CN103774301B - The automatic plug hole spool device and method of ring spinning frame - Google Patents
The automatic plug hole spool device and method of ring spinning frame Download PDFInfo
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- CN103774301B CN103774301B CN201410028908.3A CN201410028908A CN103774301B CN 103774301 B CN103774301 B CN 103774301B CN 201410028908 A CN201410028908 A CN 201410028908A CN 103774301 B CN103774301 B CN 103774301B
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- spool
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- ring spinning
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Abstract
The automatic plug hole spool device and method of ring spinning frame, relates to the Intubaction device of the automatic doffing of ring spinning frame, especially belongs to a kind of automatic pipe insertion device that empty spool inserts spindle and method.Including manipulator part and horicontal motion mechanism, spool switching mechanism, bobbin box base and base plate.Described manipulator part is made up of gas corpus unguis (22-1), bearing pin (22-2), finger (22-3), ventilating joint (22-5)；Gas corpus unguis connects external air source by ventilating joint, sets pneumatic piston rod inside gas corpus unguis, links with two fingers, and two fingers realize hinged by respective bearing pin.Steps such as initializing through machine, grab pipe, take out pipe, spool overturns, intubate, simplifies and intubates action, improve the precision and reliability that intubate, has and reduces labor strength and recruitment quantity, improves working performance and the good effect of quality of doffing.
Description
Technical field
The present invention relates to the Intubaction device of the automatic doffing of ring spinning frame, especially belong to a kind of automatic pipe insertion device that empty spool is inserted spindle and method.
Background technology
China is weaving big country, and textile industry all occupies very big proportion in national economy and foreign exchange earning.Along with the development of textile industry, the automaticity of Weaving device is also more and more higher, but doffing of spinning frame operation, but mostly adopt traditional mode of manually doffing.Owing to the labor intensity that manually doffs is big, recruitment quantity is many, it has also become restriction cotton mill produces and the bottleneck of development.Therefore, using automatic doffing to promote equipment and the automaticity of textile industry, meet the industrial policy of country, Ye Shi China keeps the only way which must be passed of conventional industries advantage, innovation transition.
So-called doff, it is simply that by cop from the spindle of spinning frame being pulled up, collecting, and change new empty spool, it is achieved spinning frame is let the hair grow after again driving winding voluntarily.The function that automatic doffer need to complete tube drawing, intubate and let the hair grow, wherein, intubation mechanism is one of important mechanism of automatic doffer, the quality of his technical scheme, is the key factor affecting doff quality and efficiency.
For solving manually to doff labor intensity greatly, the problem that recruitment quantity is many, people are constantly studying automatic doffer.The double-disk machinery doffing cart of early stage, shortcoming be intubation mechanism to intubate rate low, intubate efficiency one by one low.The intelligent shakeout of Some Enterprises research and development in recent years, its intubation mechanism uses for reference the double-disk machinery doffing cart of early stage mostly, necessarily causes mechanism complicated, and fault rate is high, and efficiency is low.
Summary of the invention
It is an object of the invention to overcome the deficiencies in the prior art, it is provided that a kind of automatic plug hole spool device and method of ring spinning frame, ingenious to reach structure, action is succinct, and stroke is little, the purpose of high efficient and reliable.
The automatic plug hole spool device of ring spinning frame provided by the present invention, including manipulator part and horicontal motion mechanism, spool switching mechanism, bobbin box base and base plate, it is characterised in that
Described manipulator part is made up of gas corpus unguis, bearing pin, finger, ventilating joint；Gas corpus unguis connects external air source by ventilating joint, sets pneumatic piston rod inside gas corpus unguis, links with two fingers, and two fingers realize hinged by respective bearing pin；
The horicontal motion mechanism of manipulator part is made up of Rodless cylinder, line slideway, slide block combination, stockless cylinder slipper, chassis；Rodless cylinder, line slideway are fixed on base plate, and slide block combination is enclosed within line slideway；Chassis is fixed in slide block combination, is simultaneously connected with stockless cylinder slipper；
Described spool switching mechanism is made up of the fixing plate of mechanical hand, rocking arm, rocker arm shaft, axle bed, cylinder combination, bearing, T-shaped seat, gripper shoe, chassis；Manipulator part is fixed on the fixing plate of mechanical hand, and the fixing plate of mechanical hand is fixed on rocking arm, and rocking arm is enclosed within rocker arm shaft and rotates around rocker arm shaft, and rocker arm shaft is fixed on axle bed, and axle bed is fixed on chassis；Cylinder combination front end is connected on bearing by bearing pin, and bearing is fixed on the fixing plate of mechanical hand, and cylinder combination rear end is connected on T-shaped seat by toggle pin, and T-shaped seat is fixing on the supporting plate, and gripper shoe is fixed on chassis.
