CN102583045A - Sarong transportation equipment - Google Patents
Sarong transportation equipment Download PDFInfo
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- 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
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- sarong
- oil cylinder
- transports equipment
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- claw
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- 210000000078 claw Anatomy 0.000 claims abstract description 30
- 238000001514 detection method Methods 0.000 claims abstract description 18
- 230000032258 transport Effects 0.000 claims description 13
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims 6
- 238000004519 manufacturing process Methods 0.000 abstract description 8
- 238000004043 dyeing Methods 0.000 description 8
- 238000000034 method Methods 0.000 description 4
- 238000009434 installation Methods 0.000 description 3
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000005096 rolling process Methods 0.000 description 2
- 241001391944 Commicarpus scandens Species 0.000 description 1
- 240000002129 Malva sylvestris Species 0.000 description 1
- 235000006770 Malva sylvestris Nutrition 0.000 description 1
- 229910000831 Steel Inorganic materials 0.000 description 1
- 235000013351 cheese Nutrition 0.000 description 1
- 239000002131 composite material Substances 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000002716 delivery method Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000003825 pressing Methods 0.000 description 1
- 230000003014 reinforcing effect Effects 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
- 239000004753 textile Substances 0.000 description 1
- 238000005491 wire drawing Methods 0.000 description 1
Images
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/48—Automatic control of crane drives for producing a single or repeated working cycle; Programme control
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C17/00—Overhead 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
- B66C17/04—Overhead 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
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- D—TEXTILES; PAPER
- D06—TREATMENT OF TEXTILES OR THE LIKE; LAUNDERING; FLEXIBLE MATERIALS NOT OTHERWISE PROVIDED FOR
- D06B—TREATING TEXTILE MATERIALS USING LIQUIDS, GASES OR VAPOURS
- D06B23/00—Component 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
- D06B23/04—Carriers or supports for textile materials to be treated
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- D—TEXTILES; PAPER
- D06—TREATMENT OF TEXTILES OR THE LIKE; LAUNDERING; FLEXIBLE MATERIALS NOT OTHERWISE PROVIDED FOR
- D06B—TREATING TEXTILE MATERIALS USING LIQUIDS, GASES OR VAPOURS
- D06B5/00—Forcing liquids, gases or vapours through textile materials to effect treatment, e.g. washing, dyeing, bleaching, sizing impregnating
- D06B5/12—Forcing liquids, gases or vapours through textile materials to effect treatment, e.g. washing, dyeing, bleaching, sizing impregnating through materials of definite length
- D06B5/16—Forcing 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
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Textile Engineering (AREA)
- Carriers, Traveling Bodies, And Overhead Traveling Cranes (AREA)
- Replacing, Conveying, And Pick-Finding For Filamentary Materials (AREA)
- Load-Engaging Elements For Cranes (AREA)
- Manipulator (AREA)
- Control And Safety Of Cranes (AREA)
- Treatment Of Fiber Materials (AREA)
Abstract
Description
技术领域 technical field
本发明涉及染整设备领域,更具体地,涉及一种纱笼运送设备。The invention relates to the field of dyeing and finishing equipment, and more specifically, to a sarong conveying equipment.
背景技术 Background technique
近年来,我国纺织染整行业发展迅速,如何提高生产率、降低成本是各企业的首要任务,染色向半自动和全自动化发展是一种必然趋势。纱笼的运送是影响生产率和成本的重要因素,因此,快速准确地运送纱笼在印染行业有着十分重要的现实意义。In recent years, my country's textile dyeing and finishing industry has developed rapidly. How to improve productivity and reduce costs is the primary task of all enterprises. It is an inevitable trend to develop semi-automatic and fully automatic dyeing. The delivery of sarongs is an important factor affecting productivity and cost. Therefore, fast and accurate delivery of sarongs has very important practical significance in the printing and dyeing industry.
