CN102583045A - Sarong transportation equipment - Google Patents

Sarong transportation equipment Download PDF

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Publication number
CN102583045A
CN102583045A CN2012100604229A CN201210060422A CN102583045A CN 102583045 A CN102583045 A CN 102583045A CN 2012100604229 A CN2012100604229 A CN 2012100604229A CN 201210060422 A CN201210060422 A CN 201210060422A CN 102583045 A CN102583045 A CN 102583045A
Authority
CN
China
Prior art keywords
sarong
oil cylinder
transports equipment
telescoping
framework
Prior art date
Application number
CN2012100604229A
Other languages
Chinese (zh)
Inventor
单忠德
吴双峰
杨万然
戴军
陈队范
刘琳
鹿庆福
Original Assignee
机械科学研究总院先进制造技术研究中心
泰安康平纳机械有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 机械科学研究总院先进制造技术研究中心, 泰安康平纳机械有限公司 filed Critical 机械科学研究总院先进制造技术研究中心
Priority to CN2012100604229A priority Critical patent/CN102583045A/en
Publication of CN102583045A publication Critical patent/CN102583045A/en

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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B66HOISTING; LIFTING; HAULING
    • B66CCRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00Other constructional features or details
    • B66C13/18Control systems or devices
    • B66C13/48Automatic control of crane drives for producing a single or repeated working cycle; Programme control
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B66HOISTING; LIFTING; HAULING
    • B66CCRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C17/00Overhead travelling cranes comprising one or more substantially horizontal girders the ends of which are directly supported by wheels or rollers running on tracks carried by spaced supports
    • B66C17/04Overhead travelling cranes comprising one or more substantially horizontal girders the ends of which are directly supported by wheels or rollers running on tracks carried by spaced supports with lifting beams, e.g. slewable beams, carrying load-engaging elements, e.g. magnets, hooks
    • DTEXTILES; PAPER
    • D06TREATMENT OF TEXTILES OR THE LIKE; LAUNDERING; FLEXIBLE MATERIALS NOT OTHERWISE PROVIDED FOR
    • D06BTREATING TEXTILE MATERIALS USING LIQUIDS, GASES OR VAPOURS
    • D06B23/00Component parts, details, or accessories of apparatus or machines, specially adapted for the treating of textile materials, not restricted to a particular kind of apparatus, provided for in groups D06B1/00 - D06B21/00
    • D06B23/04Carriers or supports for textile materials to be treated
    • DTEXTILES; PAPER
    • D06TREATMENT OF TEXTILES OR THE LIKE; LAUNDERING; FLEXIBLE MATERIALS NOT OTHERWISE PROVIDED FOR
    • D06BTREATING TEXTILE MATERIALS USING LIQUIDS, GASES OR VAPOURS
    • D06B5/00Forcing liquids, gases or vapours through textile materials to effect treatment, e.g. washing, dyeing, bleaching, sizing impregnating
    • D06B5/12Forcing liquids, gases or vapours through textile materials to effect treatment, e.g. washing, dyeing, bleaching, sizing impregnating through materials of definite length
    • D06B5/16Forcing liquids, gases or vapours through textile materials to effect treatment, e.g. washing, dyeing, bleaching, sizing impregnating through materials of definite length through yarns, threads or filaments

Abstract

The invention provides sarong transportation equipment, which comprises a first beam, a second beam, a mechanical claw, a position detection unit and a control device, wherein the first beam is arranged on a guide rail and can move along the guide rail; the second beam is movably arranged on the first beam and can move along the first beam; the mechanical claw is arranged on the second beam and comprises a telescoping mechanism and a grabbing mechanism connected with the telescoping mechanism; the position detection unit is used for detecting the positions of the first beam and the second beam; and the control device is used for controlling the movements of the first beam, the second beam and the mechanical claw according to the position information detected by the position detection unit. The sarong transportation equipment can automatically transport sarongs through the control device and the mechanical claw, thereby improving the production efficiency and the safety of the dye production and reducing the personnel cost.

