阅读说明：本技术 自主移动式换筒装置以及换筒方法 (Autonomous mobile type can changing device and can changing method ) 是由 邱丽遐 于 2020-12-28 设计创作，主要内容包括：一种自主移动式换筒装置以及换筒方法,取代传统的固定式的换筒装置,是一种带有脚轮的自主移动式的换筒装置。空条筒和满条筒置于所述自主移动式换筒装置的顶部。当自主移动式换筒装置所装载是圆形条筒的时候,所述自主移动式换筒装置在纺纱准备机的圈条盘启动的时候,同步地驱使其顶部上方的圆形空条筒旋转,而自主移动式换筒装置相对于纺纱准备机的位置(尤其是圈条盘)保持固定不动,以便纤维条一圈一圈地圈放在条筒中。当自主移动式换筒装置所装载是矩形条筒的时候,所述自主移动式换筒装置在圈条盘启动的时候,自身做往复式直线移动,而矩形条筒相对于自主移动式换筒装置保持相对静止,从而带动矩形条筒跟随作往复式运动。(An autonomous mobile creeling device and a creeling method replace the traditional fixed creeling device, and is an autonomous mobile creeling device with casters. And the empty cans and the full cans are arranged at the top of the autonomous movable can changing device. When the autonomous mobile can changer is loaded with a round can, the autonomous mobile can changer synchronously drives the round empty can above the top of the round empty can to rotate when a can winding disc of the spinning preparation machine is started, and the position of the autonomous mobile can changer relative to the spinning preparation machine (especially the can winding disc) is kept stationary, so that the fiber can is wound in the can one by one. When the rectangular sliver can is loaded by the autonomous mobile can changing device, the autonomous mobile can changing device does reciprocating linear movement when the can coiling disc is started, and the rectangular sliver can keeps relatively static relative to the autonomous mobile can changing device, so that the rectangular sliver can is driven to do reciprocating movement along with the rectangular sliver can.)

1. An autonomous mobile creeling device and a creeling method, comprising a caster (4); the cans (1, 8) are placed above the autonomous mobile can changing device (A); for moving empty cans (1, 8) into the spinning preparation machine (C, D, E) and cans (1, 8) filled with fibre slivers (3) out of the spinning preparation machine (C, D, E); the method is characterized in that: the autonomously mobile can changer (A) moves cans (1, 8) into the area below the can winding disc (2) of the spinning preparation machine (C, D, E).

2. An autonomous mobile creel device and method as claimed in claim 1, wherein: the autonomous mobile creeling device (A) has autonomous navigation and autonomous positioning functions.

3. An autonomous mobile creeling device and method as claimed in claim 2, wherein: the top of the autonomous mobile can changing device (A) is provided with a can rotating disc (5).

4. An autonomous mobile creeling device and method as claimed in claim 3, wherein: the rotary disk (5) of the autonomous mobile can changing device (A) enables the round can (1) to rotate below the can coiling disk (2).

5. An autonomous mobile creeling device and method as claimed in claim 4, wherein: the rotating disc (5) of the autonomous mobile creeling device (A) is driven by a motor (M) of the autonomous mobile creeling device (A).

6. An autonomous mobile creeling device and method as claimed in claim 5, wherein: the autonomous mobile can changing device (A) is kept relatively motionless relative to the can coiling disc (2) when the circular can (1) is driven to rotate.

7. An autonomous mobile creeling device and method as claimed in claim 2, wherein: the autonomous mobile can changing device (A) enables the rectangular can (8) to do reciprocating motion below the can coiling disc (2).

8. An autonomous mobile creeling device and method as claimed in claim 7, wherein: the autonomous mobile can changing device (A) relates the distance (G) of the reciprocating motion of the rectangular can (8) below the coiler (2) to the length of the rectangular can (8).

9. An autonomous mobile creeling device and method as claimed in claim 8, wherein: in the process that the rectangular can (8) is reciprocated by the autonomous mobile can changing device (A), the autonomous mobile can changing device (A) and the rectangular can (8) are kept relatively immobile.

