be by machine independent operation basically, has the beneficial effect of practicing thrift the manpower, reducing staff working strength, improving production efficiency.
The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (14)
1. A beaming dress yarn system, comprising:
the yarn storage mechanism is used for placing cheese;
the transfer mechanism is arranged close to the yarn storage mechanism, and a first yarn inserting rod used for placing cheese is arranged on the transfer mechanism;
the grabbing mechanism is arranged close to the yarn storage mechanism and the transfer mechanism and used for grabbing the cheese from the yarn storage mechanism and inserting the grabbed cheese into the first yarn inserting rod;
the feeding mechanism comprises a feeding guide rail, a feeding frame, a second yarn inserting rod and a feeding driving device, the feeding frame is arranged on the feeding guide rail, the second yarn inserting rod is arranged on the feeding frame, the feeding driving device is used for driving the feeding frame to move along the feeding guide rail, the feeding driving device can drive the feeding frame to move to the transfer mechanism and enable the second yarn inserting rod to be inserted into the cheese inserted on the first yarn inserting rod so as to take the cheese from the transfer mechanism, and the feeding driving device can also drive the feeding frame to move to the yarn frame and enable the cheese inserted on the second yarn inserting rod to be inserted into a yarn shaft of the yarn frame so as to enable the cheese to be transferred from the second yarn inserting rod to the yarn shaft; and
and the control mechanism is electrically connected with the grabbing mechanism and the feeding driving device to respectively control the grabbing mechanism and the feeding driving device to act.
2. The warping yarn loading system according to claim 1, wherein the yarn storage mechanism includes a plurality of yarn storage racks, a plurality of rollers arranged side by side on the yarn storage racks, and a roller driving device electrically connected to the control mechanism, the roller driving device being configured to drive the rollers to rotate to send the stacking yarn on the rollers to be close to the grabbing mechanism, and the grabbing mechanism grabs the cheese from the stacking yarn; or
The yarn storage mechanism comprises a yarn storage rack, a conveying belt and a conveying belt driving device, the conveying belt is arranged on the yarn storage rack, the conveying belt driving device is electrically connected with the control mechanism and can be controlled by the control mechanism to drive the conveying belt to move, and a plurality of cheese spindle positions are arranged on the conveying belt.
3. The warping yarn loading system according to claim 2, wherein the yarn storage mechanism further comprises a position correction device electrically connected to the control mechanism, the position correction device being configured to detect a position of a bobbin on an upper layer of the stacking yarn to be currently gripped, and adjust the position of the stacking yarn to be currently gripped by the drum driving device according to a position of a remaining bobbin on the upper layer; or
The yarn storage mechanism further comprises a stepping sensing device, the stepping sensing device is electrically connected with the control mechanism, the stepping sensing device is used for automatically sensing whether cheese exists on the cheese spindle position in the front row, and when the stepping sensing device senses no cheese, the control mechanism controls the conveyor belt driving device to drive the conveyor belt to step one row of spindle positions.
4. The beaming yarn loading system of claim 1 wherein the relay mechanism includes a first relay frame and a first relay frame rotational drive, the first relay frame rotational drive being electrically connected to the control mechanism; wherein,
the first transfer frame is provided with a plurality of first yarn inserting rods, the grabbing mechanism inserts the cheese on the first yarn inserting rods on the first transfer frame according to a first direction, and the first transfer frame rotation driving device is used for driving the first transfer frame to rotate.
5. The beaming yarn loading system of claim 4 wherein at least two sides of the first transfer basket are provided with the first yarn insert bars, and the first yarn insert bars are arranged in columns on respective sides of the first transfer basket.
6. The beaming yarn loading system of claim 4 wherein the relay mechanism further comprises a second relay frame, a second relay frame rotation driving device and a second relay frame movement driving device, the second relay frame rotation driving device and the second relay frame movement driving device being electrically connected to the control mechanism, respectively; wherein,
every two second transfer racks form a set, a plurality of first yarn inserting rods are arranged on each second transfer rack, the bobbin is inserted on the first yarn inserting rods on the second transfer racks according to a second direction by the grabbing mechanism, the second transfer rack rotation driving device is used for driving the second transfer racks to rotate, the second transfer rack movement driving device is used for adjusting the distance between the two second transfer racks in each set so as to transfer the bobbin on one of the second transfer racks and insert the bobbin on the other second transfer rack in the first direction, and the second direction is opposite to the first direction.