Description

Sarong transports equipment
Technical field
The present invention relates to the equipment for dyeing and finishing field, more specifically, relate to a kind of sarong and transport equipment.
Background technology
In recent years, China's textile dyeing and finishing industry development is rapid, the top priority that how to increase productivity, cost-cutting is each enterprise, and dyeing is a kind of inexorable trend to S. A. with full-automatic development.Transporting of sarong is the key factor that influences capacity rating and cost, and therefore, transporting sarong rapidly and accurately has crucial realistic meaning at dyeing.
In the prior art, in the dyeing of cheese was produced, the workman lifted up into or hangs out dye vat through manually operated overhead traveling crane (be electric overhead travelling crane, be commonly called as hoist ceiling crane) with sarong.Overhead traveling crane of the prior art comprises first beam, second beam and suspension hook, and first beam moves along first direction, and second beam is arranged on first beam and can moves along the bearing of trend of first beam, and suspension hook is arranged on second beam through steel rope.Wherein, first beam and second beam are respectively through motor-driven, and steel rope adopts motor to drag.During operation; Take the mode of open loop control, press push button control first beam, second beam and suspension hook motion on the overhead traveling crane operating handle through manual work, after suspension hook puts in place; The workman uses on the suspension hook that steel rope hangs over overhead traveling crane with the hanger and the sarong of sarong, thereby realizes transporting of sarong.
Yet sarong method of shipment of the prior art has following shortcoming:
(1), and has operation shortcoming consuming time because overhead traveling crane is open loop control, and manual operation is unsettled, immeasurable in addition, therefore, can't realize the accurate location to overhead traveling crane.
(2) because steel rope is a compliant member; If regard sarong and overhead traveling crane as an integral body, then can make its insufficient rigidity, the overhead traveling crane that causes hanging sarong is in moving process; Bigger, the uncontrollable situation of the amplitude of oscillation of steel rope occurs, thereby bump easily and other safety misadventures.
(3) because each manual work all need use steel rope that sarong hanger and overhead traveling crane suspension hook are coupled together, thereby the problem when having operating cost, and steel rope itself ruptures because of wearing and tearing easily, thereby accidents caused.
Summary of the invention
The present invention aims to provide a kind of sarong and transports equipment, low, the poor stability of efficient when transporting to solve the prior art sarong, the problem that cost of labor is high.
For solving the problems of the technologies described above, according to an aspect of the present invention, provide a kind of sarong to transport equipment, comprising: first beam, first beam are arranged on the guide rail and can be along guide rail movements; Second beam, second beam are arranged on first beam versatilely and can move along first beam; Gripper, gripper are arranged on second beam, gripper comprise telescoping mechanism and with telescoping mechanism bonded assembly grasping mechanism; Position detection unit is used to detect the position of first beam and second beam; Control setup, control setup are controlled the motion of first beam, second beam and gripper according to the detected location information of position detection unit.
Further, sarong transports equipment and also comprises first motor and second motor that is used to drive second beam that is used to drive first beam, and control setup is electrically connected with first motor and second motor.
Further, telescoping mechanism comprises first oil cylinder, and grasping mechanism is connected with the piston rod of first oil cylinder.
Further, telescoping mechanism also comprises guide part, and guide part comprises support, pilot bar and connecting panel; Support is provided with pilot hole; Pilot bar is located in the pilot hole, and the piston rod of an end of pilot bar and first oil cylinder is connected with connecting panel respectively, and grasping mechanism is connected with connecting panel.
Further, first beam comprises framework, and framework is provided with first opening, is provided with second opening corresponding to first opening part on second beam, and at least a portion of pilot bar is passed first opening and second opening.
Further; Grasping mechanism comprises second oil cylinder, claw and pedestal, and second oil cylinder is installed on the pedestal, and claw comprises first articulated section and second articulated section; Claw is connected with pedestal through first articulated section, and claw is connected with the piston rod of second oil cylinder through second articulated section.
Further, sarong transports equipment and also comprises guide piece, and guide piece comprises framework and be installed in the track adjusting wheel on the framework that track adjusting wheel rollably contacts with guide rail.
Further, track adjusting wheel comprises axle and is installed in the bearing on the axle that one end of axle is connected with framework.
Further, the number of track adjusting wheel is two, and at least a portion of guide rail is clipped between two track adjusting wheels.
Further, position detection unit is a magnetic railings ruler.
The present invention can realize transporting automatically of sarong through control setup and gripper, has improved production efficiency and safety that dyeing is produced, has reduced personnel cost.
Description of drawings
The accompanying drawing that constitutes the application's a part is used to provide further understanding of the present invention, and illustrative examples of the present invention and explanation thereof are used to explain the present invention, do not constitute improper qualification of the present invention.In the accompanying drawings:
Fig. 1 has schematically shown birds-eye view of the present invention;
Fig. 2 has schematically shown side-looking power among the present invention;
Fig. 3 has schematically shown the scheme drawing when gripper combines with sarong; And
Fig. 4 has schematically shown the mounting structure scheme drawing of guide piece and guide rail.
The specific embodiment
Below in conjunction with accompanying drawing embodiments of the invention are elaborated, but the multitude of different ways that the present invention can be defined by the claims and cover is implemented.
As depicted in figs. 1 and 2, the sarong among the present invention transports equipment and comprises: first beam 100, second beam 200, gripper 300, position detection unit and control setup.Wherein, first beam 100 is arranged on the guide rail 400 and can moves along guide rail 400; Second beam 200 is arranged on first beam 100 versatilely and can moves along first beam 100; Gripper 300 is arranged on second beam 200.Gripper 300 comprise telescoping mechanism 310 and with telescoping mechanism 310 bonded assembly grasping mechanisms 320.Position detection unit is used to detect the position of first beam 100 and second beam 200.Control setup is controlled the motion of first beam 100, second beam 200 and gripper 300 according to the detected location information of position detection unit.Preferably, position detection unit is a magnetic railings ruler.
