Periscopic doffing device

Abstract

A periscopic doffer device including: a travelling mechanism including a frame; a first lifting mechanism including a first lifting rod group fixed on the frame and a first platform, the top end of the first lifting rod group being connected to the first platform; a second lifting mechanism including a second lifting rod group arranged on the first platform and a second platform, the top end of the second lifting rod group is connected to the second platform; a rotating mechanism including a rotary motor fixed on the second platform and a rotary rack, the rotary motor being connected to the rotary table at the bottom of the rotary rack, and a sliding rail assembly is horizontally arranged on the rotary rack; and a yarn receiving mechanism including a yarn receiving rod and a translation assembly.

What is claimed is: 
     
         1 . A periscopic doffing device comprising:
 a travelling mechanism ( 10 ) including a frame ( 12 ), traveling wheels ( 11 ) and a traveling motor, wherein the travelling mechanism ( 10 ) is disposed in a ground groove below the ground, the ground groove is arranged along a first straight line, and the first straight line is parallel to a second straight line formed by a plurality of material receiving stations;   a first lifting mechanism including a first lifting rod group ( 21 ), a first driving motor and a first platform ( 22 ), wherein the first lifting rod group ( 21 ) is fixed on the frame ( 12 ), a top end of the first lifting rod group ( 21 ) is connected to the first platform ( 22 ), and the first lifting rod group ( 21 ) is driven by the first driving motor to adjust a height of the first platform ( 22 );   a second lifting mechanism including a second lifting rod group, a second driving motor ( 34 ) and a second platform ( 33 ), wherein the second lifting rod group is arranged on the first platform ( 22 ), a top end of the second lifting rod group is connected to the second platform ( 33 ), and the second lifting rod group is driven by the second driving motor ( 34 ) to adjust a height of the second platform ( 33 );   a rotating mechanism including a rotary motor ( 41 ) fixed on the second platform ( 33 ) and a rotary rack ( 42 ), wherein the rotary motor ( 41 ) is connected to a rotary table ( 43 ) at a bottom of the rotary rack ( 42 ), a sliding rail assembly is horizontally arranged on the rotary rack ( 42 ), and the rotary rack ( 42 ) is driven by the rotary motor ( 41 ) to switch an orientation between a first direction and a second direction; and   a yarn receiving mechanism including a yarn receiving rod ( 51 ) and a translation assembly, wherein a first end of the yarn receiving rod ( 51 ) is connected to the translation assembly, the translation assembly is connected to the sliding rail assembly, and the yarn receiving rod ( 51 ) is driven by the translation assembly to extend and retract along the orientation of the rotary rack ( 42 ), such that a second end of the yarn receiving rod ( 51 ) reaches a target material receiving station to receive a material to be transferred.   
     
     
         2 . The periscopic doffing device of  claim 1 , wherein the first lifting rod group ( 21 ) comprises a plurality of hydraulic lifting rods, bottoms of the plurality of hydraulic lifting rods are fixed to the middle of the frame ( 12 ), and top ends of the plurality of hydraulic lifting rods are uniformly distributed along the edge of the first platform ( 22 ). 
     
     
         3 . The periscopic doffing device of  claim 1 , wherein the second lifting rod group comprises a plurality of sets of threaded screws and sliding rods, wherein the sliding rods are fixedly connected to one of the first platform ( 22 ) and the second platform ( 33 ) and are slidingly connected to the other; bottoms of the threaded screws penetrate through the first platform ( 22 ) and are connected to a second driving motor ( 34 ) located under the first platform ( 22 ); and the second driving motor ( 34 ) drives the threaded screw to rotate to lift or lower the second platform ( 33 ). 
     
     
         4 . The periscopic doffing device of  claim 1 , wherein a pair of vertical plates ( 421 ) are provided on both sides in a length direction of the rotating mechanism, and bottoms of the pair of vertical plates ( 421 ) are connected to the rotary table ( 43 ) through a bottom plate ( 422 ); and the vertical plate ( 421 ) is provided with a slot arranged along the horizontal direction, the sliding rail assembly is fixed to the inner side of the vertical plate ( 421 ) below the slot, the translation assembly is arranged between the pair of vertical plates ( 421 ), a translation motor ( 53 ) of the translation assembly is connected to the sliding rail assembly, and a sliding block ( 52 ) of the translation assembly is connected to a first end of the yarn receiving rod ( 51 ) outside the vertical plate ( 421 ) through the slot. 
     
