CN108588917B - Automatic doffing trolley of rotor spinning machine - Google Patents
Automatic doffing trolley of rotor spinning machine Download PDFInfo
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- CN108588917B CN108588917B CN201810470776.8A CN201810470776A CN108588917B CN 108588917 B CN108588917 B CN 108588917B CN 201810470776 A CN201810470776 A CN 201810470776A CN 108588917 B CN108588917 B CN 108588917B
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- yarn
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- tube
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- D—TEXTILES; PAPER
- D01—NATURAL OR MAN-MADE THREADS OR FIBRES; SPINNING
- D01H—SPINNING OR TWISTING
- D01H9/00—Arrangements for replacing or removing bobbins, cores, receptacles, or completed packages at paying-out or take-up stations ; Combination of spinning-winding machine
- D01H9/02—Arrangements for replacing or removing bobbins, cores, receptacles, or completed packages at paying-out or take-up stations ; Combination of spinning-winding machine for removing completed take-up packages and replacing by bobbins, cores, or receptacles at take-up stations; Transferring material between adjacent full and empty take-up elements
- D01H9/08—Doffing arrangements independent of spinning or twisting machines
- D01H9/10—Doffing carriages ; Loading carriages with cores
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- D—TEXTILES; PAPER
- D01—NATURAL OR MAN-MADE THREADS OR FIBRES; SPINNING
- D01H—SPINNING OR TWISTING
- D01H9/00—Arrangements for replacing or removing bobbins, cores, receptacles, or completed packages at paying-out or take-up stations ; Combination of spinning-winding machine
- D01H9/02—Arrangements for replacing or removing bobbins, cores, receptacles, or completed packages at paying-out or take-up stations ; Combination of spinning-winding machine for removing completed take-up packages and replacing by bobbins, cores, or receptacles at take-up stations; Transferring material between adjacent full and empty take-up elements
- D01H9/16—Yarn-severing arrangements, e.g. for cutting transfer tails; Separating of roving in flyer
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Textile Engineering (AREA)
- Spinning Or Twisting Of Yarns (AREA)
Abstract
The invention relates to an automatic doffing trolley of a rotor spinning machine, which defines the traveling direction of the automatic doffing trolley as a left direction and a right direction, and comprises a travelling rail and a trolley body mounted on the travelling rail, wherein the trolley body reciprocates along the travelling rail. The invention can achieve the following beneficial effects: compared with the existing doffing technology, the automatic doffing trolley provided by the invention has the advantages of simple structure, high automation degree and high working precision, can realize automatic doffing operation, and reduces the labor cost.
Description
Technical Field
The invention relates to an automatic doffing trolley used in the doffing process of a rotor spinning machine.
Background
The open-end spinning, i.e. rotor spinning, technique is a new type of spinning technique, usually consisting of a number of individual spinning units arranged on both sides of the spinning machine. Each spinning unit is formed by a spinning cup which can process single-fiber roving into twisted yarn and a winding unit which guides the yarn to be wound on a bobbin for one yarn tube. In a rotor spinning line, which usually has a plurality of spinning stations, one to two automatic doffing carriages are usually provided on each side of the rotor spinning machine. When the bobbin reaches the preset yarn length or bobbin diameter, the automatic doffing tube changing on the full-automatic rotor spinning machine is started. The precise electronic length detection device keeps the difference of the yarn length between the bobbins within a small deviation range. When the diameter of the bobbin reaches a certain value, the mechanical stop is not accurate, and the diameter of the bobbin and the winding length of the yarn can be different due to different winding conditions on different spinning spindle positions, such as different yarn sheets and slipping of the spindles.
The doffing trolley has the main function of pushing out the wound bobbin, replacing the bobbin with a new bobbin and continuing the spinning process. A complete doffing process consists of a number of different operations, including: the doffing trolley comprises a doffing trolley gas port access operation, a yarn suction operation, a bobbin creel lifting operation, a bobbin creel opening operation, a bobbin creel pressing operation, a bobbin pushing operation, a yarn feeding operation, a yarn poking operation and a bobbin grabbing and releasing operation, wherein different operation processes are realized by different devices.
The doffing mode of the rotor spinning machine is mainly divided into two modes, namely manual doffing and automatic doffing. For a longer production line, the labor intensity of manual doffing is higher, and the efficiency is lower. The automatic doffing trolley used at present has a complex structure, low automation degree and long doffing time. In the doffing process, the doffing operation needs to be realized through manual cooperation, and the production efficiency is influenced.
Disclosure of Invention
The invention aims to provide an automatic doffing trolley which is simple in structure and high in automation degree.