As shown in Figure 3, sarong 600 comprises pedestal 620 and is arranged on the column 610 on the pedestal 620.The end of the upper end of column 610 is provided with the crawl section 611 of matching with grasping mechanism 320.Preferably, crawl section 611 is groove or convexity.
During use; The position of position detection unit detection at any time first beam 100 and second beam 200; Control setup is compared through detected information of position detection unit and predefined sarong location information; When the compound motion of gripper 300 through first beam 100 and second beam 200 be positioned at sarong to be transported 600 directly over the time; Control setup control telescoping mechanism 310 stretches out (promptly stretching out to the direction of sarong 600) downwards, and after grasping mechanism reached preposition, control setup was further controlled grasping mechanism and caught the crawl section 611 on the sarong 600.Then, control setup may command telescoping mechanism 310 shrinks, thereby sarong 600 is mentioned, and further controls first beam 100 and second beam 200 moves to the target location.It is thus clear that; In the process of whole operation; Sarong among the present invention transports equipment and has realized closed loop control through position detection unit and control setup, can realize the accurate location to gripper 300, has improved work efficiency, has shortened the production cycle, has reduced cost of labor.Simultaneously; The present invention uses 320 pairs of sarongs 600 of grasping mechanism to grasp, overcome in the prior art need be through manual work mode with steel rope with the deficiency that sarong 600 and overhead traveling crane couple together, improved the stability of rigidity and operation; Make whole transporting in the process; Swing by a relatively large margin can not take place in sarong 600, has avoided bumping and other potential safety misadventures, has avoided the accident that causes owing to steel rope abrasion, fracture yet.
Preferably, sarong transports equipment and also comprises first motor and second motor that is used to drive second beam 200 that is used to drive first beam 100, and control setup is electrically connected with first motor and second motor.Control setup can be controlled kinematic velocity, direction and the start-stop of first motor and second motor, thereby can make first beam 100 and second beam 200 move to preposition.
In a preferred embodiment, telescoping mechanism 310 comprises first oil cylinder 312, and grasping mechanism 320 is connected with the piston rod of first oil cylinder 312.Certainly, telescoping mechanism 310 can also be other form, for example leading screw etc.Through the flexible operation of first oil cylinder 312, can adjust the position of grasping mechanism 320.
As shown in Figure 1, first beam 100 comprises framework, and framework is provided with on first opening, 120, the second beams 200 and is provided with second opening corresponding to first opening, 120 places, and at least a portion of pilot bar 311 is passed first opening 120 and second opening.First beam 100 is provided with the gib block 110 (for example guide rail) that matches with second beam.
Preferably; Telescoping mechanism 310 also comprises guide part; Guide part comprises support 313, pilot bar 311 and connecting panel 314, and support 313 is provided with pilot hole, and pilot bar 311 is located in the pilot hole; And an end of pilot bar 311 and the piston rod of first oil cylinder 312 are connected with connecting panel 314 respectively, and grasping mechanism 320 is connected with connecting panel 314.Especially, the piston rod of first oil cylinder 312 is connected with connecting panel 314 through pipe link 315.Please refer to Fig. 2, but the upper end in the vertical direction of pilot bar 311 move automatically, when telescoping mechanism 310 carried out stretching motion, the upper end of pilot bar 311 moved downward; When telescoping mechanism 310 carries out contractile motion, the upper end upward movement of pilot bar 311.
As shown in Figures 2 and 3; Grasping mechanism 320 comprises second oil cylinder 321, claw 323 and pedestal 322; Second oil cylinder 321 is installed on the pedestal 322; Claw 323 comprises first articulated section 324 and second articulated section, and claw 323 is connected with pedestal 322 through first articulated section 324, and claw 323 is connected with the piston rod of second oil cylinder 321 through second articulated section.Can realize the open closure of claw 323 through second oil cylinder 321.When claw 323 closures, realize extracting to sarong 600; When claw 323 opens, realize release to sarong 600.Preferably, claw 323 also has auto-lock function, can prevent that accident from unclamping.
Like Fig. 2 and shown in Figure 5, sarong transports equipment and also comprises guide piece 500, and guide piece 500 comprises framework 510 and be installed in the track adjusting wheel on the framework 510 that track adjusting wheel rollably contacts with guide rail 400.Deviation can not take place in the motion that can guarantee first beam 100 through guide piece 500.Preferably, track adjusting wheel comprises axle 530 and the bearing 540 that is installed on the axle 530, and an end of axle 530 is connected with framework 510.Preferably, axle 530 can adopt bolt to realize, adopts the axle of bolt as bearing 540, has simple in structure, easy for installation, the characteristics easily of drawing materials.Preferably, the number of track adjusting wheel is two, and at least a portion of guide rail 400 is clipped between two track adjusting wheels.When adopting two track adjusting wheels, can guide rail 400 be clipped in the centre of these two track adjusting wheels, thereby improve guide effect, reduced error, improved the precision of location and resetting.Preferably, the top of framework 510 also is provided with mounting hole 550, and the set inside of framework 510 has reinforced rib 520.Can guide piece 500 be installed on first beam 100 through mounting hole 550 and bolt.
Preferably, sarong transports equipment and also comprises the position detection part that is used to detect grasping mechanism 320 positions, and preferably, this position detection part is the backguy coder.
The present invention can realize transporting automatically of sarong through control setup and gripper, has improved production efficiency and safety that dyeing is produced, has reduced personnel cost.
The above is merely the preferred embodiments of the present invention, is not limited to the present invention, and for a person skilled in the art, the present invention can have various changes and variation.All within spirit of the present invention and principle, any modification of being done, be equal to replacement, improvement etc., all should be included within protection scope of the present invention.

