CN113668102B - Automatic spinning conveying robot - Google Patents
Automatic spinning conveying robot Download PDFInfo
- Publication number
- CN113668102B CN113668102B CN202011629405.3A CN202011629405A CN113668102B CN 113668102 B CN113668102 B CN 113668102B CN 202011629405 A CN202011629405 A CN 202011629405A CN 113668102 B CN113668102 B CN 113668102B
- Authority
- CN
- China
- Prior art keywords
- sliver
- circulation traction
- traction structure
- cotton
- tail end
- 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.)
- Active
Links
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
- D01H9/005—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 empty packages or cans and replacing by completed (full) packages or cans at paying-out stations; also combined with piecing of the roving
- D01H9/008—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 empty packages or cans and replacing by completed (full) packages or cans at paying-out stations; also combined with piecing of the roving for cans
-
- D—TEXTILES; PAPER
- D01—NATURAL OR MAN-MADE THREADS OR FIBRES; SPINNING
- D01H—SPINNING OR TWISTING
- D01H13/00—Other common constructional features, details or accessories
- D01H13/32—Counting, measuring, recording or registering devices
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Textile Engineering (AREA)
- Spinning Or Twisting Of Yarns (AREA)
- Replacing, Conveying, And Pick-Finding For Filamentary Materials (AREA)
Abstract
The invention provides an automatic spinning conveying robot and relates to the technical field of intelligent spinning equipment. The automatic conveying robot comprises a can placing area and an internal circulation traction structure, wherein the internal circulation traction structure is used for being connected and matched with an external circulation traction structure in a cotton sliver feeding mechanism of a spinning machine; the internal circulation traction structure is provided with a cotton sliver limiting structure for fixing the cotton sliver head on the barrel and releasing the fixation of the cotton sliver head; after the sliver can is transported to the position of the external circulation traction structure by the displacement robot, the control joint structure is connected with the external circulation traction structure and the internal circulation traction structure to form a closed-loop sliver conveying structure for conveying the sliver; when the cotton sliver head enters the front end of the sliver guide, the fixation of the cotton sliver head is released, and the cotton sliver is conveyed to the carding mechanism. The invention realizes the transport of the sliver can and the automatic feeding of the sliver can, reduces the labor cost and improves the automation, the continuity and the intellectualization of the spinning process.
Description
Technical Field
The invention relates to the technical field of intelligent spinning equipment, in particular to an automatic spinning conveying robot.
Background
The spinning line generally includes a plucker for opening and opening cotton, a carding machine for carding and drafting the opened and cleaned cotton to form a sliver which is regularly wound in a sliver can, a drawing frame (multiple drawing frames may be provided as required) for drawing and combining the slivers, and a spinning frame for twisting and spinning yarns with certain number (count) and uniform strength. In the whole spinning process, a sliver can (or called sliver can) is used as a storage container for sliver (or called fiber sliver), and is widely used no matter in a ring spinning process, an eddy spinning process or a rotor spinning process. Taking a rotor spinning process as an example, it usually consists of a bale plucker, a carding machine, a first drawing frame, a second drawing frame and a rotor spinning machine, cans are transported between the individual devices and are pieced and returned to an empty can by a buffer. According to the requirement, when the coarse yarn and the waste yarn with lower quality requirement are spun, one-pass drawing or direct sliver feeding can be adopted, namely, only a first-pass drawing frame is needed to be arranged or no drawing frame is needed to be arranged.
In a traditional spinning production line, the carrying of a sliver can, the joint of a sliver and the feeding of the sliver are usually manually transferred by a vehicle stop worker, and the connection of all processes is realized. On one hand, the weight of the sliver can added with the loaded sliver is generally over 50kg, even can reach 80 kg, and the labor intensity of workers is increased. On the other hand, the spinning workshop has high noise, heavy dust and high temperature, and is not beneficial to the health of workers; with the increase of labor cost, the production cost of spinning mills is increased. Therefore, automated barrel transport and sliver delivery become one direction for spinning mill automation and intelligence.
Currently, the prior art also provides technical solutions for transporting through an AGV (shuttle) vehicle to reduce the workload of workers. In chinese patent application 201910520791.3, for example, there is disclosed a can carrier which travels in a factory provided with a pre-process machine for performing a pre-process treatment on a fiber bundle and a post-process machine for performing a post-process treatment on the fiber bundle subjected to the pre-process treatment, and carries a can for accommodating the fiber bundle between the pre-process machine and the post-process machine, the can carrier comprising: a traveling unit that transports the can by traveling in a factory; a map storage unit that stores a plant map indicating installation positions of devices in a plant including installation positions of a pre-process machine and a post-process machine; a travel route determination unit that determines a travel route for going from the preceding process machine to the succeeding process machine or a travel route for going from the succeeding process machine to the preceding process machine, based on the factory map; and a travel control unit that transports the can between the pre-processing machine and the post-processing machine by autonomously traveling the travel unit based on the determined travel route. However, the above-mentioned can carrier is only responsible for carrying the can, and does not involve automatic sliver conveying (feeding), and still needs to manually process the sliver joint, such as conveying the sliver on the can to a sliver guider of the device to realize sliver feeding.