In order to achieve the above object, the present invention provides an automatic doffing cart of a rotor spinning machine, wherein the traveling direction of the automatic doffing cart is defined as a left direction and a right direction, the automatic doffing cart comprises a traveling rail and a cart body mounted on the traveling rail, and the cart body reciprocates along the traveling rail, and the automatic doffing cart is characterized in that the cart body is provided with a lifting device, an opening device, a pressing device, a tube replacing device, a negative pressure air port opening device, a yarn cutting device, a yarn clamping device, a yarn poking device, a yarn feeding device and a control unit, wherein:
the lifting device is used for lifting the bobbin creel under the control of the control unit;
the opening device moves along with the lifting device and is used for opening the bobbin creel and keeping the opening state of the bobbin creel until a new empty tube is placed into the bobbin creel;
a pressing device for pressing down the creel under the control of the control unit;
the tube replacing device is switched between a tube grabbing waiting working position and an empty tube releasing working position, when the tube replacing device is in the tube grabbing waiting working position, the tube replacing device grabs the empty tube under the control of the control unit and then is switched to the empty tube releasing working position, and when the tube replacing device is in the empty tube releasing working position, the tube replacing device releases the empty tube to the bobbin creel under the control of the control unit and then is switched to the tube grabbing waiting working position;
the negative pressure air port opening device is used for opening the negative pressure air port and sucking away the redundant yarns in the doffing process through the negative pressure air port;
the yarn cutting device is used for cutting yarns between the bobbin on the bobbin creel and the negative pressure air port;
the yarn feeding device is used for feeding the yarn between the bobbin and the rotor to the negative pressure air port;
the yarn clamping device is used for clamping the yarn between the negative pressure air port and the rotor and then sending the yarn to the short arm of the bobbin creel;
the yarn poking device is used for acquiring the yarn between the rotating cup and the yarn clamping device before the bobbin creel is closed, sending the yarn to the short arm of the bobbin creel and enabling the yarn to be tightly attached to the short arm of the bobbin creel; after the creel is closed, the yarn winding device is used for pulling the yarn to the middle of the creel for a certain distance so as to wind the yarn on an empty pipe.
Preferably, the automobile body is including left side installing support and the right side installing support that is located left and right both sides, then has: the lifting device, the opening device, the pressing device and the pipe replacing device are arranged on the left mounting bracket; the negative pressure air port opening device, the yarn shearing device, the yarn clamping device, the yarn poking device and the yarn feeding device are arranged on the right side mounting bracket.
Preferably, the lifting device comprises a lifting support, a lifting motor, a proximity switch I and a rolling bearing I, the lifting support is arranged on the left mounting support through the rolling bearing I, the lifting motor drives the lifting support to move up and down around the rolling bearing I, and the proximity switch I is arranged on the left mounting support and used for detecting the reset angle of the lifting support;
the pressing device comprises a pressing motor, a pressing rod, a proximity switch II and a rolling bearing II, one end of the pressing rod is connected with the pressing motor, the pressing rod is driven by the pressing motor to rotate from top to bottom so as to press the bobbin creel, the rolling bearing II is arranged at the other end of the pressing rod and is in contact with the bobbin creel, and the proximity switch II is arranged on the left mounting bracket and used for detecting the reset angle of the pressing rod.
Preferably, the opening device is arranged on the lifting device and comprises an opening cylinder and an opening arm, the opening cylinder drives the opening arm to swing through a swing rod mechanism, and the opening arm opens the bobbin creel by swinging outwards force applied to the bobbin creel along the axial direction.
Preferably, the tube replacing device comprises a tube replacing motor I, a coupler, a tube replacing motor II, a tube replacing device large arm, a tube replacing claw arm and a pneumatic finger I, wherein the tube replacing motor I is connected with the tube replacing device large arm through the coupler, the tube replacing motor I drives the tube replacing device large arm to rotate under the control of the control unit, the tube replacing motor II is arranged on the tube replacing device large arm and is connected with the tube replacing claw arm, the tube replacing motor II drives the tube replacing claw arm to rotate under the control of the control unit, and the pneumatic finger I is arranged on the tube replacing claw arm.
Preferably, the negative pressure air port opening device comprises an air port opening motor I, an air port opening motor II, an air port opening support, an air port opening arm and a proximity switch III, wherein the air port opening motor II is connected with the air port opening support and used for driving the air port opening support to rotate, the air port opening support is provided with the air port opening motor I, the air port opening motor I is connected with the air port opening arm, the air port opening motor I drives the air port opening arm to open the negative pressure air port, and the proximity switch III is arranged on the right side mounting support and used for detecting the reset angle of the air port opening support.
Preferably, the yarn cutting device comprises a yarn cutting motor, a yarn cutting bracket, a proximity switch and a pneumatic finger II provided with a pair of scissors, the yarn cutting motor is connected with the yarn cutting bracket, the yarn cutting motor drives the yarn cutting bracket to move from top to bottom, the pneumatic finger II is arranged on the yarn cutting bracket, the scissors on the pneumatic finger II cut the yarn between the bobbin and the negative pressure air port in the process of moving from top to bottom of the yarn cutting bracket, and the proximity switch is arranged on the right mounting bracket and used for detecting the reset position of the yarn cutting bracket.
Preferably, the yarn feeding device comprises a first yarn feeding motor, a yarn feeding support, a second yarn feeding motor, a fifth proximity switch, a sixth proximity switch and a yarn feeding arm, the first yarn feeding motor is connected with the yarn feeding support, the first yarn feeding motor drives the yarn feeding support to rotate, the second yarn feeding motor is arranged on the yarn feeding support, the second yarn feeding motor is connected with the yarn feeding arm, the second yarn feeding motor drives the yarn feeding arm to rotate, yarn between a bobbin and a rotating cup is fed into the negative pressure air port through the yarn feeding arm, the fifth proximity switch is used for detecting the reset position of the yarn feeding support, and the sixth proximity switch is used for detecting the reset position of the yarn feeding arm.