Claims (10)

1. a sarong transports equipment, it is characterized in that, comprising:
First beam (100), said first beam (100) are arranged on the guide rail (400) and can move along said guide rail (400);
Second beam (200), said second beam (200) are arranged on said first beam (100) versatilely and can move along said first beam (100);
Gripper (300), said gripper (300) are arranged on said second beam (200), said gripper (300) comprise telescoping mechanism (310) and with said telescoping mechanism (310) bonded assembly grasping mechanism (320);
Position detection unit is used to detect the position of said first beam (100) and said second beam (200);
Control setup, said control setup are controlled the motion of said first beam (100), said second beam (200) and said gripper (300) according to the detected location information of said position detection unit.
2. sarong according to claim 1 transports equipment; It is characterized in that; Said sarong transports equipment and also comprises first motor and second motor that is used to drive said second beam (200) that is used to drive said first beam (100), and said control setup is electrically connected with said first motor and said second motor.
3. sarong according to claim 1 and 2 transports equipment, it is characterized in that, said telescoping mechanism (310) comprises first oil cylinder (312), and said grasping mechanism (320) is connected with the piston rod of said first oil cylinder (312).
4. sarong according to claim 3 transports equipment; It is characterized in that; Said telescoping mechanism (310) also comprises guide part; Said guide part comprises support (313), pilot bar (311) and connecting panel (314), and said support (313) is provided with pilot hole, and said pilot bar (311) is located in the said pilot hole; And the piston rod of an end of said pilot bar (311) and said first oil cylinder (312) is connected with said connecting panel (314) respectively, and said grasping mechanism (320) is connected with said connecting panel (314).
5. sarong according to claim 4 transports equipment; It is characterized in that; Said first beam (100) comprises framework; Said framework is provided with first opening (120), and said second beam (200) is gone up and located to be provided with second opening corresponding to said first opening (120), and at least a portion of said pilot bar (311) is passed said first opening (120) and said second opening.
6. sarong according to claim 3 transports equipment; It is characterized in that; Said grasping mechanism (320) comprises second oil cylinder (321), claw (323) and pedestal (322); Said second oil cylinder (321) is installed on the said pedestal (322); Said claw (323) comprises first articulated section (324) and second articulated section, and said claw (323) is connected with said pedestal (322) through said first articulated section (324), and said claw (323) is connected with the piston rod of said second oil cylinder (321) through said second articulated section.
7. sarong according to claim 1 transports equipment; It is characterized in that; Said sarong transports equipment and also comprises guide piece (500); Said guide piece (500) comprises framework (510) and is installed in the track adjusting wheel on the said framework (510) that said track adjusting wheel rollably contacts with said guide rail (400).
8. sarong according to claim 7 transports equipment, it is characterized in that, said track adjusting wheel comprises axle (530) and be installed in the bearing (540) on the said axle (530) that an end of said axle (530) is connected with said framework (510).
9. transport equipment according to claim 7 or 8 described sarongs, it is characterized in that, the number of said track adjusting wheel is two, and at least a portion of said guide rail (400) is clipped between said two track adjusting wheels.
10. sarong according to claim 1 transports equipment, it is characterized in that, said position detection unit is a magnetic railings ruler.
CN2012100604229A 2012-03-08 2012-03-08 Sarong transportation equipment CN102583045A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN2012100604229A CN102583045A (en) 2012-03-08 2012-03-08 Sarong transportation equipment