The method of the automatic plug hole spool of ring spinning frame provided by the present invention, it is characterised in that comprise the following steps:
Step 1: machine initializes；The manipulator part of the automatic plug hole spool device of ring spinning frame is at horizontal level rearward away from spindle direction, and manipulator part is relaxation state, and finger and finger gum cover are horizontal by 90 °；
Step 2: grab pipe；Manipulator part is transformed to clamped condition, captures undermost spool in bobbin box base；
Step 3: take out pipe；Stockless cylinder slipper moves forward, and spool is extracted out by driving mechanical hand unit from bobbin box base, stops when arriving foremost position；Now the spool of a layer falls into bottom because of deadweight above；
Step 4: spool overturns；The cylinder rod of cylinder combination stretches out, and makes manipulator part around rocker arm shaft counterclockwise upset, stops when the finger of manipulator part and finger gum cover are horizontal by 0 °, and spool is changed into vertical state by level；
Step 5: intubate；Manipulator part is reconverted into relaxation state, and spool falls and sleeve is on spindle, namely completes a catheterization procedure.
In the course of the work, first it is manipulator part clamping, capture undermost spool in bobbin box base, then Rodless cylinder action, stockless cylinder slipper moves forward, spool is extracted out from bobbin box base, stop when arriving foremost position, cylinder combinative movement, the cylinder rod of cylinder combination stretches out, manipulator part is caused to rotate around rocker arm shaft, spool is made to be changed into vertical state by level, afterwards, manipulator part loosens, spool falls, insert on the spindle of spinning frame, finally, Rodless cylinder and cylinder combination action simultaneously, manipulator part returns to initial position.Such palikinesia, constantly empty spool can be extracted automatically and sleeve is on spindle, this invention simplifies and intubate action, improve the precision and reliability that intubate, there is reduction labor strength and recruitment quantity, improve working performance and the good effect of quality of doffing.
Accompanying drawing explanation
Fig. 1 is the integrally-built front view of the present invention；
Fig. 2 is the integrally-built top view of the present invention；
Fig. 3 is the structure chart of manipulator part；
Fig. 4 is manipulator part switching mechanism structural representation；
Fig. 5 is that manipulator part seesaws mechanism structure schematic diagram；
Fig. 6 is the structure chart that doffing cart realizes intubating；
Fig. 7 is that the present invention grabs pipe working state schematic representation；
Fig. 8 is that the present invention takes out pipe working state schematic representation；
Fig. 9 is spool of the present invention upset working state schematic representation；
Figure 10 is that the present invention intubates working state schematic representation.
Detailed description of the invention
Below in conjunction with the drawings and specific embodiments, the present invention is described in detail.
As shown in Figure 1 and Figure 2, the automatic plug hole spool device of ring spinning frame is mainly made up of spool switching mechanism, the horicontal motion mechanism of manipulator part, bobbin box base 16 and base plate 2.Chassis 9 in spool switching mechanism is connected with the slide block combination 6 in horicontal motion mechanism and stockless cylinder slipper 11 respectively by screw 8 and screw 10；Rodless cylinder 1 in horicontal motion mechanism is connected with base plate 2 by screw 25；Slide block combination 6 and stockless cylinder slipper 11 driving mechanical hand unit 22 linearly guide rail 3 horizontal movement；Base plate 2 and bobbin box base 16 are connected on doffing cart.Manipulator part 22 realizes the clamping to spool and loosens, and its quantity can be 1, it is also possible to be at least 2, preferentially selects 6,8,10,12,16.