Preferably, the yarn clamping device comprises a yarn clamping motor, a yarn clamping arm, a yarn clamping cylinder and yarn clamping fingers, the yarn clamping motor is connected with the yarn clamping arm through a coupler, the yarn clamping motor drives the yarn clamping arm to rotate, the yarn clamping arm is bent to a certain degree to ensure that the yarn clamping fingers are located in the middle of the spinning machine, the yarn clamping cylinder is arranged on the yarn clamping arm, a piston rod of the yarn clamping cylinder is connected with the yarn clamping fingers, the yarn clamping fingers are sent out and retracted through the telescopic motion of the piston rod of the yarn clamping cylinder, a cutting edge is arranged on the yarn clamping fingers, and when the yarn between the negative pressure air ports and the rotating cup is clamped through the yarn clamping fingers, the yarn between the yarn clamping fingers and the negative pressure air ports is cut through the cutting edge.
Preferably, the yarn poking device comprises a yarn poking motor, a yarn poking rod, a yarn poking hook and a proximity switch seventh, wherein the yarn poking motor is connected with the yarn poking rod and is driven by the yarn poking motor to rotate, the yarn poking rod is provided with the yarn poking hook rotating along with the yarn poking rod, and the yarn poking hook is used for hooking yarns between the rotating cup and the yarn clamping fingers, sending the yarns to the short arm of the bobbin creel and enabling the yarns to be tightly attached to the short arm of the bobbin creel; after the bobbin creel is closed, the yarn poking rod returns to the initial position, the yarn poking hook hooks the yarns, the yarns are pulled for a distance towards the middle of the bobbin creel, the yarns can be wound on the empty bobbin, and the proximity switch seven is used for detecting the reset position of the yarn poking rod.
The invention can achieve the following beneficial effects: compared with the existing doffing technology, the automatic doffing trolley provided by the invention has the advantages of simple structure, high automation degree and high working precision, can realize automatic doffing operation, and reduces the labor cost.
Drawings
FIG. 1 is a schematic front view of the present invention;
FIG. 2 is a schematic view of the left bracket installation of the doffing cart;
FIG. 3 is a schematic view of the installation of a bracket on the right side of the doffing trolley.
Detailed Description
In order to make the invention more comprehensible, preferred embodiments are described in detail below with reference to the accompanying drawings. It should be understood that these examples are for illustrative purposes only and are not intended to limit the scope of the present invention. Further, it should be understood that various changes or modifications of the present invention may be made by those skilled in the art after reading the teaching of the present invention, and such equivalents may fall within the scope of the present invention as defined in the appended claims.
The traveling direction of the automatic doffing trolley is defined as the left and right direction, as shown in figures 1-3, the automatic doffing trolley of the rotor spinning machine provided by the invention comprises a travelling rail 1 and a trolley body. The vehicle body includes a left side mounting bracket 3 and a right side mounting bracket 13. The invention also comprises a tube replacing device, a screw-down device, a lifting device 6, an opening device, a negative pressure air port opening device, a yarn cutting device 48, a yarn clamping device, a yarn feeding device and a yarn poking device. The lifting device, the opening device, the pressing device and the tube replacing device are arranged on the left mounting bracket 3, and the negative pressure air port opening device 9, the yarn shearing device, the yarn clamping device, the yarn poking device and the yarn feeding device are arranged on the right mounting bracket 13.
The vehicle body is mounted on a travelling crane track 1, and the travelling crane track 1 is positioned above the rotor spinning machine. The vehicle body is driven by a motor to move, the rotation of the motor is transmitted to the roller by two meshed bevel gears, and the vehicle body is driven to reciprocate along the running track 1 by the rotation of the roller.
The lifting device 6 comprises a lifting bracket, a lifting motor, a proximity switch I15 and a rolling bearing I26. The lifting motor drives the lifting support to move from bottom to top to lift the bobbin creel 42, and the control unit of the trolley realizes the control of the lifting angle and the angular speed of the bobbin creel 42. And the proximity switch I15 is arranged on the mounting bracket 3 on the left side of the trolley and is used for ensuring the accuracy of the reset position of the lifting bracket. The rolling bearing I26 is arranged at the foremost end of the lifting bracket and changes the sliding friction between the lifting bracket and the bobbin creel 42 into rolling friction.
The opening means comprise an opening cylinder 25 and an opening arm 7. The opening device is mounted on the lifting device 6 and moves with the lifting device 6. The opening cylinder 25 converts the linear motion of a cylinder piston rod into the swinging motion of the opening arm 7 through a swing rod mechanism, the opening arm 7 gives an outward force to the bobbin creel 42 along the axial direction, the bobbin creel 42 is opened, and the opening state of the bobbin creel 42 is kept until a new empty tube 20 is put in.
