CN110760957A - Doffing robot group - Google Patents
Doffing robot group Download PDFInfo
- Publication number
- CN110760957A CN110760957A CN201810828711.6A CN201810828711A CN110760957A CN 110760957 A CN110760957 A CN 110760957A CN 201810828711 A CN201810828711 A CN 201810828711A CN 110760957 A CN110760957 A CN 110760957A
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- CN
- China
- Prior art keywords
- module
- motor
- yarn
- bottom plate
- screw rod
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
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- 229910000831 Steel Inorganic materials 0.000 claims abstract description 12
- 239000010959 steel Substances 0.000 claims abstract description 12
- 230000001360 synchronised effect Effects 0.000 claims description 27
- 230000005540 biological transmission Effects 0.000 claims description 16
- 238000009434 installation Methods 0.000 claims description 6
- 238000004519 manufacturing process Methods 0.000 abstract description 9
- 239000000463 material Substances 0.000 description 9
- 238000010586 diagram Methods 0.000 description 2
- 238000007599 discharging Methods 0.000 description 2
- 239000000835 fiber Substances 0.000 description 2
- 235000017166 Bambusa arundinacea Nutrition 0.000 description 1
- 235000017491 Bambusa tulda Nutrition 0.000 description 1
- 241001330002 Bambuseae Species 0.000 description 1
- 235000015334 Phyllostachys viridis Nutrition 0.000 description 1
- 239000011425 bamboo Substances 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
Images
Classifications
-
- 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
Abstract
The invention provides a doffing robot group which comprises a transverse moving module, a rotating module and a yarn pushing module, wherein the transverse moving module is arranged on the rotating module; the transverse moving module is slidably arranged on a cross beam, the rotating module is arranged on the transverse moving module, and the yarn pushing module is arranged on the rotating module; the transverse moving module comprises a cross beam frame, linear sliding rails are arranged on two sides of the cross beam frame, and the rotating module is arranged on the cross beam frame and located between the two linear sliding rails; each linear sliding rail is provided with a steel wheel which is meshed with the cross beam, and the steel wheel is connected with a first motor. The doffing robot group does not need to manually carry out yarn bobbin loading and unloading and yarn bobbin carrying, realizes automatic production and improves the production efficiency.
Description
Technical Field
The invention relates to the technical field of mechanical equipment in the fiber industry, in particular to a doffing robot set.
Background
The existing fiber factory industry needs to manually carry out yarn feeding and discharging and yarn carrying, the production efficiency is low, and the personal safety of operators is threatened.
Disclosure of Invention
The invention provides a doffing robot group which realizes automatic production and improves the production efficiency.
The technical scheme adopted by the invention is as follows: a doffing robot set, comprising: the yarn pushing device comprises a transverse moving module, a rotating module and a yarn pushing module; the traversing module is slidably arranged on a cross beam, the rotating module is arranged on the traversing module, and the yarn pushing module is arranged on the rotating module; the transverse moving module comprises a cross beam frame, linear slide rails are arranged on two sides of the cross beam frame, and the rotating module is arranged on the cross beam frame and positioned between the two linear slide rails; each linear slide all installs the steel wheel, the steel wheel with the crossbeam meshing, just the steel wheel is connected with first motor.
Further, the rotating module comprises a second motor, a slewing bearing and a vertical beam; the slewing bearing is mounted on the cross beam frame, the second motor is connected with an external gear, the other end of the external gear is connected with a connecting shaft, an internal gear is arranged in the slewing bearing, and the connecting shaft is connected with the internal gear; the top of the vertical beam is connected with the slewing bearing.
Further, the vertical beam is provided with two first sliding rails, a synchronous belt, a synchronous wheel set and a third motor, the synchronous belt is connected with the synchronous wheel set and the third motor, and the yarn pushing module is installed on the two first sliding rails.
Further, the yarn pushing module comprises a bottom plate, an upward yarn pushing module and a downward yarn pushing module, the bottom plate is slidably mounted on the two first sliding rails, and the upward yarn pushing module and the downward yarn pushing module are mounted on the bottom plate.
Furthermore, the yarn pushing module comprises a first mounting frame, a fourth motor and an upper screw rod transmission module; the first mounting rack is in a shape of 'ㄈ', and comprises a first cross rod and two first connecting rods connected to two ends of the first cross rod; the fourth motor is arranged on one of the first connecting rods, and the upper screw rod transmission module is arranged on the first cross rod; the bottom plate is provided with two second slide rails, and the bottoms of the two first connecting rods are correspondingly arranged on the two second slide rails.