10. An autonomous mobile creel device and method of creel as claimed in any one of claims 1 to 9, wherein: the autonomously mobile creeling device (A) is used for a spinning preparation machine (C, D, E); the spinning preparation machine comprises: drawing frame (D), carding machine (C) and combing machine (E).

Technical Field

The invention discloses an autonomous mobile creel device and method, and a spinning preparation machine with the device, in particular a carding machine, a drawing frame and a combing machine.

Background

In the staple spinning process, carding machines, combing machines and drawing frames are widely used. The carding machine gathers the carded fiber webs into fiber strips, and the fiber strips are placed in a sliver can in a circle. The drawing frame draws or evens the slivers from the carding machine, the drawing frame or the combing machine, and then the slivers are placed in a can in a looped mode. Similarly, in a combing machine, up to 8 fleece packages are rolled, subjected to a combing process, drawn and stretched in parallel to form a sliver, which is then looped in a can. The can is used for loading the sliver of carding, combing and drawing frames, when the can is full (reaches the specified length), an empty can replaces the full can, so the cycle starts the can changing process. For carding machines, drawing frames and combing machines, automatic can changing devices are generally available for these functions.

It is known that: at present, automatic creeling devices of carding machines, drawing frames and combing machines push full slivers out in a rotary or linear mode and feed empty slivers in. In the process, for a round can, a can disc (on which the can is placed) for driving the can rotates around a vertical axis of the can, and a circle of fiber can is placed in the round can; for a rectangular can, a can disc (on which the can is placed) for driving the can drives the can to reciprocate, and the fiber strips are placed in the rectangular can in a circle. When the sliver can is full, the sliver can disk stops moving, the full sliver can is pushed away from the sliver can disk by the can-changing push rod, and the empty sliver can is fed onto the sliver can disk. The movement of the can is a passive movement, often resulting in the dumping of the can loaded with the sliver, and the exchange of an empty can with a full can also requires a longer time, typically 1-3 minutes. Another disadvantage is that: the automatic can changing device is a part of a drawing frame, a carding machine and a combing machine, is fixedly arranged with a main machine, and simultaneously needs a large space empty can storehouse for storing empty cans.

For example, CN102605495B patent "multi-head drafting machine and method for replacing can" proposes a device similar to a cross rotating rod to replace a full can and an empty can by rotating 180 degrees. The disadvantages are that: the sliver cans are driven by a cross rotating rod to move from a sliver can disc, full sliver cans are pushed to leave a production area, and empty sliver cans are fed into the production area. The can disc is fixed in position relative to the drawing frame and does not move. The cross rotating rod requires an additional driving device and is complex in structure and poor in stability.

For example, patent CN106232884B "apparatus for filling round cans with fiber band, such as cotton, chemical fiber or the like, on a carding machine", proposes a carding machine in which a can winding disc is movable during the exchange of an empty can and a full can, and when the fiber strip in the can reaches a specified length (full can), the disc is rapidly moved to the top of the empty can, and starts to place the fiber strip into a new empty can, and then pushes the full can off the can winding disc by a push rod, and feeds a new empty can onto the can winding disc. In the process of changing the can, the winding disc needs to be moved, and the drives of the 2 can discs are switched at the same time, so that the whole can changing device is complex in structure and high in cost.

Further, with the advent of the smart spinning factory era, cans tend to be automatically transported by AGV cars or can rails, which is a passive can changing mode, such that an AGV needs to load a full can from a can changer and feed an empty can to the can changer, limiting or preventing the AGV from automatically transporting cans.

Disclosure of Invention

In order to overcome the defects of the prior automatic can changing device, the invention provides an autonomous movable can changing device, a can changing method and a spinning preparation machine with the device.

The specific technical scheme provided by the invention is as follows.

An autonomous mobile creeling device replaces the traditional fixed creeling device and is an autonomous mobile creeling device with casters. And the empty cans and the full cans are arranged at the top of the autonomous movable can changing device.