The pressing device comprises a pressing motor 41, a pressing rod 5, a proximity switch II 24 and a rolling bearing II 23. The pressing motor 41 drives the pressing rod 5 to rotate from top to bottom, the bobbin creel 42 is pressed down, and the control unit of the trolley realizes the control of the rotating angle and the angular speed of the pressing rod 5. And a second proximity switch 24 is arranged on the left mounting bracket 3 and used for ensuring the accuracy of the reset position of the pressure lever 5. The rolling bearing II 23 is arranged at the contact position of the pressure lever 5 and the bobbin creel 42, and changes the sliding friction between the pressure lever 5 and the bobbin creel 42 into rolling friction.
The tube replacing device comprises a tube replacing motor I40, a coupler 39, a tube replacing motor II 18, a tube replacing device large arm 4, a tube replacing paw arm 43 and a pneumatic finger I21. The first tube replacing motor 40 is arranged on the left mounting bracket 3 and is connected with the large arm 4 of the tube replacing device through a coupler 39. The first tube replacing motor 40 realizes the control of the rotation angle and the angular speed of the large arm 4 of the tube replacing device by the control unit of the trolley. The initial position is a pipe grabbing position of the pipe replacing device, and after the pipe replacing device rotates downwards for 45 degrees, the pipe replacing device is in an empty pipe releasing working position. The second tube replacing motor 18 is arranged on the large arm 4 of the tube replacing device and connected with the tube replacing claw arm 43 to drive the tube replacing claw arm 43 to rotate, so that the position of the tube replacing claw arm 43 is adjusted. The grabbing and releasing work of the empty pipe is realized by a pneumatic finger I21. The first pneumatic finger 21 grasps the hollow pipe 20 in advance, and in the releasing process of the hollow pipe 20, the bobbin in the free state is pushed out by means of the thrust of the first pneumatic finger 21. After the work process of releasing the empty pipe 20 is completed, the first pneumatic finger 21 rotates reversely, returns to the initial position and waits for the work process of pipe grabbing.
The negative pressure air port opening device 9 comprises an air port opening motor I31, an air port opening motor II 46, an air port opening bracket, an air port opening arm 45 and a proximity switch III 36. The negative pressure air port 2 is used for sucking away the excess yarn during doffing. And a second air port opening motor 4 is arranged on the right mounting bracket 13 and used for realizing the rotation of the air port opening bracket. The first air port opening motor 31 is mounted on the air port opening bracket and connected to the air port opening arm 45 to realize the opening operation of the negative pressure air port 2. The negative pressure air port 2 is positioned on the rotor spinning machine, and a negative pressure air source is provided by the rotor spinning machine. And a proximity switch III 36 is arranged on the right mounting bracket 13 and used for accurately resetting the negative pressure air port opening device 9.
The yarn cutting device 48 comprises a yarn cutting motor 47, a yarn cutting bracket, a proximity switch 38 and a pneumatic finger II 29 provided with scissors. The yarn cutting motor 47 is arranged on the right mounting bracket 13 and drives the yarn cutting bracket to move from top to bottom so as to cut the yarn between the bobbin and the negative pressure air port 2. The proximity switch 38 is mounted on the right mounting bracket 13 for ensuring the accuracy of the reset position of the yarn cutting apparatus 48. The pneumatic second finger 29 is arranged at the front end of the yarn cutting bracket, and scissors are arranged on the pneumatic second finger 29 to realize the yarn cutting operation.
The yarn feeding device comprises a first yarn feeding motor 32, a yarn feeding bracket, a second yarn feeding motor 33, a proximity switch five 34, a proximity switch six 16 and a yarn feeding arm 8. The first yarn feeding motor 32 is arranged above the yarn feeding bracket to realize the rotation of the yarn feeding bracket. Before yarn feeding starts, the yarn feeding motor I32 drives the yarn feeding bracket to rotate, and the yarn feeding arm 8 is fed into a working position. The second yarn feeding motor 33 is connected with the yarn feeding arm 8, drives the yarn feeding arm 8 to rotate, feeds the yarn between the bobbin and the rotor into the negative pressure air port 2, the yarn is sucked by the negative pressure air port 2, and the yarn feeding arm 8 returns to the initial position. The proximity switch five 34 is positioned above the yarn feeding bracket and is used for ensuring the accuracy of returning the yarn feeding bracket to the initial position. And a proximity switch six 16 is arranged below the yarn feeding bracket and used for ensuring the accuracy of the return of the yarn poking arm 8 to the initial position.
The yarn clamping device comprises a yarn clamping motor 49, a yarn clamping arm 27, a yarn clamping cylinder 12 and a yarn clamping finger 28. The yarn clamping motor 49 is arranged on the right side mounting bracket 13, is connected with the yarn clamping arm 27 through a coupler, and is driven by the control system to rotate by the motor 49, so that the operation of feeding the yarn to the short arm of the bobbin creel is realized. The yarn feeding arm 27 is bent at an angle of 110 degrees to ensure that the yarn gripping fingers 28 are located at the middle position of the spinning machine to grip the yarn. The yarn clamping cylinder 12 is arranged at the other end of the yarn guide arm 27, and the yarn clamping finger 28 is arranged on a piston rod of the yarn clamping cylinder 12. The yarn clamping finger 28 is sent out and retracted through the telescopic motion of the piston rod of the yarn clamping cylinder 12. The yarn gripping finger 28 is provided with a blade, and the yarn between the yarn gripping finger 28 and the negative pressure air port 2 is cut off while the yarn between the negative pressure air port 2 and the rotor is gripped by the yarn gripping finger 28.