Furthermore, the fourth motor is connected with a first gear, a first rack is arranged at a position, corresponding to the first gear, of the bottom plate, and the first gear is meshed with the first rack.
Furthermore, the upper screw rod transmission module comprises an upper motor and an upper screw rod; go up the one end of lead screw connect in go up the output shaft of motor, just go up the cover on the lead screw and be equipped with sleeve and installation axle, the sleeve is close to go up the motor, the installation axle sleeve is established the sleeve with go up the lead screw outside.
Further, the lower yarn pushing module comprises a second mounting frame and a lower screw rod transmission module; the second mounting bracket is less than first mounting bracket, the second mounting bracket is "ㄈ" shape, the second mounting bracket include the second horizontal pole, and connect in the second connecting rod at second horizontal pole both ends, down the lead screw drive module install in the second horizontal pole, the bottom plate corresponds two the position of second connecting rod is equipped with two third slide rails, two the third slide rail is located two between the second slide rail, two the bottom correspondence of second connecting rod is installed in two the third slide rail.
Further, the lower yarn pushing module further comprises a fifth motor, the fifth motor is installed on the bottom plate, an output shaft of the fifth motor is connected with a first synchronizing wheel, the first synchronizing wheel is installed at one end of the bottom plate, a second synchronizing wheel is installed at the other end of the bottom plate, a synchronous belt is sleeved on the first synchronizing wheel and the second synchronizing wheel, and the second cross rod is fixed to the synchronous belt.
Further, the lower screw rod transmission module comprises a lower motor and a lower screw rod; one end of the lower screw rod is connected with the output shaft of the lower motor, the lower screw rod is sleeved with a sleeve and an installation shaft, the sleeve is close to the lower motor, and the installation shaft is sleeved outside the sleeve and the lower screw rod.
Compared with the prior art, the doffing robot has the advantages that the traverse module, the rotating module and the yarn pushing module are arranged, the traverse module is responsible for accurately moving the yarn pushing module to the workstation, then the rotating module is used for adjusting the direction of the yarn pushing module when the yarn pushing module goes up and down the yarn bobbin, and the yarn bobbin can be ensured to accurately enter the yarn pushing module or be placed into a material rack; finally, the yarn pushing module is responsible for loading the yarn barrel and accurately placing the yarn barrel into the material rack; therefore, the yarn barrel does not need to be lifted up and down and carried manually, automatic production is realized, and production efficiency is improved.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention without limiting the invention. In the drawings, there is shown in the drawings,
FIG. 1: the invention discloses a part of a schematic diagram of a doffing robot;
FIG. 2: a perspective view of the linear slide of the present invention;
FIG. 3: the cross section of the linear slide rail of the invention;
FIG. 4: another part of the doffing robot is a schematic diagram;
FIG. 5: the invention discloses a doffing robot, which comprises a frame, a doffing robot, a feeding mechanism, a discharging mechanism and a control mechanism, wherein the doffing robot is arranged on the frame;
FIG. 6: the invention discloses a doffing robot, which is partially cut away;
FIG. 7: the invention discloses a yarn pushing module;
FIG. 8: the invention discloses a cross section of a yarn pushing module;
FIG. 9: the invention also discloses another cross section of the yarn pushing module.
Detailed Description
The following detailed description of embodiments of the invention refers to the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating the present invention, are given by way of illustration and explanation only, not limitation.
As shown in fig. 1, 4 and 7, the doffing robot group of the present invention comprises a traverse module 1, a rotation module 2 and a yarn pushing module 3; the traversing module 1 is slidably mounted on a cross beam 6, the rotating module 2 is mounted on the traversing module 1, and the yarn pushing module 3 is mounted on the rotating module 2. The traversing module 1 is in charge of accurately moving the yarn pushing module 3 to a work station; the rotating module 2 is used for adjusting the direction of the yarn pushing module 3 when the yarn barrel is lifted up and down, so that the yarn barrel can accurately enter the yarn pushing module or be placed in a material rack; the yarn pushing module 3 is responsible for loading yarn cylinders and accurately placing the yarn cylinders into the material rack.
As shown in fig. 1 to 5, in detail, the traverse module 1 includes a cross beam 100, linear slide rails 4 are mounted on both sides of the cross beam 100, and the rotation module 2 is mounted on the cross beam 100 and located between the two linear slide rails 4. Each linear sliding rail 4 is provided with a steel wheel 5, the steel wheel 5 is meshed with the cross beam 6, the steel wheel 5 is connected with a first motor 7, the first motor 7 drives the steel wheel 5 to rotate, and therefore the transverse moving module 1 is driven to move along the cross beam 6, and the yarn pushing module 3 is moved to the workstation.
