CN106480559B

CN106480559B - A kind of spinning doffer bobbin blanking conveyer

Info

Publication number: CN106480559B
Application number: CN201611230910.4A
Authority: CN
Inventors: 荣德明
Original assignee: Individual
Current assignee: Jiangsu Taizhou Military Civilian Integration Industry Research Institute Co ltd
Priority date: 2016-12-28
Filing date: 2016-12-28
Publication date: 2018-12-28
Anticipated expiration: 2036-12-28
Also published as: CN106480559A

Abstract

The present invention relates to a kind of spinning doffer bobbin blanking conveyers, it is characterized by: the bobbin blanking conveyer includes frustum godet upper mounting seat, frustum godet lower mounting seat, frustum godet more than two-stage, Guide disc drive axis, Guide disc drive gear, godet power input gear, intubation power input gear and bobbin holder, without the cumbersome reciprocal shaking device of spool hopper, prevent spool hopper back and forth to rock because vibrating the influence to doffer, realizes the angular transformation under spool controllable state.It is properly inserted spindle through godet and spindle equal pitch synchronous shift in 90 verticals through rotation serpentine passage by level 180, changes existing various doffer spool angle intubation forms.

Description

A kind of spinning doffer bobbin blanking conveyer

Technical field

It doffs equipment the present invention relates to a kind of weaving RING SPINNING, specifically a kind of spinning doffer bobbin blanking transmission dress It sets.

Background technique

Ring spinning is a kind of extremely important and universal spinning technique.During ring spun yarn, need to spin The spool of good yarn is removed from the spindle of spinning frame, this link is known as doffing.Conventionally employed manually doffs, by people's hand Spool is put into yarn basket after choosing on spindle blade, and the empty spool of not yarn is put on spindle blade, it is cumbersome, take When laborious, low efficiency；It is existing to be doffed using machine, with doffer come one by one or small lot remove spool, while using inserting Empty spool is put on spindle blade by pipe device, but not can solve the problem of spindle blade is with spool inlay resultant force.Have in some single machine doffers Chimeric force eliminating device, but its method damages spindle blade, and is easy failure or breaks down；The included collective doffing of some spinning frames Device is solves the problems, such as inlay resultant force, first is that by vibration, second is that replacement original polished rod spindle blade, using with ball aluminium ingot bar, expense compared with Greatly, traditional spinning frame is changed without aluminium ingot bar collective doffing and is difficult to adapt to.

The vertical shaft type RING SPINNING Automatic doffing devices of existing Patent No. 201610202934.2, using with compensation error Friction lug contacts friction with spindle blade, drives spindle blade rotational disengagement spool, so as to the extraction of spool, but friction control always belongs to It is unable to accurately control, there are the hidden danger that frictional force deficiency is unable to drive spindle blade rotational disengagement spool, influence continues working efficiency, together When rubbed after use for a long time, there is abrasion in friction lug and spindle blade, same to influence rotation driving, can not stability contorting spool and ingot The disengagement of bar.There is a kind of combination automatic doffing trolley of Patent No. 201420810740.7 again, using driving plug hole spool dress It sets and plug hole spool is carried out to the spindle after tube drawing, it is quantitative by empty yarn using multiple detection sensors cooperation conveying screw rod driving mechanism Pipe is transported in empty spool channel, and screw rod, which is turn-taked, conveys spool to spool channel, will eventually by empty spool inclination cannula passage Empty spool is stirred by spindle blade and is inserted on spindle blade in a manner of tilting intubation by own wt, and spool inclination insertion spindle blade in hole exists It cannot effectively be inserted perpendicularly into, be inserted into defect that is incomplete and not being capable of fixing chimeric spindle blade.

Summary of the invention

In view of the drawbacks of the prior art, it the present invention provides a kind of compact-sized, run smoothly, can integrally realize full spool Extraction, cut the chimeric insertion of yarn and empty spool, the spinning doffer of high degree of automation.

The technical solution adopted by the present invention is that:

A kind of spinning doffer, including machine frame movement trolley, electric appliance control box, plug-pull tube positioning power device, tube drawing dress It sets, Intubaction device, yarn pressing device, cut the compound yarn cutting device of hand hay cutter and pipe pressing device；

The machine frame movement trolley includes box body, hopper, handrail, carriage walking driving device, walking support device, ingot Away from positioning device, walking positioned parallel device and elevating feet device, towards spinning frame on front side of the box body, box body other Side is equipped with handrail, and hopper is corresponded to and is set in box body below pipe drawing device on box body, setting before and after box body bottom center Two central rollers, the rack pillar of box body quadrangle, which is set, connects universal rolling wheel in the elevating feet device in rack pillar； The elevating feet device includes that stabilizer blade linear motor, motor upper fixed seat, motor lower fixed seat, stabilizer blade are telescopically connected to axis, steady Determine retainer, pulley, Linear bearing fixing seat, linear bearing and fixed base plate, motor upper fixed seat and motor lower fixed seat are in Upper and lower position is fixed in rack pillar, and stabilizer blade linear motor is fixedly connected with the upper and lower fixing seat of motor, stabilizer blade linear motor up and down Under connect stabilizer blade and be telescopically connected to axis upper end, stabilizer blade, which is telescopically connected on axis to be socketed, stablizes retainer, and multiple pulley pin joints are kept stablizing Frame side pushes against rack branch column wall, and stabilizer blade, which is telescopically connected to axis lower end, to be worn through linear bearing and connect in Linear bearing fixing seat and stretch Descend connection fixed seat plate out, mouth under Linear bearing fixing seat encapsulation frame pillar connects universal rolling wheel under fixed base plate；The small garage Walking driving device includes travel driving motor, hoofing part speed reducer, walking driver gear and walking passive gear, travel driving motor It is set in box body and connects hoofing part speed reducer drive walking driver gear, walking driver gear and walking passive gear are set to vehicle The left-right position of cabinet front is articulated on spinning frame rolling condition on the frame that doffs in support；The walking support device includes two Walking support frame and two back-up roller wheels, two walking support frames are set to the left-right position on front side of box body, and two walk on support frames Two back-up roller wheel of pin joint is in be supported on rolling condition on the creel of spinning frame whereabouts respectively；The ingot includes ingot away from fixed away from positioning device Position motor, ingot are away from locating piece, ingot away from positioning shifting axle and ingot away from positioning linear bearing, and ingot is away from positioning motor and ingot away from positioning linear Bearing is fixed in box body, and ingot is worn to connect away from positioning motor connection is in away from positioning shifting axle away from the ingot in positioning linear bearing in ingot Retracted position on front side of towards box body, ingot are in drive in ingot away from positioning shifting axle away from positioning shifting axle outer end away from locating piece connection ingot Lower stretch makes ingot position spinning frame spindle support state away from locating piece；The walking positioned parallel device include walking positioned parallel frame and Walking positioned parallel idler wheel, two or more walking positioned parallels set up the left-right position being placed on front side of box body, walk and determine in parallel Position idler wheel pin joint, which is expert on positioned parallel frame, walks on spinning frame frame positioned parallel state of doffing in rolling；

The plug-pull tube positioning power device includes positioning mobile connection seat, curving roll bearing, crawler type positioning transmission Band, tube drawing powered pulley, tube drawing power main shaft, intubation power drive pulley, flat-toothed belt, intubation power are driven Belt pulley, intubation power transmission shaft, crawler belt positioning linear motor, crawler belt positioning linear motor fixing seat, crawler belt positioning linear electricity Machine drives fixing seat, straight line slide bar, straight line slide bar fixing seat and straight line slide bar bearing, and positioning mobile connection seat is set to rack shifting On dynamic trolley, two curving roll bearing of left and right settings, two curving roll bearings and tube drawing power skin on front side of positioning mobile connection seat Belt wheel same level face is arranged and connects through crawler type positioning transmission V belt translation, and crawler type positioning transmission band is evenly distributed with multiple difference outwardly Recess corresponding with spinning frame spindle support circumference is vertically worn in tube drawing powered pulley and connects the tube drawing that end is fixed on pipe drawing device Jacket pipes power drive pulley is worn in power main shaft, tube drawing power main shaft bottom end, and intubation power drive pulley is same Horizontal plane is driven intubation power driven pulley through flat-toothed belt, is intubated on power driven pulley vertically to wear to connect to hold and fix Intubation power transmission shaft on Intubaction device；Crawler belt positioning linear motor one end pin joint crawler belt positioning linear motor fixing seat connects It connects in box body, other end pin joint crawler belt positioning linear motor driven fixing seat is connected on positioning mobile connection seat in by carrying out Band positioning linear motor through crawler belt positioning linear motor driven fixing seat drive positioning mobile connection seat towards spinning frame direction into To state, straight line slide bar one end is connected in box body through straight line slide bar fixing seat, and pivot bush unit is fixedly connected with drive on the other end The straight line slide bar bearing of dynamic positioning mobile connection seat is in feed state along straight line slide bar direction guide-localization mobile connection seat；