The automatic moving type can changing device transports the empty cans and the full cans among a drawing frame, a carding machine, a combing machine, a roving frame, an air spinning machine, a vortex spinning machine, an empty can warehouse, a full can warehouse and a temporary can storage area. Therefore, the traditional can changing device which is matched with an AGV car, a drawing frame, a combing machine and a carding machine together to realize automatic can transportation is replaced, and the functions of the automatic can transportation and the combing machine are combined into a whole. On one hand, the automatic creeling device is replaced, so that the occupied area of a drawing frame, a combing machine and a carding machine is saved, and on the other hand, the automatic creeling device which is flexible and self-movable realizes seamless butt joint of automatic creeling on a spinning preparation machine, a roving machine, a rotor spinning machine, an eddy current spinning machine and the like.

The autonomously mobile can changer carries an empty can to the area below the can coiler of the spinning preparation machine. When the empty sliver can reaches a specified length (full can) by the fiber sliver coiled by the coiling disc of the spinning preparation machine, the self-moving type can changing device drives the caster to start rotating, leaves the spinning preparation machine and transports the full can to a specified destination.

The destinations are the sliver guide frame of the drawing frame, the sliver guide frame of the sliver lap combination machine, the sliver guide frame of the roving frame, the sliver can feeding area of the spinning unit for air spinning, vortex spinning or air jet spinning, the temporary storage area of the full sliver can, the sliver can warehouse and the like. The destination of the can be specifically defined according to specific plant design and spinning requirements.

And after the full sliver can is transported to a designated destination by the autonomous mobile can changing device, putting down the full sliver can, loading an upper empty sliver can, and waiting for an instruction. In a preferred embodiment, the autonomous mobile can changer, which is loaded with empty cans, is moved to an empty can waiting area of the spinning preparation machine.

After the spinning preparation machine finishes filling the empty can, the automatic movable can changing device for the full can is moved together with the full can, and the automatic movable can changing device for loading the empty can moves and is positioned to a fiber strip winding area below a winding disc of the spinning preparation machine according to instructions to start loading fiber strips.

The automatic barrel changing process of the spinning preparation machine is completed by the cooperation of the autonomous movable barrel changing device for loading the empty barrels and the full barrels in the circulating work.

There are two situations. It is known that: since spinning mills usually can be used in two shapes. One is a rectangular can and the other is a circular can. The working method of the spinning preparation machine under the can coiler is different for the cans of the two shapes.

In order to adapt to different can shapes, the autonomous mobile can changing device also adopts two different working methods to respectively correspond to the rectangular cans and the circular cans.

When the autonomous mobile can changer is loaded with a round can, the autonomous mobile can changer synchronously drives the round empty can above the top of the round empty can to rotate when a can winding disc of the spinning preparation machine is started, and the position of the autonomous mobile can changer relative to the spinning preparation machine (particularly the can winding disc) is kept stationary, so that the fiber can is placed in the can in a circle.

When the rectangular sliver can is loaded by the autonomous mobile can changing device, the autonomous mobile can changing device does reciprocating linear movement when a sliver disk of the front spinning equipment is started, and the sliver can is kept relatively static relative to the autonomous mobile can changing device, so that the fiber sliver can be placed in the rectangular sliver can in a circle.

The autonomous mobile creeling device is provided with 2 or more than 2 trundles and a driving system for driving the trundles to move. The driving system drives the autonomous movable creeling device to move among the spinning processes, transports the empty cans and the full cans and completes replacement of the empty cans and the full cans. To achieve this function, a spinning preparation machine is usually operated with 2 autonomously movable creels.

The top of the self-moving type can changing device is provided with a can rotating disc, and a motor drives the can rotating disc to rotate through a motor, so that a round can placed on the can rotating disc is driven to rotate.

The autonomous mobile creeling device can drive the bobbin to move in a reciprocating mode, so that the rectangular sliver can arranged above the top of the bobbin can move in a reciprocating mode in the area below a coiling disc of the spinning preparation machine, and therefore the fiber strips are coiled in the rectangular sliver can along the longitudinal axis direction of the rectangular sliver can.

The circular can typically has a diameter of 300/400/450/470/500/600/800/1000/1200 mm; the height is between 900 and 1500 mm. According to the selected round cans with different diameters, the autonomous mobile can changing device is also configured with corresponding sizes.