现有技术中,在对筒子纱的染色生产中,工人通过手动操作的天车(即电动桥式起重机,俗称电葫芦)将纱笼吊进或吊出染缸。现有技术中的天车包括第一梁、第二梁和吊钩,第一梁沿第一方向运动,第二梁设置在第一梁上并可沿第一梁的延伸方向运动,吊钩通过钢丝绳设置在第二梁上。其中,第一梁和第二梁分别通过电机驱动,钢丝绳采用电机拖动。操作时,采取开环控制的方式,通过人工按下天车操作手柄上的按钮控制第一梁、第二梁和吊钩运动,当吊钩到位后,工人使用钢丝绳将纱笼的吊耳和纱笼挂在天车的吊钩上,从而实现纱笼的运送。In the prior art, during the dyeing production of cheeses, workers lift the sarong into or out of the dyeing vat through a manually operated crane (ie, an electric bridge crane, commonly known as an electric hoist). The crown block in the prior art includes a first beam, a second beam and a hook, the first beam moves along the first direction, the second beam is arranged on the first beam and can move along the extending direction of the first beam, and the hook It is set on the second beam through the wire rope. Wherein, the first beam and the second beam are respectively driven by motors, and the wire ropes are driven by motors. During operation, the open-loop control method is adopted, and the movement of the first beam, the second beam and the hook is controlled by manually pressing the button on the operating handle of the crane. Hang on the hook of the crane to realize the delivery of the sarong.
然而,现有技术中的纱笼运送方式具有如下缺点:However, the sarong delivery method in the prior art has the following disadvantages:
(1)由于天车是开环控制的,另外人工操作是不稳定的、不可度量的,因此,无法实现对天车的精确定位,且具有操作耗时的缺点。(1) Since the crane is controlled in an open loop, and the manual operation is unstable and immeasurable, it is impossible to achieve precise positioning of the crane and has the disadvantage of time-consuming operation.
(2)由于钢丝绳是柔性部件,如果将纱笼和天车看作一个整体,则会使其刚度不足,导致吊有纱笼的天车在移动过程中,出现钢丝绳的摆幅较大、无法控制的情况,从而容易发生碰撞和其他安全事故。(2) Since the wire rope is a flexible part, if the sarong and the crown block are regarded as a whole, the rigidity will be insufficient, resulting in a relatively large swing of the wire rope during the movement of the crown block with the sarong hanging on it, which is uncontrollable situation, thus prone to collisions and other safety incidents.
(3)由于每次人工都需要使用钢丝绳将纱笼吊耳和天车吊钩连接起来,因而具有操作费时的问题,且钢丝绳本身容易因磨损而断裂,从而引发事故。(3) Since it is necessary to use a wire rope to connect the sarong lug and the crane hook every time, the operation is time-consuming, and the wire rope itself is easy to break due to wear and tear, thereby causing accidents.
发明内容 Contents of the invention
本发明旨在提供一种纱笼运送设备,以解决现有技术纱笼运送时效率低、安全性差、人工成本高的问题。The present invention aims to provide a sarong conveying device to solve the problems of low efficiency, poor safety and high labor cost in sarong conveying in the prior art.
为解决上述技术问题,根据本发明的一个方面,提供了一种纱笼运送设备,包括:第一梁,第一梁设置在导轨上且可沿导轨运动;第二梁,第二梁活动地设置在第一梁上且可沿第一梁运动;机械爪,机械爪设置在第二梁上,机械爪包括伸缩机构和与伸缩机构连接的抓取机构;位置检测单元,用于检测第一梁和第二梁的位置;控制装置,控制装置根据位置检测单元所检测到的位置信息控制第一梁、第二梁和机械爪的运动。In order to solve the above technical problems, according to one aspect of the present invention, a sarong delivery device is provided, including: a first beam, the first beam is arranged on the guide rail and can move along the guide rail; a second beam, 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 the mechanical claw includes a telescopic mechanism and a grabbing mechanism connected with the telescopic mechanism; a position detection unit is used to detect the first beam and the position of the second beam; the control device, the control device controls the movement of the first beam, the second beam and the mechanical claw according to the position information detected by the position detection unit.