The pipe drawing device includes that tube drawing support assembly, tube drawing power transmission assembly and manipulator crawl and inlay resultant force are eliminated Assembly, the tube drawing support assembly are set to the right side of machine frame movement trolley, and tube drawing support assembly includes tube drawing upper mounted plate, pulls out Pipe slide upper rail case, tube drawing bottom plate, tube drawing slide lower railway case, upper and lower bottom plate vertical columns, inlay resultant force reaction force Protection track, the anti-bias inner orbit of slide bar, grabs convex block and loosens convex block inlay resultant force spring-compressed track, tube drawing upper and lower fixing plate Between be separately connected the upper and lower track box of tube drawing slide and worn through upper and lower bottom plate vertical columns and connect the upper and lower track box branch of tube drawing slide Tube drawing upper and lower fixing plate is supportted, is correspondingly formed among the upper and lower track box of tube drawing slide by side direction to the left on the right side of machine frame movement trolley The wedge track of lifting, the wedge track and the upper and lower track box left and right sides of tube drawing slide of tube drawing slide upper and lower track box front and back side Gap form the complete crawl track of a circle, an anti-bias inner orbit of circle slide bar is installed above and below in upper and lower bottom plate vertical columns, Tube drawing slide bottom edge on the right side of case of getting on the right track connects one section of chimeric force reaction and protects track, on the right side of tube drawing slide lower railway case outside Tube drawing lower fixed seat connects the inlay resultant force spring-compressed track of the corresponding chimeric force reaction protection track in one end, inlay resultant force spring pressure Contracting track front is equipped with crawl convex block, the tube drawing slide lower railway case left side towards the inner face on front side of tube drawing slide lower railway case Trailing flank be equipped with loosen convex block；The tube drawing power transmission assembly includes tube drawing power main shaft, tube drawing power pair biography Moving axis, tube drawing power main driving wheel, tube drawing power auxiliary driving wheel, tube drawing power transmission chain and transmission godet, tube drawing power master, Counter drive shaft is successively worn in parallel through bearing from the bottom to top connect in the upper and lower fixed plate of tube drawing respectively, tube drawing power main shaft Upper and lower part, which is worn, is connected to tube drawing power main driving wheel, and the upper and lower part of tube drawing power counter drive shaft, which is worn, is connected to tube drawing power pair biography Driving wheel is sequentially connected between the major and minor driving wheel of tube drawing power in same level through tube drawing power transmission chain, and upper and lower two pull out It is uniformly provided with multiple location holes on pipe power transmission chain, is worn respectively on the major and minor transmission shaft of tube drawing power and is connected to one or more Transmission godet, be driven godet excircle on be evenly equipped with multiple guiding bayonets；Multiple manipulator crawls and inlay resultant force eliminate assembly It is disposed in an evenly spaced relation on crawl track, manipulator crawl and inlay resultant force elimination assembly include line slide rail, linear slider, chain Fixing seat, sliding rail positioning roller, guiding perpendicular positioning frame, guiding perpendicular positioning idler wheel and manipulator crawl and inlay resultant force are eliminated multiple It attaches together and sets, the top and bottom end of line slide rail are equipped with the sliding rail positioning roller for contacting positioning with tube drawing upper and lower fixing plate, straight line The upper and lower part of sliding rail is fixed on positioning hole through chain fixing seat respectively, and line slide rail is located at tube drawing equipped with two and slides Guiding perpendicular positioning frame in the upper and lower track box of seat, be connected on any guiding perpendicular positioning frame two bear against and its The guiding perpendicular positioning idler wheel of corresponding slide bar anti-bias inner orbit and tube drawing slide runner chamber interior wall, manipulator crawl and inlay resultant force It eliminates set composite to be connected on line slide rail through linear slider, line slide rail is rotated with tube drawing power transmission chain and led through transmission The guiding bayonet of disk pushes guide turning；It includes manipulator grabbing device that the manipulator crawl and inlay resultant force, which eliminate set composite, With chimeric force eliminating device, the robot device includes positioning plate under manipulator sliding block attachment base, manipulator, clamping stress Bar, clamping interlocking bar, driving lever retainer loosen force rod, loosen interlocking bar, loosen push rod, the movable arm of force, clamp driving lever, pine De- driving lever, support rod, tension spring, the fixed arm of force, pressure spring, the first movable jaw and the second movable jaw, manipulator sliding block attachment base It is connected in linear slider, positioning of bottom is equipped with cunning under manipulator on positioning plate connection manipulator sliding block attachment base and under manipulator The dynamic manipulator shifting roller against tube drawing slide lower railway case wedge track, driving lever retainer are arranged in parallel under manipulator fixed On the plate of position, clamping interlocking bar rotating middle part pin joint between positioning plate, is clamping interlocking bar front end under driving lever retainer and manipulator Vertical connection clamping force rod, clamping force rod lower end are in the crawl that corresponding inlay resultant force spring-compressed track is moved with crawl track Convex block stress stirs state, and clamping linkage rod rear end is equipped with driving lever U-shaped opening, loosens to wear to connect through its upper hopper chute in the middle part of interlocking bar and dial Positioning pin under bar retainer and manipulator between positioning plate loosens interlocking bar front end and vertically connects pine in moving condition along the chute De- force rod, loosening force rod lower end is in stir with the convex block stress that loosens that crawl track moves corresponding tube drawing slide lower railway case State loosens linkage rod rear end and is vertically arranged and loosens push rod, and the fixed arm of force and the movable arm of force are supported on respectively on driving lever retainer, Fixed arm of force constraint is limited between the movable arm of force and side seal board, and movable arm of force rear portion loosens through clamping driving lever rotation pin joint and dials Bar loosens corresponding push in push rod upper end and loosens driving lever in by loosening driving lever drive activity arm of force rotation status, clamps driving lever lower part Be correspondingly arranged in driving lever U-shaped opening, movable arm of force middle pin connect on driving lever retainer and simultaneously pin joint support rod socket it is solid Determine arm of force rear portion, for movable arm of force front end rotation pin joint in the middle part of the second movable jaw, the second movable jaw back end activity pin joint is solid Determine in the middle part of the arm of force and sockets tension spring, the second movable jaw in the middle part of the second movable jaw rear portion and the fixed arm of force and/or between rear portion Front is had a haircut equipped with clamping jaw, and movable pin joint is at fixed arm of force front end, the first movable jaw rear portion one in the middle part of the first movable jaw Side is corresponding to have a haircut against clamping jaw, and pressure spring, the first and second activity folder are equipped between the first movable jaw rear portion other side and the fixed arm of force The front end of pawl corresponds to each other to form identical bobbin shape；The chimeric force eliminating device includes positioning plate on manipulator, trip rod Fixed plate, trip rod, pressure spring mandril, spring spool and pressure spring is hit, positioning plate is fixed on the connection of manipulator sliding block on manipulator On seat, pogo barrel is vertically installed on manipulator on positioning plate, and trip rod fixed plate is worn to connect and be opened up and down on front side of pogo barrel If shock lifting groove in, one end that trip rod fixed plate protrudes into pogo barrel connects pressure spring mandril, pressure spring top downward vertically Mouth protrudes into spring in inlay resultant force spring-compressed track condition, trip rod fixed plate is pushed against under the movable stretching pogo barrel in bar lower end Through the interior shock pressure spring elastic connection being located in pogo barrel between one end in casing and pogo barrel upper end, trip rod is fixed The other end of plate connects trip rod vertically downward, and trip rod is set between the front end of the first and second movable jaw to be corresponded in lifting Spindle blade top state is hit, positioning plate upper surface is equipped with the corresponding limit of sliding or gets on the right track case wedge against tube drawing slide on manipulator The manipulator shifting roller of shape track；