The length, width and height of the rectangular can are respectively as follows: (600-.

The round cans and the rectangular cans are arranged in the top area of the autonomous movable can changing device, namely, are arranged above the autonomous movable can changing device. For a round can, the round can is placed on a can rotating disc above the autonomously mobile can changer. For rectangular cans, the rectangular can is placed above the autonomously mobile can changer, and remains stationary relative to the can changer.

The autonomous mobile creeling device has an autonomous positioning function. The round can and the rectangular can carried on the upper side are positioned in the area below the coiling disc of the spinning preparation machine. The current autonomous positioning technology can realize millimeter level, so that the sliver can be accurately positioned below a can coiler of the spinning preparation machine, accurate sliver coiling is realized, and perfect sliver forming is realized in the sliver can.

The autonomous mobile creeling device has an autonomous navigation function. When the piggy-back sliver can reaches the preset length, namely the sliver can is loaded with fiber strips with the preset length, the autonomous movable sliver changing device drives the trundles to transport the full sliver can to the designated destination. The destinations are the sliver guide frame of the drawing frame, the sliver guide frame of the sliver lap combination machine, the sliver guide frame of the roving frame, the sliver can feeding area of the spinning unit for air spinning, vortex spinning or air jet spinning, the temporary storage area of the full sliver can, the sliver can warehouse and the like. The autonomous mobile creeling device can drive the sliver cans on the top of the device to rotate when carrying round sliver cans. When the carried sliver can is an empty sliver can, the autonomous movable can-changing device moves the empty sliver can to the area below a sliver coiling disc of the spinning preparation machine to coil the fiber sliver.

When the rectangular can is carried, the autonomous mobile can changing device drives the body and the rectangular can to reciprocate below the coiler by the castors. The distance between the left and right limit positions of the reciprocating movement of the autonomously movable creel device is determined and correlated with the length of the rectangular can. When the autonomous mobile creeling device moves between the left limit position and the right limit position of the reciprocating motion, part of the rectangular can is always below the can coiling disc, so that the fiber can be coiled in the rectangular can and cannot be coiled outside the rectangular can.

When the round can is carried, the autonomous mobile can changing device can drive the round can placed on the can rotating disc to rotate synchronously with the can coiling disc at a certain proportion of rotating speed below the can coiling device.

As a preferred embodiment, the autonomous mobile creel device is a submarine AGV. The round can and the rectangular can are placed above the AGV. The driving device for driving the sliver can is additionally arranged on the latent AGV. So as to drive the circular can to rotate along with the coiling disc at a certain proportional rotating speed.

As a preferred embodiment of the present invention: the automatic moving type creeling device is an AGV. The AGV car adopts the autonomous navigation mode to work. The piggyback sliver cans work between the individual spinning processes according to a pre-planned route map.

In a preferred embodiment of the invention, the AGV has an automatic positioning module, which can be positioned precisely in the lower area of the can winding disk of the spinning preparation machine.

Usually, a drawing frame, carding machine or combing machine can have a plurality of said creels cooperating together. Each self-moving can changing device can transport the full can and return the empty can, and the operation is repeated and circulated.

The spinning preparation machine of the invention comprises but is not limited to: drawing frame, carding machine, combing machine.

Compared with the fixed automatic creeling device of the traditional drawing frame, a carding machine and a combing machine, the invention provides a novel drawing frame, a carding machine and a combing machine, and the automatic movable creeling device provided by the invention is adopted to realize independent creeling function from the whole machine. The automatic movable type can changing device moves a full can out of the spinning preparation machine and transports the full can to a designated position; and moving the empty sliver can to the lower part of a coiling disc of the spinning preparation machine to fill the fiber sliver.

Drawings

The accompanying drawings are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate patent, and not limit the patent. In the drawings:

fig. 1 is a schematic side view of an autonomous mobile can changer of the invention using round cans for a drawing frame.

Fig. 2 is a schematic top view of the autonomous mobile creel apparatus of the present invention driving a round can.

Fig. 3 is a schematic side view of an autonomous mobile can changer driving a round can of the present invention.