进一步地,纱笼运送设备还包括用于驱动第一梁的第一电机和用于驱动第二梁的第二电机,控制装置与第一电机和第二电机电连接。Further, the sarong conveying device further includes a first motor for driving the first beam and a second motor for driving the second beam, and the control device is electrically connected to the first motor and the second motor.
进一步地,伸缩机构包括第一油缸,抓取机构与第一油缸的活塞杆连接。Further, the telescoping mechanism includes a first oil cylinder, and the grabbing mechanism is connected with the piston rod of the first oil cylinder.
进一步地,伸缩机构还包括导向部,导向部包括支架、导向杆和连接板,支架上设置有导向孔,导向杆穿设在导向孔内,且导向杆的一端及第一油缸的活塞杆分别与连接板连接,抓取机构与连接板连接。Further, the telescoping mechanism also includes a guide part, the guide part includes a bracket, a guide rod and a connecting plate, the bracket is provided with a guide hole, the guide rod is penetrated in the guide hole, and one end of the guide rod and the piston rod of the first oil cylinder respectively It is connected with the connecting plate, and the grabbing mechanism is connected with the connecting plate.
进一步地,第一梁包括框架,框架上设置有第一开口,第二梁上对应于第一开口处设置有第二开口,导向杆的至少一部分穿过第一开口和第二开口。Further, the first beam includes a frame, the frame is provided with a first opening, the second beam is provided with a second opening corresponding to the first opening, and at least a part of the guide rod passes through the first opening and the second opening.
进一步地,抓取机构包括第二油缸、卡爪和基座,第二油缸安装在基座上,卡爪包括第一铰接部和第二铰接部,卡爪通过第一铰接部与基座连接,卡爪通过第二铰接部与第二油缸的活塞杆连接。Further, the grabbing mechanism includes a second oil cylinder, a claw and a base, the second oil cylinder is installed on the base, the claw includes a first hinge part and a second hinge part, and the claw is connected to the base through the first hinge part , the claw is connected with the piston rod of the second oil cylinder through the second hinge.
进一步地,纱笼运送设备还包括导向装置,导向装置包括框架和安装在框架上的导向轮,导向轮与导轨滚动地接触。Further, the sarong conveying device further includes a guide device, the guide device includes a frame and guide wheels mounted on the frame, and the guide wheels are in rolling contact with the guide rail.
进一步地,导向轮包括轴和安装在轴上的轴承,轴的一端与框架连接。Further, the guide wheel includes a shaft and a bearing installed on the shaft, and one end of the shaft is connected with the frame.
进一步地,导向轮的个数为两个,导轨的至少一部分夹在两个导向轮之间。Further, there are two guide wheels, and at least a part of the guide rail is sandwiched between the two guide wheels.
进一步地,位置检测单元是磁栅尺。Further, the position detection unit is a magnetic scale.
本发明通过控制装置和机械爪可实现纱笼的自动运送,提高了染色生产的生产效率和安全性,降低了人员成本。The invention can realize the automatic delivery of the sarong through the control device and the mechanical claw, improves the production efficiency and safety of the dyeing production, and reduces the personnel cost.
附图说明 Description of drawings
构成本申请的一部分的附图用来提供对本发明的进一步理解,本发明的示意性实施例及其说明用于解释本发明,并不构成对本发明的不当限定。在附图中:The accompanying drawings constituting a part of this application are used to provide further understanding of the present invention, and the schematic embodiments and descriptions of the present invention are used to explain the present invention, and do not constitute an improper limitation of the present invention. In the attached picture:
图1示意性示出了本发明的俯视图;Fig. 1 schematically shows a top view of the present invention;
图2示意性示出了本发明中侧视力;Fig. 2 schematically shows lateral vision in the present invention;
图3示意性示出了机械爪与纱笼结合时的示意图;以及Fig. 3 schematically shows the schematic diagram when the mechanical claw is combined with the sarong; and
图4示意性示出了导向装置与导轨的安装结构示意图。Fig. 4 schematically shows a schematic view of the installation structure of the guide device and the guide rail.
具体实施方式 Detailed ways
以下结合附图对本发明的实施例进行详细说明,但是本发明可以由权利要求限定和覆盖的多种不同方式实施。The embodiments of the present invention will be described in detail below with reference to the accompanying drawings, but the present invention can be implemented in many different ways defined and covered by the claims.