As it is shown on figure 3, manipulator part is mainly made up of gas corpus unguis 22-1, bearing pin 22-2, finger 22-3, finger gum cover 22-4, ventilating joint 22-5 etc..When the piston rod rearward movement within gas corpus unguis 22-1, promoting two finger 22-3 to rotate around respective bearing pin 22-2, the angle of two fingers reduces, and mechanical hand is converted to clamped condition；On the contrary, when the piston rod within gas corpus unguis 22-1 travels forward, promoting two finger 22-3 to rotate backward around respective bearing pin 22-2, the angle of two fingers increases, and mechanical hand is converted to relaxation state；Realize the clamping to spool with this and loosen.Variable angle scope-10 °～30 ° of two fingers.Finger gum cover 22-4 is enclosed within finger 22-3, it may be achieved the gripping to spool 20 softness, has both guaranteed correct location, can avoid again the injury to spool.
The manipulator part 22 of the present invention, it is possible to adopt motor to drive, screw rod rotates the mechanical device constituted or DYN dynamic mechanical hand replaces, and also belongs to protection scope of the present invention.
As shown in Figure 4, spool switching mechanism is mainly made up of manipulator part 22, the fixing plate 24 of mechanical hand, rocking arm 23, rocker arm shaft 5, axle bed 7, cylinder combination 17, bearing 19, T-shaped seat 13, gripper shoe 12, chassis 9 etc..Manipulator part 22 is fixed on the fixing plate 24 of mechanical hand by screw 21, and the fixing plate 24 of mechanical hand is fixed on rocking arm 23 by screw 8, and rocking arm 23 is enclosed within rocker arm shaft 5, and rocking arm 23 can rotate around rocker arm shaft 5.Rocker arm shaft 5 is fixed on axle bed 7, and axle bed 7 is fixed on chassis 9.Cylinder combines 17 front ends and is connected on bearing 19 by bearing pin 18, bearing 19 is fixed on the fixing plate 24 of mechanical hand by screw 4, cylinder combines 17 rear ends and is connected on T-shaped seat 13 by toggle pin 15, T-shaped seat 13 is fixed in gripper shoe 12 by screw 4, gripper shoe 12 is fixed on chassis 9 by screw 4, and toggle pin two ends are equipped with axle check ring 14.When the cylinder rod of cylinder combination 17 stretches out, manipulator part 22 is around rocker arm shaft 5 counterclockwise upset, it is simple to spool is inserted on spindle, and when cylinder combines the cylinder rod retraction of 17, manipulator part 22, around rocker arm shaft 5 clockwise direction upset, conveniently captures spool.The rotational angle of manipulator part 22 is 0 ° ~ 90 °.
As it is shown in figure 5, the horicontal motion mechanism of manipulator part is mainly made up of Rodless cylinder 1, line slideway 3, slide block combination 6, stockless cylinder slipper 11 etc..Rodless cylinder 1 is fixing on a base plate 2 by screw 25, and line slideway 3 is fixing on a base plate 2 by screw 4, and slide block combination 6 is enclosed within line slideway 3, and slide block combination 6 can be slided on line slideway 3.Chassis 9 is fixed in slide block combination 6 by screw 8, chassis 9 is fixed in stockless cylinder slipper 11 by connecting bolt 10 simultaneously, when stockless cylinder slipper 11 moves horizontally, chassis 9 and slide block combination 6 linearly guide rail 3 is driven to move horizontally, the manipulator part 22 on chassis 9 is made also to move horizontally, so that manipulator part is closer or far from the spindle on spinning frame.
The Rodless cylinder 1 of the present invention, cylinder combination 17 can adopt the mechanical transmission mechanism that motor and leading screw are constituted to replace.
As shown in Figure 6, the automatic plug hole spool device of ring spinning frame of the present invention is preferably installed on doffing cart, and completes the automatic intubation work of multiple spot with doffing cart.Automatic doffing dolly is mainly made up of sensor element 28, the rotor block 29 that gets on the right track, upper rail parts 30, lower guideway parts 31, lower guideway pulley part 32, driving mechanism 33, carriage frame 34, automatic plug device 35, spool basket 36 etc..The automatic plug hole spool device 35 of ring spinning frame, driving mechanism 33, the rotor block 29 that gets on the right track, lower guideway pulley part 32 are installed on doffing cart framework 34, upper rail parts 30, lower guideway parts 31 are arranged on spinning frame 26, upper rail 30-2 is fixed on upper rail bracket 30-1, tooth bar 30-3 is fixed on below upper rail 30-2, the rotor block 29 that gets on the right track hangs on upper rail 30-2, lower guideway pulley part 32 leans against on lower guideway parts 31, bobbin box 36 is contained on the bobbin box base 16 of Intubaction device 35, is used for depositing spool.When the servomotor 33-1 of driving mechanism 33 rotates, it is connected to the driving gear 33-3 on reductor 33-2 output shaft to rotate, gear 33-3 is driven to engage with the tooth bar 30-3 of upper rail parts 30, dolly is walked along spindle 27 center line connecting direction, sensor element 28 on dolly detects that the ingot of regulation of having walked is from rear, and servomotor 33-1 stops operating, and dolly stops, now, the automatic plug hole spool device of ring spinning frame starts action.