The yarn pulling device comprises a yarn pulling motor 30, a yarn pulling rod 10, a yarn pulling hook 44 and a proximity switch seven 50. The yarn poking motor 30 is connected with the yarn poking rod 10 and drives the yarn poking rod 10 to rotate. The yarn poking hook 44 is arranged at the front end of the yarn poking rod 10, and along with the rotation of the yarn poking rod 10, the yarn poking hook 44 hooks the yarn between the rotating cup and the yarn clamping finger 28, sends the yarn to the short arm of the bobbin creel 42, and enables the yarn to be tightly attached to the short arm of the bobbin creel. After the creel 42 is closed, the yarn is clamped with the empty tube 20 by the short arm of the creel 42, the yarn poking rod 10 returns to the initial position, the yarn poking hook 44 hooks the yarn, and the yarn is pulled to the middle of the creel for a certain distance, so that the yarn can be wound on the empty tube 20. And a proximity switch seven 50 is arranged on the right mounting bracket 13 and used for ensuring the accuracy of the reset position of the yarn poking device 8.
When the automatic doffing device works, when the bobbin reaches the preset yarn length or bobbin diameter, the full yarn spindle position sends a signal to the control system, and the automatic doffing trolley receives a doffing signal. The driving device drives the doffing trolley to move to a doffing spindle position along the travelling crane track 1 and is positioned by a sensor arranged on the spinning spindle position.
The lifting device 6 is driven by a lifting motor to rotate, and the rolling bearing I26 at the front end of the lifting device 6 is contacted with the bobbin creel 42 to lift the bobbin creel 42. The bobbin is separated from the winding roller 51 and stops rotating. The lifting device 6 keeps the lifted state of the creel 42 unchanged. The second air port opening motor 46 rotates 20 degrees to send the negative pressure air port opening device 9 forward. After the negative pressure port opening device 9 moves to the specified position, the first port opening motor 31 rotates, the opening arm 45 rotates clockwise, moves from the left side to the right side of the negative pressure port 2, opens the negative pressure port 2, and maintains the open state of the negative pressure port 2. The yarn is then drawn off from the rotor and connected to the bobbin. And when the first yarn feeding motor 32 works, the whole yarn feeding device rotates by 90 degrees along the clockwise direction, and the yarn feeding device is in a working position. And the second yarn feeding motor 33 works, the yarn feeding arm 8 rotates by 90 degrees, and the yarn feeding arm 8 is in the final working position. The yarn feeding arm 8 can hook the yarn between the rotor and the bobbin in the movement process, and sends the yarn to the negative pressure air port 2, and the yarn is sucked by the suction force of the negative pressure air port 2. The second yarn feeding motor 33 works, the yarn feeding arm 8 selects 90 degrees along the reverse direction, and the yarn feeding arm 8 returns to the initial position. And when the first yarn feeding motor 32 rotates, the whole yarn feeding device rotates 90 degrees along the anticlockwise direction, and the yarn feeding device returns to the initial position. The excess yarn drawn from the rotor is sucked away by the negative pressure port 2 to prevent interference with the normal operation of other devices. The motor 47 is operated, the yarn cutting device 48 rotates forwards, and the second pneumatic finger 29 is positioned above the yarn between the bobbin and the negative pressure air port 2. The second pneumatic finger 29 is provided with scissors to cut the yarn between the negative pressure air port 2 and the bobbin. The yarn cutting motor 47 is operated, and the yarn cutting device 48 is moved in the opposite direction to return to the initial position. The opening cylinder 25 of the opening device is operated, the piston rod is extended, and under the action of the connecting rod, the linear motion of the piston rod of the opening cylinder 25 is changed into the swing motion of the opening arm 7 of the opening device. The front end of the opening arm 7 is contacted with the long arm of the bobbin creel 42, the long arm of the bobbin creel 42 is acted by a vertical outward acting force, the bobbin creel 42 is opened, and the bobbin is in a free state. The opening device keeps the open state of the creel unchanged. The large arm 4 of the tube replacing device rotates downwards, and the tube replacing device is in an empty tube releasing working position. The second tube changing motor 18 drives the tube changing claw to rotate, the tube changing claw arm 43 is firstly contacted with a fully wound bobbin in the moving process, and the tube changing claw arm 43 gives a certain thrust to the bobbin to push the bobbin out. And the yarn clamping device works while the tube replacing device moves. The yarn feeding arm 27 is bent at an angle of 110 degrees to ensure that the yarn gripping fingers 28 are located at the middle position of the spinning machine to grip the yarn. The yarn clamping cylinder 12 works, the piston rod extends out, and the yarn clamping finger 28 at the front end of the piston rod is sent out. The yarn clamping finger 28 clamps the yarn between the rotor and the negative pressure air port 2, the yarn clamping finger 28 is provided with a blade, and the yarn between the yarn clamping finger 28 and the negative pressure air port 2 is cut off while the yarn between the negative pressure air port 2 and the rotor is clamped by the yarn clamping finger 28. The piston rod of the yarn clamping cylinder 12 retracts, and the yarn clamping finger 28 clamps the yarn led out from the rotating cup and returns to the initial position. The yarn clamping motor 49 drives the yarn clamping arm 27 to rotate, and the yarn clamping finger 28 clamps the yarn and moves to the position above the short arm of the bobbin creel 42. The yarn poking motor 30 drives the yarn poking rod 10 to rotate, and the yarn poking rod 10 rotates clockwise 90 degrees to reach the limit position. The yarn pulling hook 44 at the front end of the yarn pulling rod 10 hooks the yarn between the rotating cup and the yarn clamping finger 28, and the interyarn is sent to the short arm of the bobbin creel 42 and is tightly attached