如图1和图2所示,本发明中的纱笼运送设备包括:第一梁100、第二梁200、机械爪300、位置检测单元和控制装置。其中,第一梁100设置在导轨400上且可沿导轨400运动;第二梁200活动地设置在第一梁100上且可沿第一梁100运动;机械爪300设置在第二梁200上。机械爪300包括伸缩机构310和与伸缩机构310连接的抓取机构320。位置检测单元用于检测第一梁100和第二梁200的位置。控制装置根据位置检测单元所检测到的位置信息控制第一梁100、第二梁200和机械爪300的运动。优选地,位置检测单元是磁栅尺。As shown in FIG. 1 and FIG. 2 , the sarong conveying device in the present invention includes: a
如图3所示,纱笼600包括基座620和设置在基座620上的立柱610。立柱610的上端的端部设置有与抓取机构320相配合的抓取部611。优选地,抓取部611是凹槽或凸起。As shown in FIG. 3 , the
使用时,位置检测单元随时检测第一梁100和第二梁200的位置,控制装置通过位置检测单元检测到的信息和预先设定的纱笼位置信息相比较,当机械爪300通过第一梁100和第二梁200的复合运动而位于待运送的纱笼600的正上方时,控制装置控制伸缩机构310向下伸出(即向纱笼600的方向伸出),当抓取机构达到预定的位置后,控制装置进一步控制抓取机构抓住纱笼600上的抓取部611。然后,控制装置可控制伸缩机构310收缩,从而将纱笼600提起,并进一步控制第一梁100和第二梁200向目标位置移动。可见,整个操作的过程中,本发明中的纱笼运送设备通过位置检测单元和控制装置实现了闭环控制,可实现对机械爪300的精确定位,提高了工作效率、缩短了生产周期、降低了人工成本。同时,本发明使用抓取机构320对纱笼600进行抓取,克服了现有技术中需要通过人工的方式用钢丝绳将纱笼600与天车连接起来的不足,提高了刚性和运行的稳定性,使整个运送过程中,纱笼600不会发生较大幅度的摆动,避免了发生碰撞和其他潜在的安全事故,也避免了由于钢丝绳磨损、断裂而引发的事故。When in use, the position detection unit detects the positions of the
优选地,纱笼运送设备还包括用于驱动第一梁100的第一电机和用于驱动第二梁200的第二电机,控制装置与第一电机和第二电机电连接。控制装置可以控制第一电机和第二电机的运动速度、方向和起停,从而可以使第一梁100和第二梁200移动到预定的位置。Preferably, the sarong transporting device further includes a first motor for driving the
在一个优选的实施例中,伸缩机构310包括第一油缸312,抓取机构320与第一油缸312的活塞杆连接。当然,伸缩机构310还可以是其它形式,例如丝杠等。通过第一油缸312的伸缩操作,即可调整抓取机构320的位置。In a preferred embodiment, the telescoping mechanism 310 includes a
如图1所示,第一梁100包括框架,框架上设置有第一开口120,第二梁200上对应于第一开口120处设置有第二开口,导向杆311的至少一部分穿过第一开口120和第二开口。第一梁100上设置有与第二梁相配合的导向条110(例如导轨)。As shown in Figure 1, the
优选地,伸缩机构310还包括导向部,导向部包括支架313、导向杆311和连接板314,支架313上设置有导向孔,导向杆311穿设在导向孔内,且导向杆311的一端及第一油缸312的活塞杆分别与连接板314连接,抓取机构320与连接板314连接。特别地,第一油缸312的活塞杆通过连接杆315与连接板314连接。请参考图2,导向杆311的上端可在竖直方向上自动运动,当伸缩机构310进行伸长运动时,导向杆311的上端向下运动;当伸缩机构310进行收缩运动时,导向杆311的上端向上运动。Preferably, the retractable mechanism 310 also includes a guide portion, the guide portion includes a
如图2和图3所示,抓取机构320包括第二油缸321、卡爪323和基座322,第二油缸321安装在基座322上,卡爪323包括第一铰接部324和第二铰接部,卡爪323通过第一铰接部324与基座322连接,卡爪323通过第二铰接部与第二油缸321的活塞杆连接。通过第二油缸321可以实现卡爪323的张开的闭合。当卡爪323闭合时,实现对纱笼600的抓取;当卡爪323张开时,实现对纱笼600的释放。优选地,卡爪323还具有自锁功能,可防止意外松开。As shown in Figures 2 and 3, the grab mechanism 320 includes a
如图2和图5所示,纱笼运送设备还包括导向装置500,导向装置500包括框架510和安装在框架510上的导向轮,导向轮与导轨400滚动地接触。通过导向装置500可以确保第一梁100的运动不会发生偏差。优选地,导向轮包括轴530和安装在轴530上的轴承540,轴530的一端与框架510连接。优选地,轴530可以采用螺栓实现,采用螺栓作为轴承540的轴,具有结构简单、安装方便、取材方便的特点。优选地,导向轮的个数为两个,导轨400的至少一部分夹在两个导向轮之间。当采用两个导向轮时,可以将导轨400夹在这两个导向轮的中间,从而提高了导向效果,减少了误差,提高了定位和重复定位的精度。优选地,框架510的上方还设置有安装孔550,框架510的内部设置有加强筋520。通过安装孔550和螺栓可以将导向装置500安装到第一梁100上。As shown in FIG. 2 and FIG. 5 , the sarong delivery device further includes a guide device 500 , the guide device 500 includes a frame 510 and guide wheels mounted on the frame 510 , and the guide wheels are in rolling contact with the guide rail 400 . The guide device 500 can ensure that the movement of the