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
CN2012100604229A CN102583045A (en) 2012-03-08 2012-03-08 Sarong transportation equipment
PCT/CN2013/070450 WO2013131415A1 (en) 2012-03-08 2013-01-15 Sarong transportation apparatus
EP13757865.4A EP2759497B1 (en) 2012-03-08 2013-01-15 Sarong transportation apparatus
ES13757865.4T ES2576357T3 (en) 2012-03-08 2013-01-15 Sarong transport device

Publications (1)

Publication Number Publication Date
CN102583045A true CN102583045A (en) 2012-07-18

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EP (1) EP2759497B1 (en)
CN (1) CN102583045A (en)
ES (1) ES2576357T3 (en)
WO (1) WO2013131415A1 (en)

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CN103158155A (en) * 2013-04-07 2013-06-19 机械科学研究总院先进制造技术研究中心 Super-huge type robot for printing
CN103171903A (en) * 2013-04-12 2013-06-26 机械科学研究总院先进制造技术研究中心 Device and method for loading and unloading yarns of sarong
WO2013131415A1 (en) * 2012-03-08 2013-09-12 机械科学研究总院先进制造技术研究中心 Sarong transportation apparatus
CN103482358A (en) * 2013-10-08 2014-01-01 机械科学研究总院先进制造技术研究中心 Yarn grabbing device and yarn grabbing method
CN104999245A (en) * 2015-09-08 2015-10-28 泰安康平纳机械有限公司 Warp beam loading and unloading machine

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CN105460601B (en) * 2015-11-25 2018-01-02 江苏亨通智能科技有限公司 For the automatic handing system in coloring process

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CN102241013A (en) * 2011-07-04 2011-11-16 中南大学 Multifunctional gantry type manipulator
CN202542454U (en) * 2012-03-08 2012-11-21 机械科学研究总院先进制造技术研究中心 Sarong conveying equipment

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2013131415A1 (en) * 2012-03-08 2013-09-12 机械科学研究总院先进制造技术研究中心 Sarong transportation apparatus
CN103158155A (en) * 2013-04-07 2013-06-19 机械科学研究总院先进制造技术研究中心 Super-huge type robot for printing
CN103171903A (en) * 2013-04-12 2013-06-26 机械科学研究总院先进制造技术研究中心 Device and method for loading and unloading yarns of sarong
CN103171903B (en) * 2013-04-12 2014-02-12 机械科学研究总院先进制造技术研究中心 Device and method for loading and unloading yarns of sarong
CN103482358A (en) * 2013-10-08 2014-01-01 机械科学研究总院先进制造技术研究中心 Yarn grabbing device and yarn grabbing method
CN103482358B (en) * 2013-10-08 2015-11-11 机械科学研究总院先进制造技术研究中心 Grab yarn feeding device and grab yarn method
CN104999245A (en) * 2015-09-08 2015-10-28 泰安康平纳机械有限公司 Warp beam loading and unloading machine

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Publication number Publication date
EP2759497B1 (en) 2016-04-13
ES2576357T3 (en) 2016-07-07
WO2013131415A1 (en) 2013-09-12
EP2759497A1 (en) 2014-07-30
EP2759497A4 (en) 2015-06-10

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