As shown in Fig. 7 ~ Figure 10, work process and the operation principle of present invention embodiment as shown in Figure 6 are as follows:
1, when machine initializes, the manipulator part 22 of the automatic plug hole spool device of ring spinning frame is at horizontal level rearward away from spindle direction, and manipulator part is relaxation state, and finger and finger gum cover are horizontal by 90 °；.
2, first doffing cart is contained on spinning frame, starting device, AC servo motor 33-1 on trolley driving mechanism 33 rotates, the driving gear 33-3 coaxial with motor shaft rotates, gear engages with the tooth bar 30-3 below the upper rail 30-2 being fixed on spinning frame, and dolly is walked along the route being parallel to the spinning frame spindle line of centres；
3, pipe is grabbed.When, after the complete distance set in advance of carriage walking, motor 33-1 stops operating, dolly stops walking, as it is shown in fig. 7, manipulator part is transformed to clamped condition, captures undermost spool 20 in bobbin box base 16；
4, pipe is taken out.Stockless cylinder slipper 11 moves forward, and spool 20 is extracted out by driving mechanical hand unit 22 from bobbin box base 16, stops when arriving foremost position, and as shown in Figure 8, now above the spool 20 of a layer falls into bottom because of deadweight；
5, spool upset.The cylinder rod of cylinder combination 17 stretches out, and makes manipulator part 22 around rocker arm shaft 5 counterclockwise upset, stops, as it is shown in figure 9, spool 20 is changed into verticalization state by level when the finger of manipulator part and finger gum cover are horizontal by 0 °；
6, intubate.Manipulator part is reconverted into relaxation state, and as shown in Figure 10, spool 20 falls and sleeve is on spindle 27, namely completes a catheterization procedure；
7, dolly walks on, when the sensor element 28 on dolly detect the ingot of regulation of having walked from after, dolly stops walking, repeats the action of 3 ~ 6, until all spools 20 of whole spinning frame have been inserted.
Claims (6)
1. the automatic plug hole spool device of ring spinning frame, including manipulator part and horicontal motion mechanism, spool switching mechanism, bobbin box base and base plate, it is characterised in that
Described manipulator part is made up of gas corpus unguis (22-1), bearing pin (22-2), finger (22-3), ventilating joint (22-5)；Gas corpus unguis connects external air source by ventilating joint, sets pneumatic piston rod inside gas corpus unguis, links with two fingers, and two fingers realize hinged by respective bearing pin；
The horicontal motion mechanism of manipulator part is made up of Rodless cylinder (1), line slideway (3), slide block combination (6), stockless cylinder slipper (11), chassis (9)；Rodless cylinder, line slideway are fixed on base plate (2), and slide block combination is enclosed within line slideway；Chassis is fixed in slide block combination, is simultaneously connected with stockless cylinder slipper；
Described spool switching mechanism is made up of the fixing plate (24) of mechanical hand, rocking arm (23), rocker arm shaft (5), axle bed (7), cylinder combination (17), bearing (19), T-shaped seat (13), gripper shoe (12), chassis (9)；Manipulator part is fixed on the fixing plate (24) of mechanical hand, and the fixing plate of mechanical hand is fixed on rocking arm, and rocking arm is enclosed within rocker arm shaft and rotates around rocker arm shaft, and rocker arm shaft is fixed on axle bed, and axle bed is fixed on chassis；Cylinder combination front end is connected on bearing by bearing pin (18), and bearing is fixed on the fixing plate of mechanical hand, and cylinder combination rear end is connected on T-shaped seat by toggle pin (15), and T-shaped seat is fixing on the supporting plate, and gripper shoe is fixed on chassis.