优选地,纱笼运送设备还包括用于检测抓取机构320位置的位置检测部,优选地,该位置检测部是拉线编码器。Preferably, the sarong transporting device further includes a position detection unit for detecting the position of the gripping mechanism 320, preferably, the position detection unit is a wire-drawing encoder.
本发明通过控制装置和机械爪可实现纱笼的自动运送,提高了染色生产的生产效率和安全性,降低了人员成本。The invention can realize the automatic delivery of the sarong through the control device and the mechanical claw, improves the production efficiency and safety of the dyeing production, and reduces the personnel cost.
以上所述仅为本发明的优选实施例而已,并不用于限制本发明,对于本领域的技术人员来说,本发明可以有各种更改和变化。凡在本发明的精神和原则之内,所作的任何修改、等同替换、改进等,均应包含在本发明的保护范围之内。The above descriptions are only preferred embodiments of the present invention, and are not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and changes. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention shall be included within the protection scope of the present invention.
Claims (10)
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
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CN2012100604229A CN102583045A (en) | 2012-03-08 | 2012-03-08 | Sarong transportation equipment |
ES13757865.4T ES2576357T3 (en) | 2012-03-08 | 2013-01-15 | Sarong transport device |
EP13757865.4A EP2759497B1 (en) | 2012-03-08 | 2013-01-15 | Sarong transportation apparatus |
PCT/CN2013/070450 WO2013131415A1 (en) | 2012-03-08 | 2013-01-15 | Sarong transportation apparatus |
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CN (1) | CN102583045A (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 |
CN109108607A (en) * | 2018-10-24 | 2019-01-01 | 泰安康平纳机械有限公司 | Yarn bar positioning device |
CN112125158A (en) * | 2020-08-29 | 2020-12-25 | 四川共享铸造有限公司 | Walking positioning method of trolley type single-beam crane |
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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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CN112125158A (en) * | 2020-08-29 | 2020-12-25 | 四川共享铸造有限公司 | Walking positioning method of trolley type single-beam crane |
Also Published As
Publication number | Publication date |
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WO2013131415A1 (en) | 2013-09-12 |
EP2759497B1 (en) | 2016-04-13 |
ES2576357T3 (en) | 2016-07-07 |
EP2759497A4 (en) | 2015-06-10 |
EP2759497A1 (en) | 2014-07-30 |
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