Fig. 4 is a schematic side view of an autonomous mobile creel device of the drawing frame using rectangular cans of the present invention.

FIG. 5 is a schematic side view of an autonomous mobile creel device driving a rectangular can of the present invention.

Fig. 6 is a schematic top view of an autonomous mobile creel apparatus driving a rectangular can according to the present invention.

FIG. 7 is a side view of the autonomous mobile can changer driving a reciprocating motion of a rectangular can of the present invention.

Fig. 8 is a schematic side view of an autonomous mobile creel device of the present invention using round sliver can for a carding machine.

Fig. 9 is a schematic side view of an autonomous mobile creel device using rectangular cans for a carding machine according to the present invention.

FIG. 10 is a schematic side view of an autonomous mobile can changer of the present invention using circular cans for a combing machine.

FIG. 11 is a schematic side view of an autonomous mobile can changer of the combing machine using rectangular cans of the present invention.

Description of reference numerals: 1. a circular can; 2. a coiling disc; 3. fiber strips; 4. a caster wheel; 5. a can rotating disc; 6. a belt; 7. a belt pulley; 8. a rectangular can; 9. rolling the cotton net; A. an autonomous mobile creeling device; D. drawing frame; C. a carding machine; E. a combing machine; f1.4, an upper drafting system and a lower drafting system; f2.3, an upper drafting system and a lower drafting system; s1, the rotation direction of a coiler; s2, rotating direction of a drum rotating disc; s3, the reciprocating direction of the autonomous mobile creeling device; m, a motor; l1 longitudinal axis of a rectangular can; l2, the left limit position of the autonomous mobile creeling device; l3, the right limit position of the autonomous mobile creeling device; G. the reciprocating distance of the autonomous mobile creeling device; and R, cotton guide roller pairs.

Detailed Description

Embodiments of the present invention are described below with reference to the drawings.

The first embodiment.

As shown in fig. 1, 2 and 3, the autonomous mobile creel apparatus of the present invention is an embodiment of a drawing frame using a circular can.

Fig. 1 is a schematic side view of an autonomous mobile can changer of the invention using round cans for a drawing frame.

The drawing frame is a necessary spinning preparation machine in a spinning mill. The material to be spun is a sliver 3 from the can 1 of a carding, combing or drawing frame. As shown in fig. 1, typically 4-8 cans 1 filled with fiber slivers 3 are fed to the creel of a draw frame D, passed through a drafting system F1, and fed to a coiler 2. The drafted fiber sliver 3 is placed in the circular can 1 by the rotating action of the rotating can winding disc 2. The draw is embodied as a draw system F1, typically 4 over 3.

As shown in fig. 1, a round can 1 loaded with a sliver 3 is placed over the top of the autonomous mobile can changer a.

The autonomous mobile creeling device A is provided with 4 trundles 4 and is a hidden AGV. The system has the functions of autonomous navigation and autonomous positioning.

The self-moving type creeling device A transports the filled can 1 to a designated destination after leaving the lower part of a coiling disc 2 of a drawing frame D: such as roving frames, air-flow systems, vortex spinning machines or can storage cabinets; or the empty circular can 1 is moved to the lower part of the can coiling disc 2 to fill and coil the can.

Compared with the traditional fixed automatic creeling device, the autonomous mobile creeling device A of the embodiment can move a full can out of the drawing frame D in time and move an empty can 1 into the drawing frame D, so that the fixed automatic creeling device is replaced. Furthermore, the automatic moving type can changing device replaces the function of a traditional special AGV to carry a can. The can changing device not only has the function of changing cans, but also has the function of conveying the cans to a specified destination. The automatic barrel changing device of the traditional drawing frame and the AGV for carrying the barrel are combined into a whole.

Further, as shown in fig. 2, fig. 2 is a schematic top view of the autonomous mobile creel apparatus driving the round can of the present invention. Fig. 3 is a schematic side view of an autonomous mobile can changer driving a round can of the present invention.