2. the method for the automatic plug hole spool of ring spinning frame, it is characterised in that comprise the following steps:
Step 1: machine initializes；The manipulator part (22) of the automatic plug hole spool device of ring spinning frame is at horizontal level rearward away from spindle direction, and manipulator part is relaxation state, and finger and finger gum cover are horizontal by 90 °；
Step 2: grab pipe；Manipulator part is transformed to clamped condition, captures undermost spool (20) in bobbin box base (16)；
Step 3: take out pipe；Stockless cylinder slipper (11) moves forward, and spool is extracted out by driving mechanical hand unit from bobbin box base, stops when arriving foremost position；Now the spool of a layer falls into bottom because of deadweight above；
Step 4: spool overturns；The cylinder rod of cylinder combination (17) stretches out, and makes manipulator part around rocker arm shaft (5) counterclockwise upset, stops when the finger of manipulator part and finger gum cover are horizontal by 0 °, and spool is changed into vertical state by level；
Step 5: intubate；Manipulator part is reconverted into relaxation state, and spool falls and sleeve is on spindle (27), namely completes a catheterization procedure.
3. the automatic plug hole spool device of ring spinning frame according to claim 1, is further characterized in that, the quantity of described manipulator part (22) is at least 2.
4. the automatic plug hole spool device of ring spinning frame according to claim 1, is further characterized in that, described manipulator part also includes finger gum cover (22-4), and finger gum cover is enclosed within finger (22-3).
5. the automatic plug hole spool device of ring spinning frame according to claim 1, is further characterized in that, described manipulator part (22), adopts motor driving, screw rod to rotate the mechanical device constituted or DYN dynamic mechanical hand replaces.
6. the automatic plug hole spool device of ring spinning frame according to claim 1, is further characterized in that, described Rodless cylinder (1), cylinder combination (17) adopt the mechanical transmission mechanism that motor and leading screw are constituted to replace.
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| CN201410028908.3A CN103774301B (en) | 2014-01-22 | 2014-01-22 | The automatic plug hole spool device and method of ring spinning frame |
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| CN201410028908.3A CN103774301B (en) | 2014-01-22 | 2014-01-22 | The automatic plug hole spool device and method of ring spinning frame |
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| CN103774301B true CN103774301B (en) | 2016-07-06 |
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| CN108301075A (en) * | 2018-02-08 | 2018-07-20 | 海宁市盛祥线业有限公司 | A kind of feeding manipulator of tube coating machine |
| CN108908289A (en) * | 2018-08-21 | 2018-11-30 | 上海埃依斯航天科技有限公司 | A kind of multifunctional mechanical arm |
| CN111843469B (en) * | 2020-05-28 | 2021-03-23 | 温州职业技术学院 | Automatic filter assembling equipment |
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| US3823538A (en) * | 1972-04-17 | 1974-07-16 | Zinser Textilmaschinen Gmbh | Reciprocating lifting mechanism for the gripper-rail in an automatic spool change installation of spinning, twisting and the like type machines |
| CN2374555Y (en) * | 1999-05-20 | 2000-04-19 | 黄焜煌 | Yarn drawing tube gripper for spinning frame |
| EP1666650A1 (en) * | 2004-12-01 | 2006-06-07 | Rovira Trias, Juan | Roving frame for formation and delivery of roving bobbins |
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| CN101818394A (en) * | 2010-05-05 | 2010-09-01 | 清华大学 | Device for automatically transporting, discharging and inserting pipe of doffer |
| CN203834084U (en) * | 2014-01-22 | 2014-09-17 | 日照裕鑫动力有限公司 | Automatic empty bobbin inserting device of ring spinning frame |
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- 2014-01-22 CN CN201410028908.3A patent/CN103774301B/en active Active
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3681906A (en) * | 1970-04-20 | 1972-08-08 | Rieter Ag Maschf | Method and apparatus for doffing full bobbins and donning tubes on ring spinning and ring twisting machines |
| US3823538A (en) * | 1972-04-17 | 1974-07-16 | Zinser Textilmaschinen Gmbh | Reciprocating lifting mechanism for the gripper-rail in an automatic spool change installation of spinning, twisting and the like type machines |
| CN2374555Y (en) * | 1999-05-20 | 2000-04-19 | 黄焜煌 | Yarn drawing tube gripper for spinning frame |
| EP1666650A1 (en) * | 2004-12-01 | 2006-06-07 | Rovira Trias, Juan | Roving frame for formation and delivery of roving bobbins |
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