As shown in fig. 4 to 6, the rotating module 2 includes a second motor 8, a slewing bearing 9, and a vertical beam 10; wherein, the slewing bearing 9 is installed on the crossbeam frame 100, the second motor 8 is connected with an external gear 11, the other end of the external gear 11 is connected with a connecting shaft 12, an internal gear 13 is arranged in the slewing bearing 9, and the connecting shaft 12 is connected with the internal gear 13; the top of the vertical beam 10 is connected to the slewing bearing 9. Through the rotation of second motor 8 drive external gear 11, drive internal gear 13 and rotate to it is rotatory to drive slewing bearing 9, and then drives and erect the roof beam 10 and rotate, pushes away yarn module 3's direction with the adjustment, guarantees that a yarn section of thick bamboo can accurately get into and push away yarn module or put into the material frame.
Further, the vertical beam 10 is provided with two first slide rails 14, a synchronous belt and synchronous wheel set 15 and a third motor 16, wherein the synchronous belt and synchronous wheel set 15 are connected with the third motor 16, and the yarn pushing module 3 is mounted on the two first slide rails 14; the third motor 16 drives the synchronous belt to transmit with the synchronous wheel set 15, so as to drive the yarn pushing module 3 to slide up and down along the two first sliding rails 14.
As shown in fig. 7 to 9, the yarn pushing module 3 includes a bottom plate 17, an upper yarn pushing module 18 and a lower yarn pushing module 19, wherein the bottom plate 17 is slidably mounted on the two first slide rails 14, and the upper yarn pushing module 18 and the lower yarn pushing module 19 are both mounted on the bottom plate 17. Specifically, the yarn pushing-up module 18 includes a first mounting frame 180, a fourth motor 181, and an upper screw rod transmission module 182; the first mounting frame 180 is "ㄈ" shaped, the first mounting frame 180 includes a first cross bar 1801 and two first connecting rods 1802 connected to two ends of the first cross bar 1801, the fourth motor 181 is mounted on one of the first connecting rods 1802, and the upper screw transmission module 182 is mounted on the first cross bar 1801. The fourth motor 181 is connected with a first gear 183, a first rack 170 is disposed on the bottom plate 17 corresponding to the first gear 183, and the first gear 183 is engaged with the first rack 170.
Further, the bottom plate 17 is provided with two second slide rails 171, the bottoms of the two first connecting rods 1802 are correspondingly mounted on the two second slide rails 171, and the fourth motor 181 drives the first gear 183 to move left and right along the first rack 170, so as to drive the first mounting frame 180 to move left and right along the two second slide rails 171, and further drive the upper screw rod transmission module 182 to move left and right along the two second slide rails 171. The upper screw drive module 182 includes an upper motor 1820 and an upper screw 1821; one end of the upper wire rod 1821 is connected to an output shaft of the upper motor 1820, a sleeve 1822 and a mounting shaft 1823 are sleeved on the upper wire rod 1821, the sleeve 1822 is close to the upper motor 1820, and the mounting shaft 1823 is sleeved outside the sleeve 1822 and the upper wire rod 1821. The bobbin is loaded onto the mounting shaft 1823 of the upper lead screw 1821 or unloaded to the material rack by the upper motor 1820 driving the sleeve 1822 forward or backward.
The lower yarn pushing module 19 comprises a second mounting frame 190, a fifth motor 191 and a lower screw rod transmission module 192; the second mounting rack 190 is smaller than the first mounting rack 180, the second mounting rack 190 is also shaped like ㄈ, the second mounting rack 190 includes a second cross bar 1901 and second connecting rods 1902 connected to two ends of the second cross bar 1901, the lower lead screw transmission module 192 is mounted on the second cross bar 1901, two third slide rails 172 are disposed at positions of the bottom plate 17 corresponding to the two second connecting rods 1902, the two third slide rails 172 are located between the two second slide rails 171, and bottoms of the two second connecting rods 1902 are correspondingly mounted on the two third slide rails 172.
The fifth motor 191 is mounted on the bottom plate 17, an output shaft of the fifth motor 191 is connected with a first synchronous wheel 193, the first synchronous wheel 193 is mounted at one end of the bottom plate 17, a second synchronous wheel 194 is mounted at the other end of the bottom plate 17, a synchronous belt 195 is sleeved on the first synchronous wheel 193 and the second synchronous wheel 194, and the second cross rod 1901 is fixed on the synchronous belt 195; the fifth motor 191 drives the first synchronous wheel 193 to rotate, so as to drive the synchronous belt 195 to transmit, thereby driving the second mounting rack 190 to move left and right along the two third slide rails 172, and further driving the lower screw rod transmission module 192 to move left and right along the two third slide rails 172. The lower screw rod transmission module 192 comprises a lower motor 1920 and a lower screw rod 1921; one end of the lower screw 1921 is connected to an output shaft of the lower motor 1920, a sleeve 1922 and a mounting shaft 1923 are sleeved on the lower screw 1921, the sleeve 1922 is close to the lower motor 1920, and the mounting shaft 1923 is sleeved outside the sleeve 1922 and the lower screw 1921. The sleeve 1922 is driven by the lower motor 1920 to advance or retract, and the bobbin is loaded on the mounting shaft 1923 of the lower screw 1921 or unloaded to the material rack.
In conclusion, the doffing robot is provided with the traversing module 1, the rotating module 2 and the yarn pushing module 3, the traversing module 1 is responsible for accurately moving the yarn pushing module 3 to a workstation, and then the rotating module 2 is used for adjusting the direction of the yarn pushing module 3 when the yarn pushing module 3 goes up and down, so that the yarn bobbin can accurately enter the yarn pushing module or be placed into a material rack; finally, the yarn pushing module 3 is responsible for loading the yarn cylinder and accurately placing the yarn cylinder into the material rack; therefore, the yarn barrel does not need to be lifted up and down and carried manually, automatic production is realized, and production efficiency is improved.
Any combination of the various embodiments of the present invention should be considered as disclosed in the present invention, unless the inventive concept is contrary to the present invention; within the scope of the technical idea of the invention, any combination of various simple modifications and different embodiments of the technical solution without departing from the inventive idea of the present invention shall fall within the protection scope of the present invention.
Claims (10)
1. A doffing robot group, comprising: the yarn pushing device comprises a transverse moving module (1), a rotating module (2) and a yarn pushing module (3); the traversing module (1) is slidably mounted on a cross beam (6), the rotating module (2) is mounted on the traversing module (1), and the yarn pushing module (3) is mounted on the rotating module (2); the transverse moving module (1) comprises a cross beam frame (100), linear sliding rails (4) are mounted on two sides of the cross beam frame (100), and the rotating module (2) is mounted on the cross beam frame (100) and located between the two linear sliding rails (4); each linear slide rail (4) all installs steel wheel (5), steel wheel (5) with crossbeam (6) meshing, just steel wheel (5) are connected with first motor (7).
2. The doffing robot assembly of claim 1, wherein: the rotating module (2) comprises a second motor (8), a slewing bearing (9) and a vertical beam (10); the slewing bearing (9) is mounted on the cross beam frame (100), the second motor (8) is connected with an external gear (11), the other end of the external gear (11) is connected with a connecting shaft (12), an internal gear (13) is arranged in the slewing bearing (9), and the connecting shaft (12) is connected with the internal gear (13); the top of the vertical beam (10) is connected with the slewing bearing (9).
3. The doffing robot assembly of claim 2, wherein: the vertical beam (10) is provided with two first sliding rails (14), a synchronous belt, a synchronous wheel set (15) and a third motor (16), the synchronous belt is connected with the synchronous wheel set (15) and the third motor (16), and the yarn pushing module (3) is installed on the two first sliding rails (14).
4. A doffing robot set according to claim 3, wherein: push away yarn module (3) and include bottom plate (17), push up yarn module (18) and push down yarn module (19), bottom plate (17) slidable mounting in two first slide rail (14), push up yarn module (18) with push down yarn module (19) all install in bottom plate (17).
5. The doffing robot assembly of claim 4, wherein: the yarn push-up module (18) comprises a first mounting frame (180), a fourth motor (181) and an upper screw rod transmission module (182); the first mounting frame (180) is in an ㄈ shape, the first mounting frame (180) comprises a first cross rod (1801) and two first connecting rods (1802) connected to two ends of the first cross rod (1801); the fourth motor (181) is mounted to one of the first connecting rods (1802), and the upper screw drive module (182) is mounted to the first cross rod (1801); the bottom plate (17) is provided with two second sliding rails (171), and the bottoms of the two first connecting rods (1802) are correspondingly arranged on the two second sliding rails (171).
6. The doffing robot assembly of claim 5, wherein: the fourth motor (181) is connected with a first gear (183), a first rack (170) is arranged at the position, corresponding to the first gear (183), of the bottom plate (17), and the first gear (183) is meshed with the first rack (170).
7. The doffing robot assembly of claim 5, wherein: the upper screw rod transmission module (182) comprises an upper motor (1820) and an upper screw rod (1821); go up lead screw (1821) one end connect in go up the output shaft of motor (1820), just go up lead screw (1821) and go up the cover and be equipped with sleeve (1822) and installation axle (1823), sleeve (1822) are close to go up motor (1820), installation axle (1823) cover is established sleeve (1822) with go up lead screw (1821) is outer.
8. The doffing robot assembly of claim 5, wherein: the lower yarn pushing module (19) comprises a second mounting frame (190) and a lower screw rod transmission module (192); second mounting bracket (190) is less than first mounting bracket (180), second mounting bracket (190) are "ㄈ" shape, second mounting bracket (190) include second horizontal pole (1901), and connect in second connecting rod (1902) at second horizontal pole (1901) both ends, install down lead screw drive module (192) in second horizontal pole (1901), bottom plate (17) correspond two the position of second connecting rod (1902) is equipped with two third slide rail (172), two third slide rail (172) are located two between second slide rail (171), two the bottom of second connecting rod (1902) is correspondingly installed in two third slide rail (172).
9. The doffing robot assembly of claim 8, wherein: the lower push-down yarn module (19) further comprises a fifth motor (191), the fifth motor (191) is installed on the bottom plate (17), an output shaft of the fifth motor (191) is connected with a first synchronizing wheel (193), the first synchronizing wheel (193) is installed at one end of the bottom plate (17), a second synchronizing wheel (194) is installed at the other end of the bottom plate (17), a synchronous belt (195) is sleeved on the first synchronizing wheel (193) and the second synchronizing wheel (194), and the second cross rod (1901) is fixed on the synchronous belt (195).
10. The doffing robot assembly of claim 8, wherein: the lower screw rod transmission module (192) comprises a lower motor (1920) and a lower screw rod (1921); one end of the lower screw rod (1921) is connected to an output shaft of the lower motor (1920), a sleeve (1922) and a mounting shaft (1923) are sleeved on the lower screw rod (1921), the sleeve (1922) is close to the lower motor (1920), and the mounting shaft (1923) is sleeved outside the sleeve (1922) and the lower screw rod (1921).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810828711.6A CN110760957A (en) | 2018-07-25 | 2018-07-25 | Doffing robot group |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810828711.6A CN110760957A (en) | 2018-07-25 | 2018-07-25 | Doffing robot group |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110760957A true CN110760957A (en) | 2020-02-07 |
Family
ID=69328096
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810828711.6A Pending CN110760957A (en) | 2018-07-25 | 2018-07-25 | Doffing robot group |
Country Status (1)
| Country | Link |
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| CN (1) | CN110760957A (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4281959A (en) * | 1979-05-10 | 1981-08-04 | Officine Minnetti Di Ornella Raveggi & C. S.A.S. | Hank transfer apparatus |
| CN105382830A (en) * | 2015-12-03 | 2016-03-09 | 重庆朗正科技有限公司 | Spindle stacking robot |
| CN205675782U (en) * | 2016-06-20 | 2016-11-09 | 安徽日发纺织机械有限公司 | A kind of for automatic rotor spinning machine doffing system paper tube conveyer device |
| CN107352267A (en) * | 2017-07-28 | 2017-11-17 | 无锡艾伯赛精密机械有限公司 | Rotating transfer mechanism and its lifting transfer machine with the mechanism |
| CN206766443U (en) * | 2017-05-24 | 2017-12-19 | 深圳市昌巨科技有限公司 | A kind of blister packaging conveying robot |
| CN208701290U (en) * | 2018-07-25 | 2019-04-05 | 霍浦维（广东顺德）自动化设备有限公司 | A kind of doffing robot group |
-
2018
- 2018-07-25 CN CN201810828711.6A patent/CN110760957A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4281959A (en) * | 1979-05-10 | 1981-08-04 | Officine Minnetti Di Ornella Raveggi & C. S.A.S. | Hank transfer apparatus |
| CN105382830A (en) * | 2015-12-03 | 2016-03-09 | 重庆朗正科技有限公司 | Spindle stacking robot |
| CN205675782U (en) * | 2016-06-20 | 2016-11-09 | 安徽日发纺织机械有限公司 | A kind of for automatic rotor spinning machine doffing system paper tube conveyer device |
| CN206766443U (en) * | 2017-05-24 | 2017-12-19 | 深圳市昌巨科技有限公司 | A kind of blister packaging conveying robot |
| CN107352267A (en) * | 2017-07-28 | 2017-11-17 | 无锡艾伯赛精密机械有限公司 | Rotating transfer mechanism and its lifting transfer machine with the mechanism |
| CN208701290U (en) * | 2018-07-25 | 2019-04-05 | 霍浦维（广东顺德）自动化设备有限公司 | A kind of doffing robot group |
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