The Intubaction device includes intubation box, bobbin hopper, bobbin blanking conveyer and intubation executive device, intubation box It is set to the left side of machine frame movement trolley, bobbin hopper is correspondingly arranged in intubation box rear upper end charging connecting insertion case, described Bobbin blanking conveyer includes frustum godet upper mounting seat, frustum godet lower mounting seat, frustum godet more than two-stage, godet Transmission shaft, Guide disc drive gear, godet power input gear, intubation power input gear and bobbin holder, on frustum godet, Lower mounting seat is fixed in intubation box, and frustum godet more than two-stage is worn respectively to be connect on two or more Guide disc drive axis, and two Grade or more frustum godet on the first order and afterbody frustum godet lie farthest away cone element angle 90, godet passes Upper and lower rotatable wear of moving axis connects between the upper and lower mounting base of frustum godet, and multiple tracks is evenly equipped on the frustum godet conical surface along its bus Direction setting, the bobbin groove coincideing corresponding with bobbin cambered surface, worn on two or more Guide disc drive axis respectively connect two-stage or more according to The Guide disc drive gear of secondary engaged transmission, frustum godet more than two-stage are bored and are arranged close in frustum godet two-by-two to being spaced apart from each other Rotation makes the corresponding states two-by-two of bobbin groove thereon, and it is dynamic to be also serially connected with godet on the Guide disc drive axis of afterbody frustum godet Power input gear, intubation power input gear are worn to connect and be engaged on intubation power transmission main shaft with godet power input gear, and two Grade or more frustum godet side be arranged bobbin holder；The intubation executive device include the upper and lower mounting base of cylinder godet, Cylinder godet and bobbin baffle, cylinder godet upper mounting seat, cylinder godet and cylinder godet lower mounting seat, which successively wear to connect, to be intubated On power transmission main shaft, be evenly equipped on cylinder godet side multiple tracks be parallel to intubation power transmission main shaft, with bobbin cambered surface pair The bobbin groove that should be coincide, cylinder godet and afterbody frustum godet are spaced apart from each other along respective generatrix direction to be arranged close in each Spinning makes the corresponding states two-by-two of bobbin groove thereon, is equipped with one on the opposite end surface of the upper and lower mounting base of cylinder godet The intubation guide-track groove in end correspondence guiding bobbin upper and lower end portion, bobbin baffle are located at connecting insertion on the outside of cylinder godet outside in parallel and lead Track slot inner end and bobbin holder, intubation guide-track groove outer end correspond to above spinning frame spindle blade in guiding bobbin abjection intubation guide rail Slot is inserted in spindle blade state；The bobbin hopper includes material storing box, lower pallet, pallet stand and bobbin guiding material mouth, material storing box warp Lower pallet is supported on pallet stand, and pallet stand is set on intubation box, and bobbin guiding material mouth, which is supported on pallet stand, to be connected Logical material storing box and the bobbin groove that first order frustum godet is corresponded to along first order frustum godet generatrix direction；

The pipe pressing device includes the fixed bracket of pressure pipe, pressing plate, adjusting rod, adjustable column, crimping pin shaft, the first pressure pipe pressure Spring, spring guide and the second pressure pipe pressure spring, the fixed bracket of pressure pipe are connected on machine frame movement trolley, and fixed bracket front end connects edge Doff the adjusting rod in frame direction on spinning frame, the front end of adjusting rod protrude into adjustable column through connection pin shaft limit in adjustable column by First pressure pipe pressure spring elastic compression joint in adjustable column is in along adjustable column vertical direction jacking condition, and adjustable column is connected in pressing plate Portion, pressing plate is skewed in the front is high and the back is low to be arranged above spindle blade, and the front end setting of pressing plate is spinning in corresponding intubation guide-track groove outer end It doffs on machine the rear in frame direction, is worn in the waist type groove of the adjusting rod other end along its length and connect spring guide upper end, spring The lower end of guide rod is movably hinged pressing back-end, and the second pressure pipe pressure spring is crimped between the lower end and adjusting rod of spring guide；

The compound yarn cutting device of hand hay cutter of cutting includes that yarn cuts fixed bracket, micromotor, left and right fixed bracket, left and right blade With rotating saw teeth cutter blade, yarn is cut fixed bracket and is arranged on the left of tube drawing slide lower railway case or left side position rearward, left and right fixation Bracket is supported on yarn and cuts on fixed bracket, and left and right blade, which is parallel to each other, gap setting and to be fixed between left and right fixed bracket, Micromotor is connected to yarn and cuts on fixed bracket or left fixed bracket or right fixed bracket, micromotor connection rotation serrated knife Piece, rotating saw teeth cutter blade is parallel to left and right blade and part is set between left and right gap blade, and any bobbin is with manipulator Device moves to tube drawing slide lower railway case left side or left side, and position makes the corresponding yarn of bobbin enter left and right blade and rotation rearward In the workspace for turning sawtooth blade；

The yarn pressing device includes the fixed bracket of pressure yarn, pressure yarn linear motor, is oriented to steel wire, guide pipe and pressure yarn steel wire, It presses on the right side of the fixed bracket connection machine frame movement trolley of yarn or on the right side of pipe drawing device, sets pressure yarn linear motor in the fixed bracket of pressure yarn, Yarn linear motor is pressed to connect guiding steel wire lower end through link block, guiding steel wire, which is worn, to be connect in guide pipe, and guide pipe is worn to connect and is fixed on The fixed pedestal upper end of yarn is pressed, the connection of guiding steel wire upper end is parallel to spinning frame spindle blade arragement direction, the pressure being arranged on front side of spindle blade Yarn steel wire, the upward arc-shaped bend in end of pressure yarn steel wire extend to front-rear direction and correspond on the left of tube drawing slide lower railway case or correspond to Cut the compound yarn cutting device of hand hay cutter.

Before use, doffer of the present invention corresponds to before being moved to spinning frame, electric appliance control box controls stabilizer blade linear motor first, Axis is telescopically connected to by stabilizer blade, universal rolling wheel is adjusted by fixed base plate, adjust the whole height of box body, cooperate and stablize holding Frame keeps adjustment to stablize, and during the adjustment, the central roller of box body bottom surface can further ensure that the stability of adjustment, will go Walk support device two walking support frames be supported on the creel of spinning frame whereabouts through two back-up roller wheels, will walk positioned parallel device Walking positioned parallel frame frame upper positioning in parallel of doffing is walked on spinning frame through walking positioned parallel idler wheel rolling, can ensure that and fall Yarn machine and spinning frame positioning support in the front-back direction, then moved through ingot away from positioning by ingot of the ingot away from positioning device away from positioning motor Axis and ingot make ingot meet subsequent pipe drawing device towards flexible positioning spinning frame on front side of box body away from locating piece away from positioning linear bearing Initial station corresponds to the demand of first spindle support position of spinning frame.