In summary, it is an urgent need to solve the above technical problems to provide an automatic spinning conveying device with a can carrying and can sliver automatic feeding and conveying function.
Disclosure of Invention
The invention aims to: overcomes the defects of the prior art and provides an automatic spinning conveying robot. The automatic spinning conveying robot comprises a can placing area and an internal circulation traction structure, wherein the internal circulation traction structure is used for being matched with an external circulation traction structure in a cotton sliver feeding mechanism of a spinning machine, automatic feeding of cotton slivers of the cans is realized while the cans are conveyed, the labor cost is reduced, and the automation, the continuity and the intellectualization of a spinning process are improved.
In order to achieve the above object, the present invention provides the following technical solutions:
the spinning automatic conveying robot comprises a robot main body part, wherein a controller and a shifting structure are arranged on the robot main body part, and the shifting structure is used for realizing the position movement of the robot;
the robot main body part comprises a base, a barrel placing area and an internal circulation traction structure are arranged on the base, the barrel placing area is used for installing a barrel, a cotton sliver limiting structure is arranged on the internal circulation traction structure to fix a cotton sliver head on the barrel, and the cotton sliver limiting structure can release the fixation of the cotton sliver head;
the internal circulation traction structure is used for being connected with an external circulation traction structure in a cotton sliver feeding mechanism of the spinning machine, and the external circulation traction structure is arranged corresponding to a sliver guide channel of the cotton sliver feeding mechanism; after the sliver barrel is transported to the position of the external circulation traction structure by the robot, the controller control joint structure is connected with the external circulation traction structure and the internal circulation traction structure to form a closed-loop sliver conveying structure, a sliver on the sliver barrel is conveyed to a channel of the sliver guide through the sliver conveying structure, the fixation of the sliver limiting structure on the sliver head is released when the sliver head enters the front end of the sliver guide, and the sliver is conveyed under the rotation of a feeding roller of the sliver feeding mechanism.
Furthermore, the controller comprises a wireless communication structure, the wireless communication structure is in communication connection with the remote control terminal and is used for performing wireless communication with the remote control terminal and receiving a control instruction of the remote control terminal.
Further, a cotton sliver detection structure is arranged corresponding to the can, the cotton sliver detection structure is connected with the controller and receives the control of the controller, whether a cotton sliver exists in a preset area on the can is detected through the cotton sliver detection structure, and a can changing instruction is sent when the cotton sliver does not exist;
according to the bobbin changing instruction, the controller controls the joint structure to remove the connection between the outer circulation traction structure and the inner circulation traction structure, and the robot carries away the empty bobbin.
Further, the cotton strip limiting structure is a clamping structure, the clamping structure comprises a clamp and a clamping canceling structure, and the clamping canceling structure can drive the clamp to loosen so as to cancel clamping; a position detection structure is arranged corresponding to the clamp, the position detection structure is connected with the controller and receives the control of the controller, the position information of the clamp is obtained through the position detection structure, whether the clamp reaches the front end of the strip guide or not is judged, and a cancellation canceling instruction is sent out when the clamp reaches the front end of the strip guide; and according to the cancellation removing instruction, the controller controls the clamping cancellation structure to drive the clamp to loosen so as to remove the fixation of the cotton sliver head.
Further, silver limit structure is clamping structure, clamping structure includes the anchor clamps on the inner loop traction structure of movable mounting, and when anchor clamps reached the front end of bar guider, under the effect of feed roller and/or bar guider the anchor clamps are backed out in order to relieve the fixed of silver strip head.
Further, the cotton sliver limiting structure comprises a limiting groove arranged on the internal circulation traction structure, a telescopic block is arranged corresponding to the limiting groove, a driving structure of the telescopic block is connected with the controller and receives the control of the controller, and the controller controls the driving structure of the telescopic block to start so that the telescopic block enters the limiting groove, and therefore the cotton sliver head is fixed in the limiting groove;
the front end of the sliver guide is provided with a bulge matched with the limiting groove, when the limiting groove enters the front end of the sliver guide, the bulge enters the limiting groove and drives the telescopic block to move towards the outside of the limiting groove, and the limiting groove releases the fixation of the sliver head.
Furthermore, the internal circulation traction structure and the external circulation traction structure are made of isomorphic transmission chains or transmission belts, the internal circulation traction structure comprises a plurality of transmission chain units or transmission belt units which are connected end to end, and an upper joint piece and a lower joint piece are respectively arranged at the upper tail end and the lower tail end corresponding to the internal circulation traction structure;
when the outer circulation traction structure and the inner circulation traction structure are connected, the upper tail end of the inner circulation traction structure is connected with the upper tail end of the outer circulation traction structure through the upper joint piece, and the lower tail end of the inner circulation traction structure is connected with the lower tail end of the outer circulation traction structure through the lower joint piece, so that a closed-loop cotton sliver transmission chain or transmission belt is formed.
Further, a transmission chain or a transmission belt of the internal circulation traction structure is arranged on the side part of the base through a vertical rod, the tail end of the upper part of the transmission chain or the transmission belt is limited on the upper part of the vertical rod, and the tail end of the lower part of the transmission chain or the transmission belt is limited on the lower part of the vertical rod;
the upper part of the vertical rod is provided with an upper joint piece and an upper guide wheel, the lower part of the vertical rod is provided with a lower joint piece and a lower guide wheel, the upper joint piece is connected with the upper tail end of the internal circulation traction structure and the upper tail end of the external circulation traction structure and then releases the limit of the upper tail end, and the lower joint piece is connected with the lower tail end of the internal circulation traction structure and the lower tail end of the external circulation traction structure and then releases the limit of the lower tail end; the transmission direction of the cotton sliver transmission chain or the transmission belt is guided by the upper guide wheel and the lower guide wheel.
Furthermore, the joint structure adopts a clamping connecting piece, an adsorption connecting piece and/or a clamping connecting piece.
Further, the displacement structure is a fixed caster, a movable caster or a crawler.
Due to the adoption of the technical scheme, compared with the prior art, the invention has the following advantages and positive effects by way of example: the automatic spinning conveying robot comprises a can placing area and an internal circulation traction structure, wherein the internal circulation traction structure is used for being matched with an external circulation traction structure in a cotton sliver feeding mechanism of a spinning machine, automatic feeding of cotton slivers of the cans is realized while the cans are carried, the labor cost is reduced, and the automation, the continuity and the intellectualization of a spinning process are improved.
Drawings
Fig. 1 is a schematic structural diagram of an automatic transfer robot that carries a can according to an embodiment of the present invention.
Fig. 2 is a schematic working diagram of an automatic transfer robot according to an embodiment of the present invention.
Fig. 3 is a schematic structural diagram of an automatic conveying robot with a tampon detecting structure according to an embodiment of the present invention.
Fig. 4 is a schematic structural diagram of an automatic transfer robot with a can hoop according to an embodiment of the present invention.
Fig. 5 is a schematic structural diagram of a module of a controller of an automatic transfer robot according to an embodiment of the present invention.
A spinning unit 100; a housing 110; a carding roll 120, a fiber transfer zone 121; a sliver feeding mechanism 130; a fiber transfer passage 140; a gas supply passage 150; a carding chamber impurity discharge area 160 and an impurity stripping channel 161; an impurity peeling surface 170; an outer circulation traction structure 180;
a robot 200; a base 210, a displacement structure 211, a can placement area 212; a body support 220, a robot arm 221; an internal circulation traction structure 230; a joint structure 240; a tampon spacing structure 250; a tampon detection structure 260;
Detailed Description
The spinning automatic conveying robot disclosed by the invention is further described in detail by combining the attached drawings and specific embodiments. It should be noted that technical features or combinations of technical features described in the following embodiments should not be considered as being isolated, and they may be combined with each other to achieve better technical effects. In the drawings of the embodiments described below, the same reference numerals appearing in the respective drawings denote the same features or components, and may be applied to different embodiments. Thus, once an item is defined in one drawing, it need not be further discussed in subsequent drawings.
It should be noted that the structures, proportions, sizes, and other dimensions shown in the drawings and described in the specification are only for the purpose of understanding and reading the present disclosure, and are not intended to limit the scope of the invention, which is defined by the claims, and any modifications of the structures, changes in the proportions and adjustments of the sizes and other dimensions, should be construed as falling within the scope of the invention unless the function and objectives of the invention are affected. The scope of the preferred embodiments of the present invention includes additional implementations in which functions may be executed out of order from that described or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the embodiments of the present invention.
Examples
The invention provides an automatic spinning conveying robot.
The automatic conveying robot comprises a robot main body part, wherein a controller and a shifting structure are arranged on the robot main body part. The controller is used for transmitting, receiving and processing information and controlling the action of the robot. The displacement structure is used for realizing the position movement of the robot.
The robot main part includes the base, is provided with a barrel and places the district and internal circulation on the base and pulls the structure, the barrel is placed the district and is used for installing the barrel, the internal circulation is pulled the structural silver head that is provided with silver limit structure on with fixed barrel that is provided with, silver limit structure can relieve the fixed to silver head.