As shown in fig. 2 and 3, when the autonomous movable creel apparatus a positions the empty circular can 1 to the lower can area of the can winding disc 2 of the drawing frame D, the motor M drives the can rotating disc 5 to rotate in the direction of S2 through the belt 6 and the pulley 7. The circular can 1, which is placed above the can rotating disk 5, rotates in the direction of S2 with the rotation of the can rotating disk 5. Because the rotation speed of the coiling disc 2 of the drawing frame D is in a certain proportion to the rotation speed of the motor-driven can rotating disc 5, and an eccentric distance exists between the can rotating disc 5 and the coiling disc, the fiber strips 3 are placed in the circular can 1 in a circle, as shown in figure 2.

The autonomous mobile creeling device A is a latent AGV and is provided with 4 trundles 4, and the circular sliver cans 1 filled with the fiber slivers 3 are moved to the appointed destination under the autonomous navigation function. For example, in the present embodiment, the autonomous moving creel device a moves the round can 1 to the roving frame.

Example two.

As shown in fig. 4, 5, 6 and 7, there is an embodiment of the autonomous mobile creel apparatus of the present invention in a drawing frame using rectangular cans.

Fig. 4 is a schematic side view of an autonomous mobile creel device of the drawing frame using rectangular cans of the present invention. In this embodiment, the autonomous mobile creeling device a is a latent AGV. There are 4 casters 4. Wherein a rectangular can 8 is placed above the top of the can changer a. The autonomous mobile creeling device A moves the empty rectangular sliver cans 8 to a coiling area below the coiling disc 2 of the drawing frame D under the functions of autonomous navigation and autonomous positioning. When the can coiler 2 of the drawing frame starts to coil the sliver 3, the autonomous movable creel apparatus a autonomously sub-coils the winding area below the can coiler 2 at the same time, and reciprocates along S3. The rectangular can 8 fixed above the autonomous traveling type creel device a also reciprocates in the direction of S3. By means of the rotational movement of the can winding disk 2 and the reciprocating movement of the rectangular can 8, the fiber strand 3 is placed in the rectangular can 8 in a circle and a circle along the longitudinal axis of the rectangular can 8.

FIG. 5 is a schematic side view of an autonomous mobile creel device driving a rectangular can of the present invention. The autonomous mobile creeling device a reciprocates under the rotation action of the caster 4, and drives the rectangular can 8 arranged above the autonomous mobile creeling device a to reciprocate along S3. The rotation of the caster 4 is controlled by the control system of the autonomous mobile creeling device a itself.

Fig. 6 is a schematic top view of an autonomous mobile creel apparatus driving a rectangular can according to the present invention. From a top view, the fiber strands 3 are wound round in the rectangular can 8 in the direction of the longitudinal axis L1 of the rectangular can 8.

FIG. 7 is a side view of the autonomous mobile can changer driving a reciprocating motion of a rectangular can of the present invention. Further, from fig. 7, the distance G of the reciprocating motion of the autonomous moving creel apparatus a is a distance between the left limit position L2 and the right limit position L3 at which the autonomous moving creel apparatus a moves. As shown in fig. 7, the autonomously movable creel device a is located in the winding area below the can coiler 2, so that the fiber sliver 3 can be wound in the rectangular can 8 during the reciprocating movement without being thrown out of the rectangular can 8. The reciprocating distance G is determined according to the length of the rectangular can 8, and in the invention, the reciprocating distance G is a process parameter and can be specifically adjusted.

Example three.

Fig. 8 shows an embodiment of the autonomous mobile creel apparatus of the present invention in a carding machine using round sliver cans. Fig. 8 is a schematic side view of an autonomous mobile creel device of the present invention using round sliver can for a carding machine.

The sliver 3 of the card C is fed into the can lap 2 of the card C under the guidance of a pair of guide rollers R. The sliver 3 is wound one turn in the circular can 1 by the winding action of the can winding disc 2 rotating along S1.

The autonomous mobile can changer a is shown with a can rotating disc 5. The round can 1 is placed above the can rotating disc 5, below the can winding disc 2. The autonomous moving type can changer a drives the can rotating disk 5 to rotate in the direction of S2, thereby rotating the circular can 1 in the direction of S2. The rotation speed of the autonomous mobile creel device a and the rotation speed of the can winding disc 2 are in a fixed proportional relationship, so that the fiber sliver 3 can be placed in the circular can 1 in a circle of one circle.