to the short arm of the bobbin creel 42. The second tube changing motor 18 drives the tube changing claw arm 43 to rotate continuously, and the tube changing claw moves to an empty tube releasing position on the bobbin creel 42 to stop, so that the opening device is waited to work. The opening cylinder 25 retracts the piston rod, and the opening arm 7 moves in the opposite direction to return to the initial position. The long arm of the creel 42 is closed by the return spring and the empty tube 20 is gripped by the creel 42. The yarn located between the short arm of the creel 42 and the empty tube 20 is clamped. The yarn clamping finger 28 releases the yarn, and the pneumatic finger one 21 on the tube changing paw is opened to release the empty tube 20. And the second tube changing motor 18 drives the tube changing paw arm to move forward continuously, so that the empty tube 20 is completely separated from the range capable of being grabbed by the paw. The lifting device 6 moves in the opposite direction under the driving of the lifting motor, returns to the initial position and is positioned by the proximity switch I15. The pressing motor 41 drives the pressing rod 5 of the pressing device to rotate, the rolling bearing II 23 at the front end of the pressing rod 5 is contacted with the long arm of the bobbin creel 42, the bobbin creel 42 is pressed down, and the hollow pipe 20 is contacted with the winding roller 51. The yarn poking motor 30 drives the yarn poking rod 10 to rotate, the yarn poking rod 10 rotates 90 degrees along the anticlockwise direction to reach the initial position, and the proximity switch seven 50 is used for positioning. The yarn poking hook 44 at the front end of the yarn poking rod 10 hooks the yarn and pulls the yarn to the middle of the creel for a certain distance, so that the yarn can be wound on the hollow pipe 20. The depressing motor 41 drives the pressure rod 5 to move in the reverse direction, the initial position is returned, and the depressing device is positioned by the proximity switch II 24. The gripper motor 49 drives the gripper arm 27 in the opposite direction and the gripper returns to the initial position. And the second tube replacing motor 18 drives the tube replacing claw to rotate clockwise, and the tube replacing device returns to the initial position. And the first tube replacing motor 40 rotates upwards to enable the tube replacing device to be in an empty tube grabbing working position. And the second tube replacing motor 18 drives the tube replacing paw arm 43 to rotate 180 degrees clockwise, the pneumatic first finger 21 opens the paw, and the paw grabs the empty tube on the empty tube rack. The second tube replacing motor 18 drives the tube replacing claw arm 43 to rotate 180 degrees along the anticlockwise direction, and the tube replacing claw returns to the initial position. The tube replacing device stops working and waits for the next doffing operation. The negative pressure port opening device 9 is simultaneously operated while the tube replacing device grips the empty tube. The first port opening motor 31 drives the opening arm 45 to rotate counterclockwise, and the opening arm 45 returns to the initial position. The second air port opening motor 46 drives the negative pressure air port opening device 9 to rotate anticlockwise, the negative pressure air port opening device 9 returns to the initial position, and the third proximity switch 36 is used for positioning the negative pressure air port opening device 9. And after the doffing operation is finished, the automatic doffing trolley moves to another doffing spindle position to carry out the next doffing operation.
Claims (10)
1. The utility model provides an automatic doffing dolly of rotor spinning machine, defines the advancing direction of automatic doffing dolly as left and right direction, then automatic doffing dolly includes driving track (1) and the automobile body of carry on driving track (1), and the automobile body is along driving track (1) reciprocating motion, its characterized in that is equipped with on the automobile body and lifts up device (6), opening device, screw-down device, tube changing device, negative pressure gas port opening device (9), yarn cutting device (48), yarn clamping device, dial yarn device, send yarn device and the control unit, wherein:
a lifting device (6) for lifting the creel (42) under the control of the control unit;
an opening device, moving together with the lifting device (6), for opening the creel (42) and maintaining the opened state of the creel (42) until a new empty tube (20) is placed in the creel (42);
a pressing device for pressing down the creel (42) under the control of the control unit;
the tube replacing device rotates between a tube grabbing waiting working position and an empty tube releasing working position, when the tube replacing device is in the tube grabbing waiting working position, the tube replacing device grabs an empty tube (20) under the control of the control unit and then rotates to the empty tube releasing working position, and when the tube replacing device is in the empty tube releasing working position, the tube replacing device releases the empty tube (20) to the bobbin creel (42) under the control of the control unit and then rotates to the tube grabbing waiting working position;
the negative pressure air port opening device (9) is used for opening the negative pressure air port (2) and sucking away the redundant yarns in the doffing process through the negative pressure air port (2);
a yarn cutting device (48) for cutting the yarn between the bobbin on the bobbin creel (42) and the negative pressure air port (2);
the yarn feeding device is used for feeding the yarn between the bobbin and the rotor to the negative pressure air port (2);
the yarn clamping device is used for clamping the yarn between the negative pressure air port (2) and the rotor and then sending the yarn to the short arm of the bobbin creel;
the yarn poking device is used for acquiring the yarn between the rotor and the yarn clamping device before the bobbin creel (42) is closed, sending the yarn to the short arm of the bobbin creel (42) and enabling the yarn to be tightly attached to the short arm of the bobbin creel; after the creel (42) is closed, the yarn is wound onto the empty tube (20) by pulling the yarn a distance toward the middle of the creel (42).