7. The beaming yarn loading system of claim 6 wherein at least two opposing sides of the second transfer basket are provided with the first yarn insert bars, and the first yarn insert bars are arranged in a column on the respective sides of the second transfer basket.
8. The warping yarn loading system of claim 6, wherein the control mechanism controls the gripping mechanism to grip and insert the bobbin yarn with the large end facing downward on the yarn storage mechanism onto the first transfer rack and grip and insert the bobbin yarn with the small end facing downward onto the second transfer rack.
9. The beaming yarn loading system of claim 1 wherein the grasping mechanism is a six-axis robot.
10. The beaming fill system of claim 9, wherein the grasping mechanism has a plurality of grasping heads to grasp the cheese and the cheese spacer, respectively.
11. The beaming yarn loading system of claim 9 further comprising a protection mechanism electrically connected to the control mechanism, the protection mechanism being configured to detect whether an operator or an obstacle is located within a predetermined distance from the catch mechanism, the control mechanism controlling the catch mechanism to stop if an operator or an obstacle is detected.
12. The warping yarn loading system according to any one of claims 1 to 11, further comprising a material moving mechanism, wherein the material moving mechanism comprises a material moving seat, a material moving guide rail, a material moving driving device and a material moving positioning device; the material moving driving device is electrically connected with the control mechanism and can be controlled by the control mechanism to act; the material moving seat is arranged on the material moving guide rail and can be driven by the material moving driving device to move on the material moving guide rail; the material moving positioning device is used for positioning the position of the material moving seat on the material moving guide rail;
the yarn storage mechanism, the transfer mechanism and the grabbing mechanism are arranged on the material moving seat and can be driven by the material moving driving device to move among different creel feeding areas.
13. The beaming yarn loading system of claim 1, wherein the feed rails include a first feed rail and a second feed rail perpendicularly connected to the first feed rail; the feeding driving device comprises a first feeding driving device and a second feeding driving device; the feeding frame is arranged on the second feeding guide rail; the first feeding driving device is used for driving the second feeding guide rail to move on the first feeding guide rail, and the second feeding driving device is used for driving the feeding frame to move on the second feeding guide rail.
14. The beaming yarn loading system of claim 13 wherein the feed mechanism further includes a yarn spool position detector electrically connected to the control mechanism, the control mechanism adjusting the position of the feed carriage to correspond to the corresponding position of the yarn spool on the creel to be loaded based on the position of the yarn spool on the creel to be loaded detected by the yarn spool position detector.
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| CN201610705034.XA CN106120071B (en) | 2016-08-22 | 2016-08-22 | Warping fills yarn system |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610705034.XA CN106120071B (en) | 2016-08-22 | 2016-08-22 | Warping fills yarn system |
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| CN106120071A CN106120071A (en) | 2016-11-16 |
| CN106120071B true CN106120071B (en) | 2018-06-15 |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106702643B (en) * | 2016-12-29 | 2023-05-09 | 立信染整机械(深圳)有限公司 | Automatic cheese conveying, discharging and loading equipment |
| CN107177912A (en) * | 2017-04-10 | 2017-09-19 | 中国地质大学（武汉） | A kind of automatic doffer control system with vision |
| CN107720438A (en) * | 2017-11-03 | 2018-02-23 | 杭州锐冠科技有限公司 | A kind of lick-up control system and control method |
| WO2020028377A1 (en) * | 2018-07-30 | 2020-02-06 | Shaw Industries Group, Inc. | Automated creel assemblies and systems and methods of making and using same |
| CN110689491B (en) * | 2019-08-27 | 2022-03-29 | 浙江理工大学 | Method for correcting side image of cheese under machine vision |
| CN110528135B (en) * | 2019-09-25 | 2024-04-19 | 山东日发纺织机械有限公司 | Yarn bobbin replacing device and textile system production line |
| CN212245241U (en) * | 2020-01-18 | 2020-12-29 | 立信染整机械(广东)有限公司 | Automatic cheese dress yarn feeding system |
| CN115610786B (en) * | 2022-10-10 | 2023-08-25 | 广州盛原成自动化科技有限公司 | Cheese removes bagging apparatus and warping string yarn equipment |
| CN116254630A (en) * | 2022-11-16 | 2023-06-13 | 苏州科行物流设备有限公司 | Warping machine system |
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