In use, by the travel driving motor of electric appliance control box control carriage walking driving device through hoofing part speed reducer It is driven walking driver gear, walking driver gear rolls on the upper frame that doffs, and cooperation is artificial to touch box body by handrail, controls simultaneously Crawler belt positioning linear motor drives positioning to move through crawler belt positioning linear motor driven fixing seat under the guiding role of straight line slide bar Dynamic attachment base is stretched out towards spinning frame, makes to position between two curving roll bearings on front side of mobile connection seat and tube drawing powered pulley The recess of the crawler type positioning transmission band of socket is corresponding to spindle support or bolster, while box body occurs to move with respect to spindle support by Spindle support drives crawler type positioning transmission band to make the transmission rotation of tube drawing powered pulley, and is pulled out by the transmitting of tube drawing power main shaft Pipe power to tube drawing power main driving wheel, tube drawing power main driving wheel drives the auxiliary driving of tube drawing power through tube drawing power transmission chain Wheel rotation is oriented to chuck synchronous rotary at this time on the major and minor transmission shaft of tube drawing power, location hole drives on tube drawing power transmission chain Line slide rail is mobile with tube drawing power transmission chain, and line slide rail is oriented to two guiding perpendicular positionings of perpendicular positioning frame thereon Idler wheel bears against the anti-bias inner orbit of corresponding slide bar and tube drawing slide runner chamber interior wall, and combines line slide rail or more Sliding rail positioning roller contact positioning tube drawing upper and lower fixing plate, effectively ensures that the stable position of line slide rail is mobile, in multiple machinery The line slide rail that hand crawl and inlay resultant force eliminate assembly drives along the rotation of tube drawing power transmission chain to be moved simultaneously, by tube drawing slide The circle that the wedge track of side is formed with the gap of the upper and lower track box left and right sides of tube drawing slide before and after upper and lower track box is completely grabbed Take that manipulator on track restrained line slide rail grabs and inlay resultant force eliminates assembly, manipulator crawl and inlay resultant force eliminate assembly by Thereon the manipulator shifting roller of the upper and lower positioning plate outer end of manipulator and crawl track to constrain in line slide rail jointly mobile It is moved up and down on line slide rail simultaneously, when doffer is started to work, by ingot away from the pipe drawing device after positioning device positioning The crawl of first manipulator and inlay resultant force eliminate assembly and are moved to first spindle support position with crawl track, at this point, above-mentioned first machine The clamping force rod that the crawl of tool hand and inlay resultant force eliminate assembly robot device is convex by crawl on the inside of inlay resultant force spring-compressed track Block is passively stirred, and clamping force rod, which is stirred, rotates clamping interlocking bar and the driving lever U-shaped opening passed through in clamping interlocking bar is stirred Driving lever is clamped, clamping the rotation of the driving lever drive activity arm of force makes the second movable jaw overcome tension spring active force towards the first movable jaw It rotates, the clamping jaw push top on the second movable jaw pushes the second movable jaw rear end that the rotation of pressure spring active force is overcome to make the first activity The front end of clamping jaw is rotated towards the second movable jaw front end, and the front end opposite direction rotating of the first and second movable jaw forms identical spool Shape clamping opening clamps the bobbin of spool, clamps simultaneously in bobbin, and any of the above-described manipulator crawl and inlay resultant force eliminate assembly inlay resultant force The pressure spring mandril lower end of cancellation element is carried out by the decrement of inlay resultant force spring-compressed track beyond inlay resultant force spring-compressed track Release drives trip rod fixed plate along shock by the shock pressure spring reaction force that shock fixed plate is compressed in pogo barrel originally Lifting groove moment pushes, and trip rod moment is made to hit the spindle blade being fitted into spool bobbin, and spool bobbin is made to be detached from the chimeric of spindle blade, Inlay resultant force is eliminated, and thus simultaneously, the robot device of the crawl of the first manipulator and inlay resultant force elimination assembly clamps for box body Forward Spool bobbin is constrained lifting by crawl track and line slide rail and the spool bobbin clamped by robot device is driven to be detached from spindle blade It moves up, and left side, subsequent All Robots crawl and inlay resultant force is gradually moved to by right side relatively on tube drawing slide lower railway Elimination assembly is grabbed referring to above-mentioned first manipulator and the movement of inlay resultant force elimination assembly will be subsequent since first spindle support Spindle support is successively hit and clamping pulls up, and when electric appliance control box controls pneumatic above-mentioned tube drawing operation, control pressure yarn linear motor is driven It is oriented to steel wire to decline along guide pipe band dynamic pressure yarn steel wire, spinning frame front roller and rings, the control of wire loop winding area yarn is existed Spindle blade lower end avoids drawbench in tube drawing yarn, pulls out the anti-driving broken end insurance yarn of spindle blade lower end winding, improves full yarn spool Quality is extracted, and is repeated once pushing yarn for when starting clamping spool each time, the yarn pressure after every spool is extracted It send to be directed to and cut in the workspace for cutting up with a hay cutter the compound left and right blade of yarn cutting device and rotating saw teeth cutter blade, moved in spool with crawl track Yarn is carried out when moving to the left side of pipe drawing device to cut the compound cutting of hand hay cutter, is able to satisfy the cutting to high-intensitive and textured yarn, cutting High-efficient and effect is good, and yarn cuts off rear yarn socket pipe in the clamp state with crawl track around to pipe drawing device tube drawing slide In the rear side wedge track of upper and lower track, the force rod that loosens of robot device is loosened convex block by tube drawing slide lower railway Bevel structure passively push and loosen interlocking bar, move under the limitation of positioning pin along its upper hopper chute and push backwards, by loosening connection The push rod promotion that loosens of lever rear end loosens driving lever, loosens the driving lever promotion activity arm of force around driving lever is clamped and drives the second movable jaw It is opened backwards to the first movable jaw direction, tension spring accelerates the opening speed of the second movable jaw, while the folder of the second movable jaw Pawl pushes the push-tight unclamped to the first movable jaw, and the first movable jaw rear end is driven the first movable jaw by pressure spring reaction force Front end is opened backwards to the second movable jaw direction, and the first and second movable jaw front end, which is opened, completes loosening for spool bobbin, drops down onto it The collecting box of lower section is collected, and the manipulator crawl and inlay resultant force after loosening eliminate assembly and continue around crawl track wraparound tube drawing The initial station of device persistently carries out the crawl of spool on the complete crawl track of a circle, extracts and loosen collection.

When box body is fed continuously along spindle support arragement direction, the spindle support after completing tube drawing operation relatively moves to corresponding insert At pipe device, tube drawing power main shaft also transmits power to intubation power drive pulley while tube drawing power transmits, It is intubated power drive pulley and drives intubation power driven pulley rotation through flat-toothed belt, be intubated power follower belt wheel belt Dynamic intubation power transmission main shaft rotation, intubation power transmission main shaft are intubated power input gear thereon and drive the input of godet power Gear rotation, drives and rotates with godet power input gear with frustum transmission gear on the Guide disc drive axis of level-one frustum godet, It successively drives frustum transmission gear on the Guide disc drive axis of frustum godet each time to rotate, thus drives frustum godet each time Rotation conveys bobbin from bobbin blanking conveyer of the bobbin hopper into intubation box, and bobbin drives to first order frustum godet When place, fall on the conical surface of first order frustum godet along its bus setting bobbin groove along and rotate with, with the first order When frustum godet is rotated to second level frustum godet and first order frustum godet cone element clearance fit, bobbin is by the first order The bobbin groove of frustum godet is fallen into the bobbin groove of second level frustum godet, is driven from second level frustum godet to subsequent Frustum godet conveys godet, until the horizontal positioned bobbin in bobbin hopper is transmitted to the most lower of afterbody frustum godet In vertical state, bobbin is kept when transmitting on multistage frustum godet by the bobbin of its peripheral hardware bobbin groove on end cone face bus Frame keeps bobbin to stablize in bobbin groove and drives rotation, avoids rotating out frustum godet, is transported to afterbody in bobbin The bobbin groove on cylinder godet bus when in the bobbin groove of the plumbness of frustum godet, on intubation power transmission main shaft Reception bobbin corresponding with the bobbin groove of afterbody tapered sleeve godet, bobbin enter the bobbin groove of cylinder godet, lead with cylinder Disc spins simultaneously rotate tangential centrifugal force effect and pacify above and below into cylinder godet under the constraint of bobbin baffle holding with cylinder godet In the intubation guide-track groove for filling seat inner face, and continue to send to intubation guide-track groove outer end simultaneously along intubation guide-track groove under the action of the centrifugal force The corresponding spindle blade being inserted under in abjection intubation guide-track groove outer end, bobbin are inserted perpendicularly into spindle blade, and avoiding can not existing for inclination insertion The hidden danger for the intubation that falls persistently is fed in bobbin insertion rear car cabinet, by the pressure for being set to the pipe pressing device on the left of Intubaction device Prelaminar part corresponds to spool upper end, and for pressing plate when box body drives lower feeding, the pressing plate being obliquely installed persistently pushes bobbin, in pressing plate The adjustable column in portion is overcome the first pressure pipe pressure spring to rise by adjusting rod restriction, and pressing back-end overcomes the second pressure pipe pressure spring on spring guide Active force and the waist type groove along adjusting rod along its length, which move back resigning, makes pressing back-end is synchronous to rise, by pressing plate with railway carriage Body feeding make pressing plate incline structure by the middle part of pressing plate, the reaction of lifting at rear portion chimeric compression to bobbin on spindle blade is provided Power, it is passive that the elasticity inclination after the bobbin insertion vertically sent out on each spindle blade by Intubaction device using presser device is lifted Push it is chimeric compress, realize that complete on spindle blade of bobbin closely plugs together.

The present invention completes and essence box body away from positioning device, walking support device, walking positioned parallel device by ingot Frame spindle blade plugs that station is corresponding, after vertical and parallel positioning, and carriage walking driving device drives edge spinning frame doffs frame above and below Traveling, is meshed in conjunction with crawler type positioning transmission band with each ingot of spinning frame, along spinning frame track feeding accurate control pair simultaneously Answer each spindle blade correspond to yarn pressing device, pipe drawing device, cut the compound yarn cutting device of hand hay cutter, Intubaction device and pipe pressing device realize tube drawing, It is intubated, presses yarn, cutting yarn and the integration operation of pressure pipe, compact overall structure runs smoothly, accurately, can take into account spinning frame Textile structural, spool structure and tube drawing yarn control, intubation be fitted into close demand, can for all kinds of ring spinning machinery into Row adjustment meets integrated plug operation, without plugging substep, is conducive to mitigate labor intensity, improves weaving efficiency and matter Amount.

Detailed description of the invention

Fig. 1 is spinning frame front side structure schematic diagram；

Fig. 2 is that the corresponding spinning frame of the present invention uses structural schematic diagram；

Fig. 3 is the schematic perspective view of Fig. 2；

Fig. 4 is doffer structural schematic diagram of the present invention；

Fig. 5 is the stereochemical structure perspective view of the explosion of Fig. 4；

Fig. 6 is the frame of the invention moving trolley schematic perspective view；

Fig. 7 is elevating feet device schematic perspective view in Fig. 6；

Fig. 8 is plug-pull tube positioning power device stereochemical structure perspective view of the explosion of the present invention；

Fig. 9 is pipe drawing device schematic perspective view of the present invention；

Figure 10 is tube drawing support assembly stereochemical structure perspective view of the explosion in Fig. 9；

Figure 11 is tube drawing power transmission assembly stereochemical structure perspective view of the explosion in Fig. 9；

Figure 12 is that manipulator crawl and inlay resultant force eliminate assembly schematic perspective view in Fig. 9；

Figure 13 is manipulator grabbing device stereochemical structure perspective view of the explosion in Figure 12；

Figure 14 is sectional perspective structural blast schematic diagram at A in Figure 13；

Figure 15 is that force eliminating device stereochemical structure perspective view of the explosion is fitted into Figure 13；

Figure 16 is Intubaction device schematic perspective view of the present invention；

Figure 17 is Intubaction device stereochemical structure perspective view of the explosion in Figure 16；

Figure 18 is Figure 17 middle bobbin blanking conveyer stereochemical structure perspective view of the explosion；

Figure 19 is that executive device stereochemical structure perspective view of the explosion is intubated in Figure 17；,

Figure 20 is pipe pressing device schematic perspective view of the present invention；

Figure 21 is yarn pressing device stereochemical structure perspective view of the explosion of the present invention；

Figure 22 is that the present invention cuts the compound yarn cutting device schematic perspective view of hand hay cutter；

Figure 23 is the stereochemical structure perspective view of the explosion of Figure 22.

In figure: machine frame movement trolley 1, box body 101, hopper 102, handrail 103, rack pillar 104, motor upper fixed seat 105, stabilizer blade linear motor 106, motor lower fixed seat 107 is telescopically connected to axis 108, stablizes retainer 109, pulley 110, straight line Bearing fixed seat 111, linear bearing 112, fixed base plate 113, universal rolling wheel 114, central roller 115, travel driving motor 116, hoofing part speed reducer 117, walking driver gear 118, walking passive gear 119, support frame 120 of walking, back-up roller wheel 121, Ingot is away from positioning motor 122, and ingot is away from positioning shifting axle 123, and ingot is away from positioning linear bearing 124, and for ingot away from locating piece 125, walking is parallel Locating rack 126, walking positioned parallel rolling 127；

Plug-pull tube positioning power device 2 positions mobile connection seat 201, curving roll bearing 202, crawler type positioning transmission Band 203, tube drawing powered pulley 204, tube drawing power main shaft 205 are intubated power drive pulley 206, flat-toothed belt 207, tube drawing power driven pulley 208, tube drawing power transmission main shaft 209, crawler belt positioning linear motor 210, crawler belt positioning is directly Line motor fixing seat 211, crawler belt positioning linear motor driven fixing seat 212, straight line slide bar 213, straight line slide bar fixing seat 214, Straight line slide bar bearing 215；

Pipe drawing device 3, tube drawing upper mounted plate 301, tube drawing bottom plate 302, tube drawing slide upper rail case 303, tube drawing are sliding Seat lower railway case 304, upper and lower bottom plate vertical columns 305, the anti-bias inner orbit 306 of slide bar, inlay resultant force spring-compressed track 307 are embedding Resultant force reaction force protects track 308, grabs convex block 309, loosens convex block 310, tube drawing power transmission chain 311, tube drawing power Counter drive shaft 312, tube drawing power main driving wheel 313, tube drawing power auxiliary driving wheel 314 are driven godet 315, are oriented to bayonet 316, Location hole 317, line slide rail 318, linear slider 319, chain fixing seat 320, sliding rail positioning roller 321 are oriented to perpendicular positioning Frame 322, is oriented to perpendicular positioning idler wheel 323, manipulator sliding block attachment base 324, and positioning plate 325 under manipulator clamps interlocking bar 326, force rod 327 is clamped, driving lever U-shaped opening 328 loosens interlocking bar 329, loosens force rod 330, loosens push rod 331, clamps Driving lever 332 loosens driving lever 333, and support rod 334, tension spring 335, the movable arm of force 336, the fixed arm of force 337, pressure spring 338, first is living Dynamic clamping jaw 339, the second movable jaw 340, clamping jaw push top 341 clamp retainer 342, positioning plate 343 on manipulator, trip rod Fixed plate 344, pogo barrel 345 hit lifting groove 346, pressure spring mandril 347, and trip rod 348 hits pressure spring 349, manipulator Bottom roller 350, manipulator upper roller 351, side seal board 352；

Intubaction device 4, intubation box 401, material storing box 402, frustum godet upper mounting seat 403, frustum godet lower mounting seat 404, frustum godet 405, frustum bobbin groove 406, Guide disc drive axis 407, Guide disc drive gear 408, godet power input tooth Wheel 409 is intubated power input gear 410, bobbin holder 411, lower pallet 412, pallet stand 413, bobbin guiding material mouth 414, cylinder godet upper mounting seat 415, cylinder godet lower mounting seat 416 is intubated guide-track groove 417, cylinder godet 418, cylindrical drum Pipe groove 419, bobbin baffle 420；

Pipe pressing device 5, fixed bracket 501, pressing plate 502, adjusting rod 503, adjustable column 504 connect pin shaft 505, and spring is led Bar 506, the first pressure pipe pressure spring 507, the second pressure pipe pressure spring 508, waist type groove 509；

The compound yarn cutting device 6 of hand hay cutter is cut, yarn cuts fixed bracket 601, left fixed bracket 602, right fixed bracket 603, micro electric Machine 604, left blade 605, right blade 606, rotating saw teeth cutter blade 607；

Yarn pressing device 7, the fixed bracket 701 of pressure yarn, presses yarn linear motor 702, and guide pipe 703 is oriented to steel wire 704, presses yarn Steel wire 705；

Spinning frame 8, above doff frame 801, whereabouts creel 802, spindle support 803, spindle blade 804, spool 9, bobbin 901.