2. The automatic doffing cart of a rotor spinning machine according to claim 1, wherein said cart body comprises a left side mounting bracket (3) and a right side mounting bracket (13) at the left and right sides, said lifting device (6), said opening device, said pressing device and said tube changing device are arranged on the left side mounting bracket (3); the negative pressure air port opening device, the yarn shearing device (48), the yarn clamping device, the yarn poking device and the yarn feeding device are arranged on the right side mounting bracket (13).
3. The automatic doffing cart of a rotor spinning machine according to claim 2, wherein the lifting device (6) comprises a lifting bracket, a lifting motor, a proximity switch I (15) and a rolling bearing I (26), the lifting bracket is arranged on the left mounting bracket (3) through the rolling bearing I (26), the lifting bracket is driven by the lifting motor to move up and down around the rolling bearing I (26), and the proximity switch I (15) is arranged on the left mounting bracket (3) and used for detecting the reset angle of the lifting bracket;
the pressing device comprises a pressing motor (41), a pressing rod (5), a proximity switch II (24) and a rolling bearing II (23), one end of the pressing rod (5) is connected with the pressing motor (41), the pressing rod (5) is driven by the pressing motor (41) to rotate from top to bottom, so that the bobbin creel (42) is pressed down, the rolling bearing II (23) is arranged at the other end of the pressing rod (5), the rolling bearing II (23) is in contact with the bobbin creel (42), and the proximity switch II (24) is arranged on the left mounting bracket (3) and used for detecting the reset angle of the pressing rod (5).
4. An automatic doffing cart of a rotor spinning machine according to claim 1, characterized in that said opening means are provided on said lifting means (6) and comprise an opening cylinder (25) and an opening arm (7), the opening cylinder (25) driving the opening arm (7) to swing via a swing link mechanism, the opening arm (7) opening said creel (42) by swinging it with an outward force in the axial direction to said creel (42).
5. The automatic doffing cart of a rotor spinning machine, according to claim 1, characterized in that the tube replacing device comprises a first tube replacing motor (40), a coupler (39), a second tube replacing motor (18), a large tube replacing device arm (4), a second tube replacing claw arm (43) and a first pneumatic finger (21), the first tube replacing motor (40) is connected with the large tube replacing device arm (4) through the coupler (39), the large tube replacing device arm (4) is driven to rotate by the first tube replacing motor (40) under the control of a control unit, the second tube replacing motor (18) is arranged on the large tube replacing device arm (4), the second tube replacing motor (18) is connected with the second tube replacing claw arm (43), the second tube replacing motor (18) drives the second tube replacing claw arm (43) to rotate under the control of the control unit, and the first pneumatic finger (21) is arranged on the second tube replacing claw arm (43).
6. The automatic doffing cart of a rotor spinning machine according to claim 2, wherein the negative pressure air port opening device (9) comprises a first air port opening motor (31), a second air port opening motor (46), a first air port opening bracket, a first air port opening arm (45) and a third proximity switch (36), the second air port opening motor (46) is connected with the first air port opening bracket and used for driving the first air port opening bracket to rotate, the first air port opening motor (31) is arranged on the first air port opening bracket, the first air port opening motor (31) is connected with the first air port opening arm (45), the first air port opening motor (31) drives the first air port opening arm (45) to open the negative pressure air port (2), and the third proximity switch (36) is arranged on the right mounting bracket (13) and used for detecting the reset angle of the first air port opening bracket.
7. The automatic doffing cart of a rotor spinning machine according to claim 2, wherein the yarn cutting device (48) comprises a yarn cutting motor (47), a yarn cutting bracket, a proximity switch (38) and a pneumatic second finger (29) provided with a pair of scissors, the yarn cutting motor (47) is connected with the yarn cutting bracket, the yarn cutting motor (47) drives the yarn cutting bracket to move from top to bottom, the pneumatic second finger (29) is arranged on the yarn cutting bracket, the pair of scissors on the pneumatic second finger (29) cuts the yarn between the bobbin and the negative pressure air port (2) during the movement of the yarn cutting bracket from top to bottom, and the proximity switch (38) is arranged on the right mounting bracket (13) and is used for detecting the reset position of the yarn cutting bracket.
