CN102534897A

CN102534897A - Control method for bobbin grabbing mechanism of doffer

Info

Publication number: CN102534897A
Application number: CN2012100533153A
Authority: CN
Inventors: 吴国辉; 代冀阳; 辛凯; 应进; 储宝君
Original assignee: Nanchang Hangkong University
Current assignee: Nanchang Hangkong University
Priority date: 2012-03-03
Filing date: 2012-03-03
Publication date: 2012-07-04

Abstract

A control method for a bobbin grabbing mechanism of a doffer comprises the following steps: 1, an FPGA (Field Programmable Gate Array) controller outputs a signal to drive an x-axis motor of a manipulator to rotate in the forward direction to push out a clamping device, and after receiving a signal, the FPGA controller outputs a brake signal for the x-axis motor to maintain the moment of the x-axis motor; 2, the FPGA controller outputs a signal to drive a clamping motor to rotate in the forward direction to drive the clamping device to clamp a full bobbin, and the full bobbin is pushed loose from the stator of a spinning machine; 3, then the FPGA controller interface drives a Y-axis motor of the manipulator to rotate in the forward direction, and the x-axis motor rotates in the reverse direction to the position of a sensor; and 4, the FPGA controller drives the clamping motor to rotate in the reverse direction, and the full bobbin freely falls into a prearranged basket in virtue of gravity. The invention has the technical effects as follows: the process of the method is simple, automatic bobbin grabbing and low failure rate are achieved in the bobbin grabbing process, and the competitiveness of enterprises is improved.

Description

A kind of control method of doffer bobbin clip

Technical field

The present invention relates to a kind of control method, relate in particular to a kind of control method of doffer bobbin clip.

Background technology

Now, domestic a large amount of old-fashioned short spindle spinning frames still adopt manual work that full spool is taken off from spindle, change empty spool again.Because full spool and spindle bonding force closely need very big tube drawing power, also will change empty spool simultaneously.Thereby certainly will make cost increase with reduction production efficiency very greatly by doffer's labour intensity like this; On the other hand, because the spinning workshop noise is big, temperature is high, air pollution is serious and abominable production environment, make that the workman who is ready to be engaged in the work of doffing is fewer and feweri, enterprise faces very big recruitment pressure.Therefore, very urgent for the old-fashioned short spindle spinning frame demand that process automation transforms of doffing.

Summary of the invention

The object of the present invention is to provide a kind of control method of doffer bobbin clip, pipe is grabbed in this method realization automation, increases productivity, and practices thrift cost.

The present invention realizes like this; The device of realizing this method comprises the X spindle motor of FPGA controller, clamping motor, mechanical arm, y-axis motor, the loose motor in top and the sensor of mechanical arm, and the FPGA controller connects the X spindle motor of clamping motor, mechanical arm, y-axis motor, the loose motor in top and the sensor of mechanical arm respectively; It is characterized in that method is:

(1) the X spindle motor of FPGA controller output signal driving device arm is rotated in the forward and releases stepping up device; Position through the release of sensor clamping device; Sensor output signal is given the FPGA controller after arriving the precalculated position, and the FPGA controller receives the brake signal of output X spindle motor behind the signal and the moment of motor is kept;

(2) the FPGA controller output signal drive clamping motor be rotated in the forward drive clamping device full spool stepped up after, then the FPGA controller drives is pushed up loose motor and will be stepped up device jack-up, and the stator top of full spool and spinning machine is loose;

(3) the FPGA controller y-axis motor of following the driving device arm is rotated in the forward, the full spool that clamps is lifted to sensing station after, the X spindle motor oppositely is screwed into sensing station;

(4) FPGA controller drives clamping motor reverse rotation, full spool freely falls in the prepositioned small basket owing to gravity.

Technique effect of the present invention is: procedure is simple, grabs the pipe process flow, has realized that automation grabs pipe, and fault rate is low, improves enterprise competitiveness.

Description of drawings

Fig. 1 is a structure principle chart of the present invention.

The loose motor of the y-axis motor 5 of the X spindle motor 4 of FPGA controller 2, clamping motor 3, mechanical arm, mechanical arm, top 6, sensor in the drawings, 1.

The specific embodiment

As shown in Figure 1; The present invention realizes like this; The device of realizing this method comprises the X spindle motor 3 of FPGA controller 1, clamping motor 2, mechanical arm, y-axis motor 4, the loose motor 5 in top and the sensor 6 of mechanical arm, and FPGA controller 1 connects the X spindle motor 3 of clamping motor 2, mechanical arm, y-axis motor 4, the loose motor 5 in top and the sensor 6 of mechanical arm respectively; Method is:

(1) the X spindle motor 3 of FPGA controller 1 output signal driving tool arm is rotated in the forward and releases stepping up device; Detect the position that clamping device is released through sensor 6; Sensor output signal is given FPGA controller 1 after arriving the precalculated position, and FPGA controller 1 receives the brake signal of output X spindle motor behind the signal and the moment of motor is kept;

(2) FPGA controller 1 output signal drive clamping motor be rotated in the forward drive clamping device full spool stepped up after, then FPGA controller 1 drives the loose motor 5 in top and will step up device jack-up, and the stator top of full spool and spinning machine is loose;

(3) FPGA controller 1 then the y-axis motor 4 of driving device arm be rotated in the forward, the full spool that clamps is lifted to sensor 6 positions after, the X spindle motor oppositely is screwed into sensing station;

Claims

1. the control method of a doffer bobbin clip; The device of realizing this method comprises the X spindle motor of FPGA controller, clamping motor, mechanical arm, y-axis motor, the loose motor in top and the sensor of mechanical arm, and the FPGA controller connects the X spindle motor of clamping motor, mechanical arm, y-axis motor, the loose motor in top and the sensor of mechanical arm respectively; It is characterized in that method is: