CN109837621A - One kind robot that doffs gets on the bus method and method of getting off - Google Patents
One kind robot that doffs gets on the bus method and method of getting off Download PDFInfo
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- CN109837621A CN109837621A CN201711195410.6A CN201711195410A CN109837621A CN 109837621 A CN109837621 A CN 109837621A CN 201711195410 A CN201711195410 A CN 201711195410A CN 109837621 A CN109837621 A CN 109837621A
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- robot
- doffs
- spinning frame
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Abstract
The invention discloses one kind robots that doffs to get on the bus method and method of getting off, and the method for getting on the bus includes: that step 11) acquisition is got on the bus signal；Step 12) is got on the bus signal according to, and driving is doffed robot, so that the extension rail wheel for the robot that doffs is fallen on the track of spinning frame.Get on the bus method and the method for getting off realize that the robot that doffs gets on or off the bus automatically, carry out without artificial, save manpower, and accurate positioning, extension service life of equipment.
Description
Technical field
The present invention relates to a kind of control method of robot that doffs, the side of getting on the bus, robot it particularly relates to which one kind is doffed
Method and method of getting off.
Background technique
Currently, automatic doffing, which is divided into automatically doffing and moving, doffs in field of textiles.Mobile doff refers to doffer
The extension rail wheel of device people is located on the track of spinning frame.It doffs and completes work of doffing in Robot spinning frame track walking process.
In the prior art, the mobile mode of doffing, which can replace, manually doffs and is intubated operation, but gets on or off the bus still for the robot that doffs
It so needs manually to be moved to by spinning frame, auxiliary doffer hangs rail.Due to doffing, robot weight is big, and human assistance is still more eaten
Power, and human assistance cannot achieve accurate positioning and hang rail, be easy to cause extension rail derailing that unit exception is caused to be damaged.
Summary of the invention
The present invention provides one kind robot that doffs and gets on the bus method and method of getting off, and the realization robot that doffs gets on or off the bus automatically,
Without manually carrying out, manpower, and accurate positioning are saved, service life of equipment is extended.
In order to solve the above technical problems, the embodiment of the present invention uses following scheme:
It gets on the bus method in a first aspect, the embodiment of the present invention provides one kind robot that doffs, which comprises
Step 11) obtains signal of getting on the bus；
Step 12) is got on the bus signal according to, and driving is doffed robot, so that the extension rail wheel for the robot that doffs falls in spinning frame
On track.
With reference to first aspect, as the first achievable scheme, the step 12) includes:
Step 121) is got on the bus signal according to, and the driving robot that doffs is close to spinning frame；
Step 122) drives the robot that doffs, so that the extension rail wheel for the robot that doffs is fallen after the robot that doffs is close to spinning frame
On the track of spinning frame.
The achievable scheme of with reference to first aspect the first, as second of achievable scheme, the step 121)
Further include: the distance for detecting doff robot and spinning frame is entered step when the distance reaches in values
122)；Otherwise, step 121) is repeated.
The achievable scheme of with reference to first aspect the first, as the third achievable scheme, the step 122)
Further include: whether the extension rail wheel for detecting the robot that doffs falls on the track of spinning frame, if so, completing to get on the bus；If it is not, then weighing
Multiple step 122).
The achievable scheme of with reference to first aspect the first, as the 4th kind of achievable scheme, the step 121)
Include:
According to the signal of getting on the bus, drive ground drive wheels along default route close to the guide rail of spinning frame, until doffer
It is contacted at the extension rail wheel of device people and guide rail entrance end face.
The 4th kind of achievable scheme with reference to first aspect, as the 5th kind of achievable scheme, the step 122)
Include:
Ground drive wheels are driven to continue to travel along default route, so that the extension rail wheel for the robot that doffs drives to carefully along guide rail
On the guide rail of yarn machine.
The achievable scheme of with reference to first aspect the first, as the 6th kind of achievable scheme, the step 121)
Include:
According to the signal of getting on the bus, robot body of doffing is risen, and adjusts surface drive direction, so that ground driving dress
It sets vertical with spinning frame side；
Driving doffs robot to spinning frame walking, until the robot that doffs touches spinning frame.
The 6th kind of achievable scheme with reference to first aspect, as the 7th kind of achievable scheme, the step 122)
It include: the robot body's decline that will doff, so that the extension rail wheel for the robot that doffs is fallen in spinning frame track.
The achievable scheme of with reference to first aspect the first, as the 8th kind of achievable scheme,
The step 121) includes:
According to the signal of getting on the bus, the extension rail wheel for robot side of doffing is risen；
Start the first mechanism, so that the robot that doffs is close to spinning frame, robot touches spinning frame up to doffing.
The 8th kind of achievable scheme with reference to first aspect, as the 9th kind of achievable scheme, first mechanism
For gripper, the gripper is fixedly connected on spinning frame, catches the robot that doffs using gripper, so that the robot that doffs
It is close to spinning frame；Or gripper is fixedly connected on and doffs in robot, catches spinning frame using gripper, so that doffer
Device people is close to spinning frame；Or gripper is individual components, while catching spinning frame and doffer so that doff robot to
Spinning frame is close.
The 8th kind of achievable scheme with reference to first aspect, as the tenth kind of achievable scheme, first mechanism
To adsorb traction mechanism, absorption traction mechanism includes adsorption piece and traction piece, and adsorption piece is connected on spinning frame, traction piece connection
It is doffing in robot；Or adsorption piece is connected to and doffs in robot, traction piece is connected on spinning frame.
The 8th kind of achievable scheme with reference to first aspect, as a kind of the tenth achievable scheme, first machine
Structure is back-pushed mechanism；
In the step 121), start back-pushed mechanism, the back-pushed mechanism urges robot that doffs is close to spinning frame, until falling
Yarn robot touches spinning frame.
The 8th kind of achievable scheme with reference to first aspect, as the 12nd kind of achievable scheme, the step
122) include:
Regulate and control lifting device decline, so that the extension rail wheel to doff in robot is fallen on the guide rail of spinning frame；And regulate and control recycling
One mechanism.
Second aspect, the embodiment of the present invention provide one kind robot that doffs and get off method, which comprises
Step 21) obtains signal of getting off；
Step 22) is got off signal according to, and driving is doffed robot, so that the robot that doffs is detached from spinning frame.
In conjunction with second aspect, as the first achievable scheme, the step 22) includes:
Step 221) is got off signal according to, so that the track of the robot that doffs hung rail wheel and be detached from spinning frame；
Step 222) drives the robot that doffs to complete to get off so that the robot that doffs leaves spinning frame.
The first achievable scheme in conjunction with second aspect, as second of achievable scheme, the step 221) is also
Include: whether the doff extension rail wheel of robot of detection is detached from the track of spinning frame, if so, entering step 222)；If it is not, then weighing
Multiple step 221).
In conjunction with second of second aspect achievable scheme, as the third achievable scheme, the step 222) is also
Include: the distance for detecting doff robot and spinning frame, when the distance is located at outside values, then completes to get off；It is no
Then, step 222) is repeated.
The first achievable scheme in conjunction with second aspect, as the 4th kind of achievable scheme, the step 221) packet
It includes:
According to the signal of getting off, ground drive wheels are driven to travel along default route, the extension rail wheel for the robot that doffs is along track row
Guide rail is sailed to, and is detached from guide rail entrance.
The first achievable scheme in conjunction with second aspect, as the 5th kind of achievable scheme, the step 221) packet
It includes:
According to the signal of getting off, the robot body that will doff is moved up, so that the rail wheel of hanging for the robot that doffs is detached from spinning frame
Track.
In conjunction with the 5th kind of achievable scheme of second aspect, as the 6th kind of achievable scheme, the step 222) packet
It includes:
Regulate and control surface drive, driving doffs robot to far from the movement of spinning frame direction；The robot body that will doff decline.
The first achievable scheme in conjunction with second aspect, as the 6th kind of achievable scheme, the step 221) packet
It includes:
According to the signal of getting off, regulate and control lifting device and move up, so that the extension rail wheel for the robot that doffs is moved up with lifting device, takes off
Guide rail from spinning frame.
In conjunction with the 6th kind of achievable scheme of second aspect, as the 7th kind of achievable scheme, the step 222) packet
It includes:
Start the first mechanism, so that the robot that doffs is far from spinning frame；Then the first mechanism is withdrawn.
In conjunction with the 7th kind of achievable scheme of second aspect, as the 8th kind of achievable scheme, first mechanism is
Gripper, the gripper are fixedly connected on spinning frame, catch the robot that doffs using gripper, so that the robot that doffs is remote
From spinning frame；Or gripper is fixedly connected on and doffs in robot, catches spinning frame using gripper, so that the robot that doffs
Far from spinning frame；Or gripper is individual components, while catching spinning frame and doffer, so that the robot that doffs is far from spun yarn
Machine.
In conjunction with the 7th kind of achievable scheme of second aspect, as the 9th kind of achievable scheme, first mechanism is
Traction mechanism is adsorbed, absorption traction mechanism includes adsorption piece and traction piece, and adsorption piece is connected on spinning frame, and traction piece is connected to
It doffs in robot；Or adsorption piece is connected to and doffs in robot, traction piece is connected on spinning frame.
In conjunction with the 7th kind of achievable scheme of second aspect, as the tenth kind of achievable scheme, first mechanism is
Rear pull type or foward-push mechanism；In the step 222), start rear pull type or foward-push mechanism, rear pull type mechanism pulls doffer
Device people is doffed robot far from spinning frame or foward-push mechanism urges, far from spinning frame.
The robot that doffs of the embodiment of the present invention gets on the bus method and method of getting off, during spinning frame actual production,
Movement of getting on or off the bus all is pinpointed by robot autonomous completion of doffing, is worked without artificial assistance, while it is automatically upper and lower to solve doffer
The positioning accuracy problem of vehicle.
Specific embodiment
Technical solution of the present invention is described in detail below.
The existing robot that doffs needs artificial implementation, and realization is got on or off the bus.So-called get on the bus refers to that the robot that doffs is affiliated to
On spinning frame, in particular to the extension rail wheel for the robot that doffs is located on the track of spinning frame.After getting on the bus, the robot that doffs can be into
Capable work of doffing.So-called get off refers to that the robot that doffs is detached from spinning frame, in particular to the extension rail wheel for the robot that doffs is detached from carefully
The track of yarn machine, the robot that doffs are separated with spinning frame.After getting off, the robot that doffs stops work of doffing.
Carry out laborious based on artificial, and be affiliated to inaccurate, equipment easy to damage, the embodiment of the present invention provides one kind and doffs robot
It gets on the bus method, comprising:
Step 11) obtains signal of getting on the bus；
Step 12) is got on the bus signal according to, and driving is doffed robot, so that the extension rail wheel for the robot that doffs falls in spinning frame
On track.
In this method, according to the signal of getting on the bus of acquisition, the driving to the robot that doffs is realized, so that the extension for the robot that doffs
Rail wheel is automatically fallen on the track of spinning frame, completes to get on the bus.In this method, without manually carrying out the robot that doffs.Entirely get on the bus
Process is realized automatically by the robot that doffs.
In the embodiment, signal of getting on the bus is obtained, can also be sent and be believed by manual control by equipment aut sign
Number.After sending off signal to machine human hair of doffing, the control device for the robot that doffs carries out the processing of signal, and drives and doff
Robot advances, so that the extension rail wheel for the robot that doffs is fallen on the track of spinning frame.The boarding position got on the bus in signal can be with
It is the initial position of spinning frame, is also possible to the arbitrary point position on spinning frame.
As preference, the step 12) includes:
Step 121) is got on the bus signal according to, and the driving robot that doffs is close to spinning frame；
Step 122) drives the robot that doffs, so that the extension rail wheel for the robot that doffs is fallen after the robot that doffs is close to spinning frame
On the track of spinning frame.
In this preference, the robot that doffs is close to spinning frame first, then completes extension rail wheel and falls in spinning frame track
Movement.Due to doffing, robot is not necessarily initially located in by spinning frame, and the two distance may farther out, so driving is fallen first
Yarn robot is close to spinning frame.After the robot that doffs is close to spinning frame, the extension rail wheel for the robot that doffs is fallen in into spinning frame
Track on.
As preference, the step 121) further include: the distance for detecting doff robot and spinning frame, when the distance
When reaching in values, enter step 122)；Otherwise, step 121) is repeated.To doffing between robot and spinning frame
Distance setting preset value.When the actual range between robot and spinning frame that doffs is less than preset value, it is considered as the two and has leaned on
Closely.The actual range to doff between robot and spinning frame is detected by detection device, and is compared with preset value, judgement is fallen
Whether yarn robot and spinning frame are close.Detection device can be using components such as sensors.
As preference, the step 122) further include: whether the extension rail wheel for detecting the robot that doffs falls in spinning frame
On track, if so, completing to get on the bus；If it is not, then repeating step 122).The preference is to detect whether successfully to get on the bus.It gets on the bus into
After function, the robot that doffs can start work of doffing.The method of detection can there are many.For example, hanging rail using sensor measurement
The distance between bottom and spinning frame track are taken turns, when the two distance is 0, indicates that hanging rail wheel falls on the track of spinning frame.
Step 121) and step 122) are by increasing detecting step, the positioning accuracy for the robot automatic boarding that can solve to doff
Problem.
There are many implementation methods of the step 12).Preferred following several method in the present embodiment.
Preference 1
Step 121) includes: signal of getting on the bus according to, drives ground drive wheels along default route close to the guide rail of spinning frame
Road contacts at the extension rail wheel and guide rail entrance end face for the robot that doffs.
The step 122) includes: that driving ground drive wheels continue to travel along default route, so that the extension for the robot that doffs
Rail wheel is along the guide rail that guide rail drives to spinning frame.
In the preference, guide rail is equipped in the rail end of spinning frame.It hangs rail wheel and rail is run to by guide rail
On road.When extension rail wheel is moved on track, the robot that doffs can start work of doffing.In this preference, doff robot
It receives after getting on the bus signal, by control device, drives ground drive wheels along default route close to the guide rail of spinning frame, directly
It is contacted at the extension rail wheel and guide rail entrance end face for the robot that doffs.Robot doff from guide rail injection.
After the extension rail wheel for the robot that doffs is located at guide rail entrance end face, the robot driving ground drive wheels that doff continue along pre-
If route running, so that hanging rail wheel along the guide rail that guide rail drives to spinning frame.
If existing spinning frame is equipped with guide rail, can be got on the bus using the realization of this preference.Certainly existing thin
Yarn machine is equipped with guide rail, can be got on the bus using following preference realization.
Preference 2
Step 121) includes: signal of getting on the bus according to, rises robot body of doffing, and adjust surface drive direction,
So that surface drive is vertical with spinning frame side；Driving doffs robot to spinning frame walking, until the robot that doffs touches
Touch spinning frame.
Step 122) includes: the robot body's decline that will doff, so that the extension rail wheel for the robot that doffs falls within spinning frame rail
On road.
Setting guide rail is not needed in the preference, on spinning frame.This preference is suitable for the split type robot that doffs.
Lifting device is set between the main body and chassis of the split type robot that doffs, and is driven using ground.When receiving letter of getting on the bus
After number, main body is risen using lifting device.Also rise in this way, being connected in main body and hanging rail wheel.The height for hanging rail wheel compares spun yarn
The height of machine track is high.Then surface drive direction is adjusted, so that surface drive is vertical with spinning frame side.It is local
When face driving device is vertical with spinning frame side, start surface drive, the robot that doffs is mobile to spinning frame.Work as doffer
When device people touches spinning frame, the expression robot that doffs is closer apart from spinning frame.At this point, will be doffed machine using lifting device again
Human agent's decline.Also decline in this way, being connected in main body and hanging rail wheel, until the extension rail wheel for the robot that doffs falls within spinning frame track
On, to complete to get on the bus.Process of entirely getting on the bus is realized automatically, is carried out without artificial.Doffing robot can be in spinning frame track
Arbitrary point realize get on the bus.
Preference 3
Step 121) includes: signal of getting on the bus according to, rises the extension rail wheel for robot side of doffing；Start the first mechanism, makes
Robot must be doffed close to spinning frame, until the robot that doffs touches spinning frame.
Step 122) includes: regulation lifting device decline, so that the extension rail wheel to doff in robot falls in leading for spinning frame
On rail；And regulate and control the first mechanism of recycling.
In this preference, elevating mechanism is provided between the extension rail wheel and ontology for the robot that doffs.Utilize elevating mechanism
It may be implemented to hang moving up and down for rail wheel.After the robot that doffs, which receives, gets on the bus signal, elevating mechanism is driven, so that doffer
The extension rail wheel of device people side rises.The height of extension rail wheel after rising is greater than the height of spinning frame track.Pass through the first mechanism
Effect, so that the robot that doffs is close to spinning frame.After the robot that doffs touches spinning frame, regulation lifting device decline makes
Rail wheel must be hung also to decline, fallen on the guide rail of spinning frame until hanging rail wheel.Thereby realize automatic boarding.It is complete in automatic boarding
Cheng Hou, the first mechanism of regulation recycling, avoids manually making generation location conflicts to the machine that doffs.
In above-mentioned preference, the effect of the first mechanism is so that the robot that doffs is close with spinning frame.The knot of first mechanism
Structure can there are many.Following several structures are selected to realize in this preference.
The first structure: the first mechanism is gripper.Gripper is fixedly connected on spinning frame, is caught and is fallen using gripper
Yarn robot, so that the robot that doffs is close to spinning frame；Or gripper is fixedly connected on and doffs in robot, utilizes machinery
Pawl catches spinning frame, so that the robot that doffs is close to spinning frame；Or gripper be individual components, while catch spinning frame and
Doffer, so that the robot that doffs is close to spinning frame.
Gripper can catch spinning frame or the robot that doffs, so that spinning frame and the robot that doffs are close.Gripper
Installation site depending on operating condition.
Second of structure: the first mechanism is absorption traction mechanism, and absorption traction mechanism includes adsorption piece and traction piece, absorption
Part is connected on spinning frame, and traction piece, which is connected to, to doff in robot；Or adsorption piece is connected to and doffs in robot, traction piece
It is connected on spinning frame.
Adsorption piece in absorption traction mechanism is connected with traction piece.Traction piece is connected to and is doffed in robot, it is then sharp
Spinning frame side is sucked with adsorption piece.Alternatively, traction piece is connected on spinning frame side, then it is sucked and is doffed using adsorption piece
Robot.By shortening traction piece, drive shakeout close to spinning frame.
The third structure: the first mechanism is back-pushed mechanism.In the step 201), start back-pushed mechanism, back-pushed
Mechanism urges are doffed, and robot is close to spinning frame, and up to doffing, robot touches spinning frame.
Back-pushed mechanism, for example, by using cylinder, electric cylinders or link mechanism.Back-pushed mechanism (indicates to doff backward backward
Another side of the robot relative to spinning frame) guide rod is stretched out, using reaction force, the anti-doffer that pushes away is close to spinning frame.It is this
Counter-force device may be mounted on doffer, can also be installed by doffer at the scene with individual components.
The embodiment of the present invention also provides one kind robot that doffs and gets off method.The method of getting off is also to realize automatically, is not necessarily to
It is artificial to carry out.Specifically, the method for getting off includes:
Step 21) obtains signal of getting off；
Step 22) is got off signal according to, and driving is doffed robot, so that the robot that doffs is detached from spinning frame.
In this method, according to the signal of getting off of acquisition, the driving to the robot that doffs is realized, so that robot disengaging of doffing
Spinning frame is completed to get off.In this method, without manually carrying out the robot that doffs.Process of entirely getting off is automatic by the robot that doffs
It realizes.
In the embodiment, signal of getting off is obtained, can also be sent and be believed by manual control by equipment aut sign
Number.It is sent to machine human hair of doffing after getting off signal, the control device for the robot that doffs, carries out the analysis of signal, and drive and doff
Robot motion, so that the robot that doffs is detached from spinning frame track.Get off the out-of-the-car position in signal can be spinning frame just
Beginning position is also possible to the arbitrary point position on spinning frame.
As preference, the step 22) includes:
Step 221) is got off signal according to, so that the track of the robot that doffs hung rail wheel and be detached from spinning frame；
Step 222) drives the robot that doffs to complete to get off so that the robot that doffs leaves spinning frame.
In this preference, the robot that doffs receives get off signal after, first will hang rail wheel be detached from spinning frame track；
Then the robot that doffs is moved integrally, far from spinning frame.During being somebody's turn to do, the robot that doffs receives signal of getting off, automatic to realize
Extension rail wheel and self-position are adjusted, movement of getting off is completed.During being somebody's turn to do, carry out without artificial.
As preference, the step 221) further include: whether the extension rail wheel for detecting the robot that doffs is detached from spinning frame
Track, if so, entering step 222)；If it is not, then repeating step 221).The method of detection can there are many.For example, using passing
The distance between rail wheel bottom and spinning frame track are hung in sensor measurement, when the two distance is 0, indicate that hanging rail wheel falls in spinning frame
Track on.It doffs after the track for hanging rail wheel disengaging spinning frame of robot, moves integrally the robot that doffs and be detached from spinning frame, keep away
Exempt from directly to move integrally the robot that doffs, causes the damage of equipment.
As preference, the step 222) further include: the distance for detecting doff robot and spinning frame, when the distance
When outside values, then complete to get off；Otherwise, step 222) is repeated.By detection device detection doff robot and
Actual range between spinning frame, and being compared with preset value, robot is doffed in judgement and whether spinning frame is detached from.Detection is set
It is standby to use the components such as sensor.
Step 221) and step 222) are by increasing detecting step, positioning accuracy that the robot that can solve to doff gets off automatically
Problem.
There are many implementation methods of the step 22).Preferred following several method in the present embodiment.
Preference 1
The step 221) includes: signal of getting off according to, and driving ground drive wheels are travelled along default route, and doff robot
Extension rail wheel along rail running to guide rail, and be detached from guide rail entrance.
The step 222) includes: that driving ground drive wheels continue to travel, and leaves spinning frame, completes to get off.
In the preference, guide rail is equipped in the rail end of spinning frame.Rail wheel is hung to de-orbit by guide rail.
After work is doffed in robot stopping of doffing, rail wheel will be hung and be moved in guide rail.In this preference, robot reception of doffing
To after signal of getting off, by control device, ground drive wheels is driven to drive towards the guide rail of spinning frame, Zhi Daoluo along default route
The extension rail wheel of yarn robot drives at guide rail entrance end face.The robot that doffs de-orbits from guide rail.Doffer
Device people drives ground drive wheels to continue to travel along default route, so that hanging rail wheel is detached from guide rail entrance.
Preference 2
The step 221) includes: signal of getting off according to, and the robot body that will doff moves up, so that the extension for the robot that doffs
The track of rail wheel disengaging spinning frame.
The step 222) includes: regulation surface drive, and driving doffs robot to far from the movement of spinning frame direction；
The robot body that will doff decline.
Setting guide rail is not needed in the preference, on spinning frame.This preference is suitable for the split type robot that doffs.
When receive get off signal after, utilize lifting device rise main body.In this way, be connected in main body hang rail wheel also on
It rises.The height for hanging rail wheel is higher than the height of spinning frame track.Then adjust surface drive direction so that doff robot to
It is mobile far from spinning frame direction, to complete to get off.Process of entirely getting off is realized automatically, is carried out without artificial.Doff robot
It can realize and get off in the arbitrary point of spinning frame track.When regulating and controlling surface drive, so that surface drive and spinning frame
Side is parallel, it is vertical or both between there is certain angle, driving doffs robot to far from spinning frame.
Preference 3
The step 221) includes: signal of getting on the bus according to, and regulation lifting device moves up, so that the extension rail wheel for the robot that doffs
It is moved up with lifting device, is detached from the guide rail of spinning frame.
The step 222) includes: the first mechanism of starting, so that the robot that doffs is far from spinning frame；Then the first machine is withdrawn
Structure.
In this preference, elevating mechanism is provided between the extension rail wheel and ontology for the robot that doffs.Utilize elevating mechanism
It may be implemented to hang moving up and down for rail wheel.After the robot that doffs, which receives, gets off signal, elevating mechanism is driven, so that doffer
The extension rail wheel of device people side rises.The height of extension rail wheel after rising is greater than the height of spinning frame track.Pass through the first mechanism
Effect is got off so that the robot that doffs is detached from spinning frame to realize automatically.After the completion of getting off automatically, regulation recycling first
Mechanism avoids manually making generation location conflicts to the machine that doffs.
In above-mentioned preference, the effect of the first mechanism is so that the robot that doffs is far from spinning frame.The structure of first mechanism
Can there are many.Following several structures are selected to realize in this preference.
The first structure: the first mechanism is gripper, and the gripper is fixedly connected on spinning frame, is grabbed using gripper
Firmly doff robot, so that the robot that doffs is far from spinning frame；Or gripper is fixedly connected on and doffs in robot, utilizes machine
Machinery claw catches spinning frame, so that the robot that doffs is far from spinning frame；Or gripper be individual components, while catch spinning frame and
Doffer, so that the robot that doffs is far from spinning frame.
Second of structure: the first mechanism is absorption traction mechanism, and absorption traction mechanism includes adsorption piece and traction piece, absorption
Part is connected on spinning frame, and traction piece, which is connected to, to doff in robot；Or adsorption piece is connected to and doffs in robot, traction piece
It is connected on spinning frame.
Adsorption piece in absorption traction mechanism is connected with traction piece.Traction piece is connected to and is doffed in robot, it is then sharp
Spinning frame side is sucked with adsorption piece.Alternatively, traction piece is connected on spinning frame side, then it is sucked and is doffed using adsorption piece
Robot.By extending traction piece, drive shakeout far from spinning frame.
The third structure: the first mechanism is rear pull type or foward-push mechanism；In the step 222), start rear pull type or preceding
Pushing type mechanism, the rear pull type mechanism pulling robot that doffs doffs robot far from spinning frame or foward-push mechanism urges, separate
Spinning frame.
Foward-push mechanism, for example, by using cylinder, electric cylinders or link mechanism.Foward-push mechanism is located at the robot and thin of doffing
Between yarn machine.Guide rod stretches out backward (being indicated backward to robot direction of doffing) in foward-push mechanism, and using active force, promotion is doffed
Machine is far from spinning frame.Foward-push mechanism may be mounted on doffer, can also be installed by doffer at the scene with individual components.Afterwards
Pull-type mechanism, for example, by using cylinder, electric cylinders or link mechanism.Rear pull type mechanism is located on rear side of the robot that doffs.Rear pull type machine
Structure stretches out guide rod, using active force, pulls doffer far from spinning frame.Rear pull type mechanism can be individual components.
Getting on the bus for the embodiment of the present invention and is got off method at method, is realized to doff and robot automatic boarding and be got off, replaces
Existing human assistance operation, saves manpower, improves efficiency.
This, which is got on the bus, method and gets off in method, by process control, can solve robot accurate positioning of doffing get on the bus and
The process control got off.
The basic principles, main features and advantages of the invention have been shown and described above.Those skilled in the art should
Understand, the present invention do not limited by above-mentioned specific embodiment, the description in above-mentioned specific embodiment and specification be intended merely into
One step illustrates the principle of the present invention, without departing from the spirit and scope of the present invention, the present invention also have various change and
It improves, these changes and improvements all fall within the protetion scope of the claimed invention.The scope of protection of present invention is wanted by right
Ask book and its equivalent thereof.
Claims (25)
1. one kind is doffed, robot gets on the bus method, which is characterized in that the described method includes:
Step 11) obtains signal of getting on the bus；
Step 12) is got on the bus signal according to, and driving is doffed robot, so that the extension rail wheel for the robot that doffs falls in spinning frame
On track.
The method 2. robot described in accordance with the claim 1 that doffs gets on the bus, which is characterized in that the step 12) includes:
Step 121) is got on the bus signal according to, and the driving robot that doffs is close to spinning frame；
Step 122) drives the robot that doffs, so that the extension rail wheel for the robot that doffs is fallen after the robot that doffs is close to spinning frame
On the track of spinning frame.
The method 3. robot that doffs according to claim 2 gets on the bus, which is characterized in that the step 121) further include: inspection
122) distance for surveying doff robot and spinning frame is entered step when the distance reaches in values；Otherwise, weight
Multiple step 121).
The method 4. robot that doffs according to claim 2 gets on the bus, which is characterized in that the step 122) further include: inspection
Whether the extension rail wheel for surveying the robot that doffs falls on the track of spinning frame, if so, completing to get on the bus；If it is not, then repeating step
122).
The method 5. robot that doffs according to claim 2 gets on the bus, which is characterized in that the step 121) includes:
According to the signal of getting on the bus, drive ground drive wheels along default route close to the guide rail of spinning frame, until doffer
It is contacted at the extension rail wheel of device people and guide rail entrance end face.
The method 6. robot that doffs according to claim 5 gets on the bus, which is characterized in that the step 122) includes:
Ground drive wheels are driven to continue to travel along default route, so that the extension rail wheel for the robot that doffs drives to carefully along guide rail
On the guide rail of yarn machine.
The method 7. robot that doffs according to claim 2 gets on the bus, which is characterized in that the step 121) includes:
According to the signal of getting on the bus, robot body of doffing is risen, and adjusts surface drive direction, so that ground driving dress
It sets vertical with spinning frame side；
Driving doffs robot to spinning frame walking, until the robot that doffs touches spinning frame.
The method 8. robot that doffs according to claim 7 gets on the bus, which is characterized in that the step 122) includes:
The robot body that will doff decline, so that the extension rail wheel for the robot that doffs is fallen in spinning frame track.
The method 9. robot that doffs according to claim 2 gets on the bus, which is characterized in that the step 121) includes:
According to the signal of getting on the bus, the extension rail wheel for robot side of doffing is risen；
Start the first mechanism, so that the robot that doffs is close to spinning frame, robot touches spinning frame up to doffing.
The method 10. robot that doffs according to claim 9 gets on the bus, which is characterized in that first mechanism is gripper,
The gripper is fixedly connected on spinning frame, catches the robot that doffs using gripper, so that the robot that doffs is to spinning frame
It is close；Or gripper is fixedly connected on and doffs in robot, catches spinning frame using gripper, so that the robot that doffs is to thin
Yarn machine is close；Or gripper is individual components, while catching spinning frame and doffer, so that the robot that doffs is leaned on to spinning frame
Closely.
The method 11. robot that doffs according to claim 9 gets on the bus, which is characterized in that first mechanism is that absorption is led
Draw mechanism, absorption traction mechanism includes adsorption piece and traction piece, and adsorption piece is connected on spinning frame, and traction piece is connected to doffer
On device people；Or adsorption piece is connected to and doffs in robot, traction piece is connected on spinning frame.
The method 12. robot that doffs according to claim 9 gets on the bus, which is characterized in that first mechanism is back-pushed
Mechanism；
In the step 121), start back-pushed mechanism, the back-pushed mechanism urges robot that doffs is close to spinning frame, until falling
Yarn robot touches spinning frame.
The method 13. robot that doffs according to claim 9 gets on the bus, which is characterized in that the step 122) includes:
Regulate and control lifting device decline, so that the extension rail wheel to doff in robot is fallen on the guide rail of spinning frame；And regulate and control recycling
One mechanism.
14. one kind is doffed, robot gets off method, which is characterized in that the described method includes:
Step 21) obtains signal of getting off；
Step 22) is got off signal according to, and driving is doffed robot, so that the robot that doffs is detached from spinning frame.
The method 15. robot according to claim 14 that doffs gets off, which is characterized in that the step 22) includes:
Step 221) is got off signal according to, so that the track of the robot that doffs hung rail wheel and be detached from spinning frame；
Step 222) drives the robot that doffs to complete to get off so that the robot that doffs leaves spinning frame.
The method 16. robot that doffs according to claim 15 gets off, which is characterized in that the step 221) further include:
Whether the extension rail wheel for detecting the robot that doffs is detached from the track of spinning frame, if so, entering step 222)；If it is not, then repeating to walk
It is rapid 221).
The method 17. robot that doffs according to claim 16 gets off, which is characterized in that the step 222) further include:
The distance for detecting doff robot and spinning frame is then completed to get off when the distance is located at outside values；Otherwise, weight
Multiple step 222).
The method 18. robot that doffs according to claim 15 gets off, which is characterized in that the step 221) includes:
According to the signal of getting off, ground drive wheels are driven to travel along default route, the extension rail wheel for the robot that doffs is along track row
Guide rail is sailed to, and is detached from guide rail entrance.
The method 19. robot that doffs according to claim 15 gets off, which is characterized in that the step 221) includes:
According to the signal of getting off, the robot body that will doff is moved up, so that the rail wheel of hanging for the robot that doffs is detached from spinning frame
Track.
The method 20. robot that doffs according to claim 19 gets off, which is characterized in that the step 222) includes:
Regulate and control surface drive, driving doffs robot to far from the movement of spinning frame direction；The robot body that will doff decline.
The method 21. robot that doffs according to claim 15 gets off, which is characterized in that the step 221) includes:
According to the signal of getting off, regulate and control lifting device and move up, so that the extension rail wheel for the robot that doffs is moved up with lifting device, takes off
Guide rail from spinning frame.
22. getting off method according to the robot that doffs described in claim 21, which is characterized in that the step 222) includes:
Start the first mechanism, so that the robot that doffs is far from spinning frame；Then the first mechanism is withdrawn.
23. getting off method according to the robot that doffs described in claim 22, which is characterized in that first mechanism is machinery
Pawl, the gripper are fixedly connected on spinning frame, catch the robot that doffs using gripper, so that the robot that doffs is far from thin
Yarn machine；Or gripper is fixedly connected on and doffs in robot, catches spinning frame using gripper, so that the robot that doffs is separate
Spinning frame；Or gripper is individual components, while catching spinning frame and doffer, so that the robot that doffs is far from spinning frame.
24. getting off method according to the robot that doffs described in claim 22, which is characterized in that first mechanism is that absorption is led
Draw mechanism, absorption traction mechanism includes adsorption piece and traction piece, and adsorption piece is connected on spinning frame, and traction piece is connected to doffer
On device people；Or adsorption piece is connected to and doffs in robot, traction piece is connected on spinning frame.
25. getting off method according to the robot that doffs described in claim 22, which is characterized in that first mechanism is rear pull type
Or foward-push mechanism;
In the step 222), starting rear pull type or foward-push mechanism, the pulling of rear pull type mechanism doffs robot far from spinning frame,
Or foward-push mechanism urges are doffed robot, far from spinning frame.
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| CN201711195410.6A CN109837621A (en) | 2017-11-24 | 2017-11-24 | One kind robot that doffs gets on the bus method and method of getting off |
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| CN201711195410.6A CN109837621A (en) | 2017-11-24 | 2017-11-24 | One kind robot that doffs gets on the bus method and method of getting off |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111176287A (en) * | 2020-01-07 | 2020-05-19 | 中国科学院重庆绿色智能技术研究院 | Scheduling method and system of doffing robot |
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Application publication date: 20190604 |