The autonomous mobile creeling device a shown is a submarine AGV with castors 4, which move round cans carried on it into and out of the lap-laying area below the lap plate 2 of the carding machine C.

Example four.

Fig. 9 shows an embodiment of the autonomous mobile creel apparatus of the present invention in a carding machine using rectangular sliver cans. Fig. 9 is a schematic side view of an autonomous mobile creel device using rectangular cans for a carding machine according to the present invention.

The sliver 3 of the card C is fed into the can lap 2 of the card C under the guidance of a pair of guide rollers R. The sliver 3 is wound one turn in the rectangular can 8 by the winding action of the can winding disc 2 rotating along S1.

At the same time, the autonomous moving creel apparatus a is shown to have a reciprocating motion in the direction of S3, reciprocating the rectangular can 8 fixed above it along the S3 in the winding area below the can winding reel 2. The reciprocating distance G of the autonomous mobile creel device A is shown in FIG. 7.

The fiber sliver 3 is shown to be placed in a longitudinal axial turn of a circle in the rectangular can 8 under the rotating action of the can winding disc 2 and the reciprocating action of the rectangular can 8.

Example five.

As shown in FIG. 10, an embodiment of the autonomous mobile creel apparatus of the present invention is applied to a combing machine E using a circular can. Fig. 10 is a schematic side view of an autonomous mobile can changer of the invention using circular cans for a combing machine E.

The sliver from the 8 fleece packages 9 is drawn by the drawing system F2 to form a sliver 3, which is fed to the can coil 2 of the combing machine E. The sliver 3 is wound one turn in the circular can 1 by the winding action of the can winding disc 2 rotating along S1.

The autonomous mobile can changer a is shown with a can rotating disc 5. The round can 1 is placed above the can rotating disc 5, below the can winding disc 2. The autonomous moving type can changer a drives the can rotating disk 5 to rotate in the direction of S2, thereby rotating the circular can 1 in the direction of S2. The rotation speed of the autonomous mobile creel device a and the rotation speed of the can winding disc 2 are in a fixed proportional relationship, so that the fiber sliver 3 can be placed in the circular can 1 in a circle of one circle.

The autonomous mobile can changer a shown is a submarine AGV with castors 4, which move a round can carried on it into and out of the looping area under the loop wheel 2 of the combing machine E.

Example six.

As shown in FIG. 11, there is an embodiment of the autonomous mobile creel apparatus of the present invention in a combing machine using rectangular cans. FIG. 11 is a schematic side view of an autonomous mobile can changer of combing machine E of the invention using rectangular cans.

The sliver from the 8 fleece packages 9 is drawn by the drawing system F2 to form a sliver 3, which is fed to the can coil 2 of the combing machine E. The sliver 3 is wound one turn in the rectangular can 8 by the winding action of the can winding disc 2 rotating along S1.

At the same time, the autonomous moving creel apparatus a is shown to have a reciprocating motion in the direction of S3, reciprocating the rectangular can 8 fixed above it along the S3 in the winding area below the can winding reel 2. The reciprocating distance G of the autonomous mobile creel device A is shown in FIG. 7.

The fiber sliver 3 is shown to be placed in a longitudinal axial turn of a circle in the rectangular can 8 under the rotating action of the can winding disc 2 and the reciprocating action of the rectangular can 8.

Further, in the first to sixth embodiments, the autonomous mobile can changer a is shown to realize the automatic can changing function and the transportation function of the round can 1 and the rectangular can 8. Furthermore, a brand new implementation mode is provided for automatically carrying the cans.

The above embodiments are only exemplary embodiments of the present invention, and do not limit the scope of the present invention as defined by the claims. Various modifications and equivalents of the invention which are within the spirit and scope of the invention may occur to those skilled in the art and are not required to be exhaustive of all embodiments, and such modifications and equivalents are intended to be within the scope of the invention.