Specific embodiment

Below in conjunction with drawings and examples, the invention will be further described.

Shown in Fig. 1: spinning frame front part is evenly equipped with multiple spindle supports 803, spindle blade 804 on spinning frame 8 along its length It wears and connects on spindle support 803, the bobbin 901 of spool 9 is entrenched on spindle blade 804, along it in the rack of 8 spindle support of spinning frame, 803 front side The length direction frame 801,802 setting up and down that doffs above and below.

Shown in Fig. 2, Fig. 3: doffer of the present invention corresponds to spinning frame 8 and feeds from left to right, shown in Fig. 4, Fig. 5: the present invention is fallen Yarn machine includes machine frame movement trolley 1, plug-pull tube positioning power device 2, pipe drawing device 3, Intubaction device 4, and pipe pressing device 5 cuts hand hay cutter Compound yarn cutting device 6 and yarn pressing device 7.

Shown in Fig. 6: machine frame movement trolley 1 include box body 101, hopper 102, handrail 103, carriage walking driving device, Support device, ingot walk away from positioning device, walking positioned parallel device and elevating feet device, the 101 front side court of box body To spinning frame 8, other sides of box body 101 are equipped with handrail 103, are arranged below pipe drawing device 3 on the corresponding box body 101 of hopper 102 In in box body 101, two central rollers 115,101 4 jiaos of box body of rack pillar are set before and after 101 bottom center of box body 104 are set in the elevating feet device connection universal rolling wheel 114 in rack pillar；The elevating feet device packet referring to described in Fig. 7 Stabilizer blade linear motor 106, motor upper fixed seat 105, motor lower fixed seat 107, stabilizer blade is included to be telescopically connected to axis 108, stablize holding Frame 109, pulley 110, Linear bearing fixing seat 111, linear bearing 112 and fixed base plate 113, under motor upper fixed seat and motor Fixing seat is fixed in rack pillar 104 in upper and lower position, and stabilizer blade linear motor is fixedly connected with the upper and lower fixing seat of motor up and down, Stabilizer blade is connect under stabilizer blade linear motor and is telescopically connected to axis upper end, and stabilizer blade, which is telescopically connected to be socketed on axis, stablizes retainer, multiple pulley pins It connects and pushes against rack branch column wall stablizing retainer side, stabilizer blade, which is telescopically connected to axis lower end, to be worn through linear bearing and connect in linear bearing Fixing seat is interior and stretches out lower connection fixed seat plate, mouth under Linear bearing fixing seat encapsulation frame pillar, connects universal rolling under fixed base plate Wheel 114；The carriage walking driving device includes travel driving motor 116, hoofing part speed reducer 117, walking driver gear 118 With walking passive gear 119, travel driving motor 116 is set to connection hoofing part speed reducer 117 transmission walking in box body 104 Driving wheel 118, walking driver gear 118 and walking passive gear 119 are set to the left-right position of 101 front side of box body in support mounting Doff rolling condition on frame 801 on spinning frame 8；The walking support device referring to described in Fig. 6 includes two walking support frames 120 and two Back-up roller wheel 121, two walking support frames 120 are set to the left-right position of 101 front side of box body, divide on two walking support frames 120 Other two back-up roller wheel 121 of pin joint is in be supported on rolling condition on 8 whereabouts creel 802 of spinning frame；The ingot referring to described in Fig. 6 is filled away from positioning Set including ingot away from positioning motor 122, ingot away from locating piece 125, ingot away from positioning shifting axle 123 and ingot away from positioning linear bearing 124, ingot It is fixed in box body 101 away from positioning motor 122 and ingot away from positioning linear bearing 124, ingot is worn away from the connection of positioning motor 122 and connect Ingot is in towards 101 front side retracted position of box body away from positioning shifting axle 123 away from the ingot in positioning linear bearing 124, and ingot is away from positioning It is in stretch that ingot is made to position spinning frame away from locating piece in the case where ingot drives away from positioning shifting axle that block 125, which connects ingot away from positioning shifting axle outer end, Spindle support 803 or bolster state；The walking positioned parallel device referring to described in Fig. 6 includes that walking positioned parallel frame 126 is parallel with walking Positioning roller 127, two or more walking positioned parallels set up the left-right position being placed on front side of box body, positioned parallel idler wheel of walking Pin joint walks on spinning frame frame positioned parallel state of doffing in rolling on walking positioned parallel frame；It is fixed referring to Fig. 6 plug-pull tube Position power device 2 is set on the right side of box body 101 by front position.

The device of plug-pull tube positioning power shown in Fig. 82 includes positioning mobile connection seat 201, curving roll bearing 202, crawler belt Formula positioning transmission band 203, tube drawing powered pulley 204, tube drawing power main shaft 205, intubation power drive pulley 206, Flat-toothed belt 207, intubation power transmission shaft 209, crawler belt positioning linear motor 210, is carried out intubation power driven pulley 208 Band positioning linear motor fixing seat 211, crawler belt positioning linear motor driven fixing seat 212, straight line slide bar 213, straight line slide bar are solid Reservation 214 and straight line slide bar bearing 215, positioning mobile connection seat 201 are set on machine frame movement trolley 1, position mobile connection Seat 201 front side left and right settings, two curving roll bearing 202,204 same level of two curving roll bearings 202 and tube drawing powered pulley Face setting and be sequentially connected through crawler type positioning transmission band 203, crawler type positioning transmission band 203 outwardly it is uniformly distributed it is multiple respectively with essence Frame spindle support circumference corresponding recess is vertically worn in tube drawing powered pulley 204 and connects the tube drawing that end is fixed on pipe drawing device Jacket pipes power drive pulley 206 is worn in power main shaft 205,205 bottom end of tube drawing power main shaft, and intubation power is actively 206 same level face of belt pulley is driven intubation power driven pulley 208 through flat-toothed belt 207, is intubated power driven pulley It is vertically worn on 208 and connects the intubation power transmission shaft 209 that end is fixed on Intubaction device；210 one end of crawler belt positioning linear motor Pin joint crawler belt positioning linear motor fixing seat 211 is connected in box body, and other end pin joint crawler belt positioning linear motor driven is solid It is in be consolidated by crawler belt positioning linear motor through crawler belt positioning linear motor driven that reservation 212, which is connected on positioning mobile connection seat 201, Reservation driving positioning mobile connection seat feeds state towards spinning frame direction, and 213 one end of straight line slide bar is through straight line slide bar fixing seat 214 are connected in box body, and pivot bush unit is fixedly connected with the straight line slide bar bearing of driving positioning mobile connection seat 201 on the other end 215 feed state in along straight line slide bar direction guide-localization mobile connection seat；