8. The automatic doffing cart of a rotor spinning machine according to claim 1, the yarn feeding device comprises a first yarn feeding motor (32), a yarn feeding support, a second yarn feeding motor (33), a fifth proximity switch (34), a sixth proximity switch (16) and a yarn feeding arm (8), wherein the first yarn feeding motor (32) is connected with the yarn feeding support, the first yarn feeding motor (32) drives the yarn feeding support to rotate, the second yarn feeding motor (33) is arranged on the yarn feeding support, the second yarn feeding motor (33) is connected with the yarn feeding arm (8), the second yarn feeding motor (33) drives the yarn feeding arm (8) to rotate, yarn between a bobbin and a rotating cup is fed into the negative pressure air port (2) through the yarn feeding arm (8), the fifth proximity switch (34) is used for detecting the reset position of the yarn feeding support, and the sixth proximity switch (16) is used for detecting the reset position of the yarn feeding arm (8).
9. The automatic doffing cart of a rotor spinning machine according to claim 1, the yarn clamping device comprises a yarn clamping motor (49), a yarn clamping arm (27), a yarn clamping cylinder (12) and yarn clamping fingers (28), wherein the yarn clamping motor (49) is connected with the yarn clamping arm (27) through a coupler, the yarn clamping motor (49) drives the yarn clamping arm (27) to rotate, the yarn clamping arm (27) is bent to a certain degree to ensure that the yarn clamping fingers (28) are located in the middle of the spinning machine, the yarn clamping cylinder (12) is arranged on the yarn clamping arm (27), a piston rod of the yarn clamping cylinder (12) is connected with the yarn clamping fingers (28), the yarn clamping fingers (28) are sent out and retracted through the telescopic motion of the piston rod of the yarn clamping cylinder (12), the yarn clamping fingers (28) are provided with blades, when the yarn clamping finger (28) clamps the yarn between the negative pressure air port (2) and the rotor, the yarn between the yarn clamping finger (28) and the negative pressure air port (2) is cut off by the blade.
10. The automatic doffing trolley of the rotor spinning machine is characterized in that the yarn poking device comprises a yarn poking motor (30), a yarn poking rod (10), a yarn poking hook (44) and a proximity switch seven (50), the yarn poking motor (30) is connected with the yarn poking rod (10), the yarn poking rod (10) is driven to rotate by the yarn poking motor (30), the yarn poking hook (44) rotating along with the yarn poking rod (10) is arranged on the yarn poking rod (10), the yarn poking hook (44) is used for hooking the yarn between the rotor and the yarn clamping finger (28), the yarn is fed to the short arm of the bobbin creel (42), and the yarn is tightly attached to the short arm of the bobbin creel; after the bobbin creel (42) is closed, the yarn poking rod (10) returns to the initial position, the yarn poking hook (44) hooks the yarn, the yarn is pulled towards the middle of the bobbin creel (42) for a certain distance, the yarn can be wound on the hollow pipe (20), and the proximity switch seven (50) is used for detecting the reset position of the yarn poking rod (10).
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810470776.8A CN108588917B (en) | 2018-05-16 | 2018-05-16 | Automatic doffing trolley of rotor spinning machine |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810470776.8A CN108588917B (en) | 2018-05-16 | 2018-05-16 | Automatic doffing trolley of rotor spinning machine |
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| CN108588917A CN108588917A (en) | 2018-09-28 |
| CN108588917B true CN108588917B (en) | 2021-04-20 |
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| CN201810470776.8A Active CN108588917B (en) | 2018-05-16 | 2018-05-16 | Automatic doffing trolley of rotor spinning machine |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109402806B (en) * | 2018-11-06 | 2023-02-28 | 董旺建 | Full-automatic spun yarn tube replacing machine based on integrated sealing embedded Mecanum wheel |
| CN109956365A (en) * | 2019-03-27 | 2019-07-02 | 绍兴职业技术学院 | A kind of intelligent automatic doffing robot |
| CN111621910A (en) * | 2020-06-30 | 2020-09-04 | 山东日发纺织机械有限公司 | Yarn lifting device |
| CN112093583B (en) * | 2020-09-24 | 2022-09-20 | 陕西华燕航空仪表有限公司 | Spinning bobbin positioning device |
Family Cites Families (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CS269411B1 (en) * | 1988-09-14 | 1990-04-11 | Ales Manek | Device for yearn's interruption |
| DE4313523C2 (en) * | 1993-04-24 | 2003-06-12 | Schlafhorst & Co W | OE spinning machine producing cross-wound bobbins |
| TW404993B (en) * | 1997-04-04 | 2000-09-11 | Zinser Textilmaschinen Gmbh | Automatic spool changing method and the spool device having changing apparatus |
| DE19916270A1 (en) * | 1999-04-12 | 2000-10-19 | Schlafhorst & Co W | Automatic winder for cross wound bobbins monitors yarn available at cops for cop change before bobbin doffing if supply drops below given level to reduce machine stoppages |
| JP2011162351A (en) * | 2010-01-15 | 2011-08-25 | Murata Machinery Ltd | Doffing apparatus |
| CN103710800B (en) * | 2013-12-31 | 2016-01-20 | 东华大学 | A kind of actuating unit of automatic doffing system |
| CN105568449B (en) * | 2016-03-09 | 2017-11-21 | 安徽日发纺织机械有限公司 | A kind of bobbin cradle open method and its device for air spinning doffer |
| CN205934198U (en) * | 2016-03-09 | 2017-02-08 | 安徽日发纺织机械有限公司 | Apply to doffer on rotor spinning machine |
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