     
         5 . The periscopic doffing device of  claim 4 , wherein the sliding rail assembly comprises a rack rail ( 441 ) and an I-beam rail ( 442 ), the I-beam rail ( 442 ) is fixed on the bottom plate ( 422 ), and the rack rail ( 441 ) is fixed to an inner side of the vertical plate ( 421 ); and a bottom of the translation motor ( 53 ) is connected to the I-beam rail ( 442 ) through a wheel ( 54 ), an output end of the translation motor ( 53 ) is connected to the rack rail ( 441 ) through a gear, and the sliding block ( 52 ) is connected to the translation motor ( 53 ). 
     
     
         6 . The periscopic doffing device of  claim 1 , further comprising:
 an auxiliary supporting mechanism including a limiting sleeve ( 62 ), a supporting rod ( 61 ), a switch assembly ( 63 ), a pull rope ( 64 ) and a clamping pin, wherein the limiting sleeve ( 62 ) is arranged at a first end of the rotating mechanism, a vertical through-hole is formed in the middle of the limiting sleeve ( 62 ), the supporting rod ( 61 ) is movably arranged in the vertical through-hole, the clamping pin is arranged on a side of the vertical through-hole and connected to the switch assembly ( 63 ), the supporting rod ( 61 ) is provided with a ratchet that matches with the clamping pin, and the clamping pin is driven by the switch assembly ( 63 ) to separate from or engage with the ratchet of the supporting rod ( 61 ); and a first end of the pull rope ( 64 ) is connected to a bottom of the supporting rod ( 61 ), and a second end of the pull rope ( 64 ) is connected to a power source to lift the support rod ( 61 ).   
     
     
         7 . The periscopic doffing device of  claim 6 , wherein the second end of the pull rope ( 64 ) is detachably connected to a hook ( 55 ) of the translation assembly through a connecting block ( 66 ), and the connecting block ( 66 ) is disposed in a sliding chute parallel to the sliding rail assembly;
 before the translation assembly extends outwards, the hook ( 55 ) is separated from the connecting block ( 66 ), allowing the supporting rod ( 61 ) to slide down to the ground under gravity; and in the inward retraction process of the translation assembly, the hook ( 55 ) drives the connecting block ( 66 ) to move such that the supporting rod ( 61 ) is lifted and retracted.   
     
     
         8 . The periscopic doffing device of  claim 1 , wherein in a case of the doffing device moves towards the target material receiving station, the entire doffing device is located in the ground groove; after the doffing device reaches the target material receiving station, the yarn receiving mechanism is lifted from the ground groove and docks with the target material receiving station, driven by the first lifting mechanism, the second lifting mechanism and the rotating mechanism, to receive the material to be transferred; in a case of the doffing device returns from the target material receiving station, at least a portion of the doffing device is located in the ground groove;
 and in a case of the travelling mechanism ( 10 ) of the doffing device moves, the rotary rack ( 42 ) is oriented in the first direction parallel to the first straight line. 
 
     
     
         9 . The periscopic doffing device of  claim 8 , wherein the doffing device, after reaching the target material receiving station, executes the following material receiving operation:
 lifting, by the first lifting mechanism and the second lifting mechanism, the yarn receiving mechanism to a height matched with the target material receiving station and rotating, by the rotating mechanism, the rotary rack ( 42 ) to the second direction; and extending, by means of the translation assembly, the second end of the yarn receiving rod ( 51 ) along the horizontal direction to reach the target material receiving station, wherein the second direction is a moving direction of the material ( 80 ) to be transferred of the target material receiving station.   
     
     
         10 . The periscopic doffing device of  claim 1 , wherein a first end of the rotary rack ( 42 ) is provided with a camera device ( 71 ), and the camera device ( 71 ) is configured to determine a position difference between the second end of the yarn receiving rod ( 51 ) and the target material receiving station;
 the second lifting mechanism is configured to adjust a vertical position of the second end of the yarn receiving rod ( 51 ) according to the position difference; and/or   the rotating mechanism is configured to adjust a transverse position of the second end of the yarn receiving rod ( 51 ) according to the position difference to realize accurate docking.