Shown in Fig. 9-Figure 15, pipe drawing device 3 include tube drawing support assembly, tube drawing power transmission assembly and manipulator crawl and Inlay resultant force eliminates assembly, and the 0 tube drawing support assembly is set to the right side of machine frame movement trolley, tube drawing support assembly referring to Fig.1 Including tube drawing upper mounted plate 301, tube drawing slide upper rail case 303, tube drawing bottom plate 302, tube drawing slide lower railway case 304, Upper and lower bottom plate vertical columns 305, inlay resultant force reaction force protection track 308, inlay resultant force spring-compressed track 307, slide bar are anti-bias Inner orbit 306 grabs convex block 309 and loosens convex block 310, is separately connected tube drawing slide between tube drawing upper and lower fixing plate 301,302 Upper and lower track box 303,304 and wear that connect the upper and lower track box support tube drawing of tube drawing slide upper and lower through upper and lower bottom plate vertical columns 305 Fixed plate is correspondingly formed among the upper and lower track box of tube drawing slide by the wedge shape of side direction lifting to the left on the right side of machine frame movement trolley Track, the wedge track of tube drawing slide upper and lower track box front and back side and the gap of the upper and lower track box left and right sides of tube drawing slide are formed The anti-bias inner orbit 306 of a circle slide bar is installed above and below in the complete crawl track of one circle, upper and lower bottom plate vertical columns, and tube drawing is sliding Bottom edge connects one section of chimeric force reaction and protects track 308 on the right side of seat upper rail case, on the right side of tube drawing slide lower railway case outside pulling out Pipe lower fixed seat connects the inlay resultant force spring-compressed track 307 of the corresponding chimeric force reaction protection track in one end, inlay resultant force spring It compresses track front and is equipped with crawl convex block 309, tube drawing slide lower railway towards the inner face on front side of tube drawing slide lower railway case The trailing flank on the case left side is equipped with and loosens convex block 310, loosens convex block 310 equipped with inclined-plane；The 1 tube drawing power passes referring to Fig.1 Dynamic assembly includes that tube drawing power main shaft 205, tube drawing power counter drive shaft 312, tube drawing power main driving wheel 313, tube drawing are dynamic Power auxiliary driving wheel 314, tube drawing power transmission chain 311 and transmission godet 315, the major and minor transmission shaft 205,312 of tube drawing power are distinguished Successively wear and connect in the upper and lower fixed plate 301,302 of tube drawing through bearing from the bottom to top in parallel, tube drawing power main shaft 205 it is upper, Lower part, which is worn, is connected to tube drawing power main driving wheel 313, and the upper and lower part of tube drawing power counter drive shaft 312, which is worn, is connected to tube drawing power Auxiliary driving wheel 314 is sequentially connected between the major and minor driving wheel of tube drawing power in same level through tube drawing power transmission chain 311, It is uniformly provided with multiple location holes 317 on upper and lower two tube drawings power transmission chain 311, distinguishes on the major and minor transmission shaft of tube drawing power It wears and is connected to one or more transmission godet 315, be driven on godet excircle and be evenly equipped with multiple guiding bayonets 316；Multiple manipulators Crawl and inlay resultant force are eliminated assembly and are disposed in an evenly spaced relation on crawl track, and the crawl of 2 manipulators and inlay resultant force are eliminated total referring to Fig.1 At including line slide rail 318, linear slider 319, chain fixing seat 320, sliding rail positioning roller 321, guiding perpendicular positioning frame 322, perpendicular positioning idler wheel 323 and manipulator crawl are oriented to and inlay resultant force eliminates set composite, the top and bottom of line slide rail 318 End be equipped with contact with tube drawing upper and lower fixing plate 301,302 position sliding rail positioning roller 321, line slide rail 318 it is upper and lower Portion is fixed in location hole 317 through chain fixing seat respectively, line slide rail 318 be equipped with two be located on tube drawing slide, Guiding perpendicular positioning frame 322 in lower railway case, be connected on any guiding perpendicular positioning frame two bear against it is right with it The guiding perpendicular positioning idler wheel 323 of the anti-bias inner orbit of the slide bar answered and tube drawing slide runner chamber interior wall, manipulator are grabbed and are fitted into Power is eliminated set composite and is connected on line slide rail through linear slider, and line slide rail is rotated with tube drawing power transmission chain through being driven The guiding bayonet 316 of godet pushes guide turning；It includes that manipulator is grabbed that the manipulator crawl and inlay resultant force, which eliminate set composite, Take device and chimeric force eliminating device, referring to Fig.1 3, robot device described in Figure 14 include manipulator sliding block attachment base 324, machine Tool subordinate positioning plate 325, clamping interlocking bar 326, driving lever retainer 342, loosens force rod 330, loosens clamping force rod 327 Interlocking bar 329, loosen push rod 331, the movable arm of force 336, clamp driving lever 332, loosen driving lever 333, support rod 334, tension spring 335, The fixed arm of force 337, pressure spring 338, the first movable jaw 339 and the second movable jaw 340, manipulator sliding block attachment base 324 connect In linear slider 319, positioning plate 325 is connected on manipulator sliding block attachment base under manipulator and positioning of bottom is equipped under manipulator The manipulator shifting roller 350 of tube drawing slide lower railway case wedge track is slid against, driving lever retainer 342 is arranged in parallel in machine On tool subordinate positioning plate 325, clamping 326 rotating middle part pin joint of interlocking bar under driving lever retainer and manipulator between positioning plate, Clamping 326 front end of interlocking bar vertically connects clamping force rod 327, and clamping force rod lower end is in corresponding chimeric with crawl track movement 309 stress of crawl convex block of power spring-compressed track stirs state, and clamping 326 rear end of interlocking bar is equipped with driving lever U-shaped opening 328, Loosening 329 middle part of interlocking bar and wearing the positioning pin connect under driving lever retainer and manipulator between positioning plate through its upper hopper chute is in along the chute Moving condition, loosens 329 front end of interlocking bar and vertically connects and loosen force rod 330, and loosening force rod lower end is in crawl track fortune The inclined-plane stress for loosening convex block 310 of dynamic corresponding tube drawing slide lower railway case stirs state, loosens 329 rear end of interlocking bar and vertically sets It sets and loosens push rod 331, the fixed arm of force 337 and the movable arm of force 336 are supported on respectively on driving lever retainer 342, and the fixed arm of force 337 is about Beam is limited between the movable arm of force 336 and side seal board 352, and movable 336 rear portion of the arm of force loosens through the clamping rotation pin joint of driving lever 332 and dials Bar 333 loosens corresponding push in 331 upper end of push rod and loosens driving lever 333 in by loosening driving lever drive activity arm of force rotation status, clamps 332 lower part of driving lever is correspondingly arranged in driving lever U-shaped opening 328, and movable 336 middle part pin joint of the arm of force is on driving lever retainer and simultaneously Pin joint support rod sockets fixed 337 rear portion of the arm of force, and movable 336 front end of the arm of force rotates pin joint in the middle part of the second movable jaw 340, the In the middle part of fixed 337 middle part of the arm of force of two movable jaws, 340 back end activity pin joint and the second movable jaw rear portion and the fixed arm of force and/or Tension spring 335 is socketed between rear portion, the second movable jaw front is equipped with clamping jaw push top 341, the 339 middle part activity of the first movable jaw Pin joint is in fixed 337 front end of the arm of force, and the first movable jaw rear portion side is corresponding to have a haircut against clamping jaw, and the first movable jaw rear portion is another Pressure spring 338 is equipped between side and the fixed arm of force, the front end of the first and second movable jaw corresponds to each other to form the sand that coincide with tube 9 901 shape of bobbin；Referring to Fig.1 the 5 chimeric force eliminating devices include positioning plate 343 on manipulator, trip rod fixed plate 344, Trip rod 348, pressure spring mandril 347, spring spool 345 and pressure spring 349 is hit, positioning plate 343 is fixed on manipulator on manipulator On sliding block attachment base 324, pogo barrel 345 is vertically installed on manipulator on positioning plate 343, and trip rod fixed plate 344, which is worn, to be connect In the shock lifting groove 346 opened up up and down on front side of pogo barrel, it is downward that trip rod fixed plate protrudes into one end in pogo barrel Vertical to connect pressure spring mandril, mouth is in abutting inlay resultant force spring-compressed rail-like under the movable stretching pogo barrel in pressure spring mandril lower end State, trip rod fixed plate protrude between one end in pogo barrel and pogo barrel upper end through the interior shock being located in pogo barrel Pressure spring elastic connection, the other end of trip rod fixed plate connect trip rod vertically downward, and trip rod is set to the first and second activity folder 804 top state of spindle blade is hit in lifting is corresponding between the front end of pawl, positioning plate upper surface is equipped with the corresponding limit of sliding on manipulator Position or the shifting roller 351 on the manipulator of tube drawing slide upper rail case wedge track.

Shown in Figure 16-Figure 19, Intubaction device 4 includes intubation box 401, bobbin hopper, bobbin blanking conveyer and intubation Executive device, intubation box 401 are set to the left side of machine frame movement trolley 1, and bobbin hopper is correspondingly arranged in intubation box rear upper end Connecting insertion case is fed, the 8 bobbin blanking conveyers include under frustum godet upper mounting seat 403, frustum godet referring to Fig.1 More than mounting base 404, two-stage frustum godet 405, Guide disc drive axis 407, Guide disc drive gear 408, godet power input tooth Wheel 409, is intubated power input gear 410 and bobbin holder 411, the upper and lower mounting base of frustum godet 405 are fixed on intubation box Interior, frustum godet more than two-stage is worn respectively to be connect on two or more Guide disc drive axis, in frustum godet more than two-stage The cone element angle 90 of lie farthest away in level-one and afterbody frustum godet, upper and lower rotatable wear of Guide disc drive axis connect Between the upper and lower mounting base of frustum godet, multiple tracks is evenly equipped on the frustum godet conical surface along the setting of its generatrix direction and bobbin cambered surface pair The frustum bobbin groove 406 that should be coincide is worn on two or more Guide disc drive axis respectively and connects two-stage or more successively engaged transmission is led Disk transmission gear, frustum godet more than two-stage bore and are arranged close to make cylinder thereon in the rotation of frustum godet two-by-two to being spaced apart from each other Pipe groove corresponding states two-by-two is also serially connected with godet power input gear 409 on the Guide disc drive axis of afterbody frustum godet, Intubation power input gear 410 is worn to connect and be engaged on intubation power transmission main shaft 209 with godet power input gear 409, two-stage Bobbin holder 411 is arranged in the side of above frustum godet；Referring to Fig.1 the 9 intubation executive devices include on cylinder godet, Lower mounting seat 415,416, cylinder godet 418 and bobbin baffle 420, cylinder godet upper mounting seat, cylinder godet and cylinder godet Lower mounting seat, which is successively worn, to be connect on intubation power transmission main shaft 209, is evenly equipped with multiple tracks on 418 side of cylinder godet and is parallel to intubation Power transmission main shaft, corresponding with bobbin cambered surface identical cylinder bobbin groove 419, cylinder godet and afterbody frustum godet The bobbin groove being arranged close to make in each spinning thereon corresponding states two-by-two, cylinder godet are spaced apart from each other along respective generatrix direction The intubation guide-track groove in the corresponding guiding bobbin upper and lower end portion in one end is equipped on the opposite end surface of upper and lower mounting base 415,416 417, bobbin baffle 420 is outer in parallel to be located at connecting insertion guide-track groove inner end and bobbin holder 411 on the outside of cylinder godet, and intubation is led 417 outer end of track slot, which corresponds to above 8 spindle blade 804 of spinning frame, is inserted in spindle blade state in guiding bobbin abjection intubation guide-track groove；It is described Bobbin hopper includes material storing box 402, lower pallet 412, pallet stand 413 and bobbin guiding material mouth 414, and material storing box is through lower pallet branch On pallet stand, pallet stand is set on intubation box for support, and bobbin guiding material mouth, which is supported on pallet stand, is connected to material storing box The bobbin groove of first order frustum godet is corresponded to along first order frustum godet generatrix direction；

Shown in Figure 20: pipe pressing device 5 includes the fixed bracket 501 of pressure pipe, pressing plate 502, adjusting rod 503, adjustable column 504, pressure Outbound axis 505, the first pressure pipe pressure spring 507, spring guide 506 and the second pressure pipe pressure spring 508, the fixed bracket 501 of pressure pipe are connected to On machine frame movement trolley 1, fixed bracket front end connection is doffed the adjusting rod 503 in frame direction along spinning frame, before adjusting rod 503 Elastic in adjustable column by the first pressure pipe pressure spring 507 in adjustable column through the connection limit of pin shaft 505 in adjustable column 504 press is protruded at end It connects in along adjustable column vertical direction jacking condition, adjustable column 504 is connected to 502 middle part of pressing plate, and pressing plate 502 is tilted in the front is high and the back is low Shape is arranged above spindle blade, and frame direction of doffing is arranged on corresponding intubation 417 outer end spinning frame of guide-track groove in the front end of pressing plate 502 Rear wears in the waist type groove 509 of the adjusting rod other end along its length and connects 506 upper end of spring guide, the lower end of spring guide It is movably hinged 502 rear end of pressing plate, the second pressure pipe pressure spring 508 is crimped between the lower end and adjusting rod of spring guide.

Shown in Figure 21: cutting the compound yarn cutting device 6 of hand hay cutter includes that yarn cuts fixed bracket 601, micromotor 604, left and right fixed branch Frame 602,603, left and right blade 605,606 and rotating saw teeth cutter blade 607, yarn are cut fixed bracket and are arranged in tube drawing slide lower railway Position, left and right fixed bracket are supported on yarn and cut on fixed bracket rearward on the left of case or left side, and left and right blade is parallel to each other gap It is arranged and is fixed between left and right fixed bracket, micromotor is connected to yarn and cuts fixed bracket or left fixed bracket or right fixation On bracket, micromotor connects rotating saw teeth cutter blade, and rotating saw teeth cutter blade is parallel to left and right blade and is partially set to left and right Between gap blade, any bobbin moves on the left of tube drawing slide lower railway case with robot device or position makes cylinder rearward in left side Corresponding yarn is managed to enter in the workspace of left and right blade and rotating saw teeth cutter blade；

Shown in Figure 22, Figure 23, yarn pressing device 7 includes the fixed bracket 701 of pressure yarn, pressure yarn linear motor 720, guiding steel wire 704, guide pipe 703 and pressure yarn steel wire 705, the fixed bracket of pressure yarn connect on the right side of machine frame movement trolley or on the right side of pipe drawing device, pressure Pressure yarn linear motor is set in the fixed bracket of yarn, pressure yarn linear motor connects guiding steel wire lower end through link block, and guiding steel wire, which is worn, to be connect In guide pipe, guide pipe, which is worn to connect, is fixed on the fixed pedestal upper end of pressure yarn, and the connection of guiding steel wire upper end is parallel to spinning frame spindle blade The upward arc-shaped bend in end of arragement direction, the pressure yarn steel wire being arranged on front side of spindle blade, pressure yarn steel wire extends to front-rear direction pair It answers on the left of tube drawing slide lower railway case or corresponding cut cuts up with a hay cutter compound yarn cutting device.

The basic principles, main features and advantages of the present invention have been shown and described above.The skill of the industry Art personnel it should be appreciated that the present invention is not limited to the above embodiments, the above embodiments and description only describe The principle of the present invention, various changes and improvements may be made to the invention without departing from the spirit and scope of the present invention, this A little changes and improvements all fall within the protetion scope of the claimed invention.The claimed scope of the invention is by the attached claims Book and its equivalent define.

Claims

1. a kind of spinning doffer bobbin blanking conveyer, it is characterised in that: the bobbin blanking conveyer includes frustum Godet upper mounting seat, frustum godet lower mounting seat, frustum godet more than two-stage, Guide disc drive axis, Guide disc drive gear, godet Power input gear, intubation power input gear and bobbin holder, the upper and lower mounting base of frustum godet are fixed in intubation box, Frustum godet more than two-stage is worn respectively to be connect on two or more Guide disc drive axis, the first order in frustum godet more than two-stage With the cone element angle 90 of lie farthest away on afterbody frustum godet, upper and lower rotatable wear of Guide disc drive axis is connect in frustum Between the upper and lower mounting base of godet, multiple tracks is evenly equipped on the frustum godet conical surface along the setting of its generatrix direction, kiss corresponding with bobbin cambered surface The bobbin groove of conjunction wears the Guide disc drive gear for connecing two-stage or more successively engaged transmission on two or more Guide disc drive axis respectively, Frustum godet more than two-stage is bored to being spaced apart from each other the bobbin groove that is arranged close to make in the rotation of frustum godet two-by-two thereon two-by-two Corresponding states is also serially connected with godet power input gear, intubation power input on the Guide disc drive axis of afterbody frustum godet Gear is worn to connect and be engaged on intubation power transmission main shaft with godet power input gear, and the side of frustum godet more than two-stage is set Set bobbin holder.