Referring to fig. 1, in a specific arrangement, the robot main body of the robot 200 may include a base 210. A displacement structure 211 is disposed under the base 210. The displacement structure 211 preferably adopts a fixed caster, a movable caster or a crawler, and the fixed caster, the movable caster or the crawler is driven to rotate by the displacement driving structure. The shifting structure can move in a track motion mode or a non-track motion mode. When the orbital motion mode is adopted, the corresponding track is arranged.
Preferably, the displacement structure 211 is a movable caster wheel in this embodiment, and the movable caster wheel is driven by a motor, such as a stepping motor. At this time, a relevant map, such as a plant map of a factory where the spinning equipment is located, may be stored in a memory of the controller or in an associated server; after the shifting robot receives the carrying instruction, the controller determines a running path based on a factory map, controls the shifting structure to start and carries the can.
The base 210 is provided with a can placement area 212, and the can placement area 212 is used for installing a can 300, and referring to fig. 1, the can 300 is loaded in the can placement area.
An internal circulation traction structure 230 is installed on the base 210 through the body support 220. The internal circulation traction structure 230 is used for connecting with an external circulation traction structure in a cotton sliver feeding mechanism of the spinning machine, and the external circulation traction structure is arranged corresponding to a sliver guider channel of the cotton sliver feeding mechanism.
The controller of the robot may be mounted on the base 210 or the main body support 220. In this embodiment, the controller includes a wireless communication structure, and the wireless communication structure is in communication connection with the remote control terminal, and is configured to perform wireless communication with the remote control terminal and receive a control instruction of the remote control terminal.
The traction structure corresponding to the outer circulation and/or the traction structure corresponding to the inner circulation are/is also provided with a joint structure, and the joint structure can realize the connection and the separation of the traction structure of the outer circulation and the traction structure of the inner circulation. Specifically, the joint structures 240 may be provided at both ends of the inner circulation traction structure 230, respectively.
Also mounted on the upper portion of the internal circulation traction structure 230 is a tampon stopping structure 250 for fixing the tampon head 301 on the barrel 300 and for releasing the above-mentioned fixing of the tampon head 301. Preferably, the cotton sliver limiting structure 250 can fix the cotton sliver head 301 on the upper part of the internal circulation traction structure, and when the internal circulation traction structure moves towards the direction of the feeding roller, the cotton sliver limiting structure and the cotton sliver head are driven to move towards the direction of the feeding roller together.
When the sliver barrel needs to be transported, after the robot 200 transports the sliver barrel 300 to the position of the external circulation traction structure of the spinning machine, the controller control joint structure 240 is connected with the external circulation traction structure and the internal circulation traction structure to form a closed-loop sliver transport structure, the sliver on the sliver barrel 300 is transported to the channel of the sliver guide through the sliver transport structure, the fixation of the sliver limiting structure 250 on the sliver head is released when the sliver head 301 enters the front end of the sliver guide, and the sliver is transported under the rotation of the feeding roller of the sliver feeding mechanism, namely, fed into the feeding roller.
In the present embodiment, the spinning machine may be any type of spinning machine. The automatic transfer robot provided by the present invention will be described in detail below by taking a rotor spinning machine as an example.
A production unit (called as a spinning unit) of a rotor spinning machine mainly comprises a cotton sliver (or called fiber sliver) feeding mechanism, a carding mechanism, an impurity removing mechanism, a rotor, a yarn guide tube, a twist-resistant head and the like. The centrifugal force generated when the rotor rotates at high speed is utilized to enable the fibers transferred to the rotor from the carding cavity to be condensed to form fiber strands (fiber rings), and the fiber strands are twisted to form yarn strands. The impurity removing device is used for removing impurities in the cotton sliver.
Referring to fig. 2, an external circulation traction structure is arranged corresponding to a sliver feeding mechanism of a spinning unit of a rotor spinning machine and connected with the external circulation traction structure, and the external circulation traction structure is arranged corresponding to a sliver guider channel of the sliver feeding mechanism.
The spinning machine 100 includes a housing 110 provided with a carding chamber, and a carding mechanism includes a carding roller 120 installed in the carding chamber. The shell 110 is provided with a cotton sliver feeding mechanism 130 and a fiber conveying channel 140 which are respectively communicated with the carding chamber. The left side of the carding roller 120 is provided with a fiber transfer area 121 for transferring the carded sliver. The fiber transfer area 121 is arranged below the fiber conveying channel 140, and the cotton sliver passes through the fiber transfer area 121 after carding and is conveyed to the rotor through the fiber conveying channel 140. During spinning, cotton slivers are sent into the carding chamber for carding through the cotton sliver feeding mechanism 130, and the carded fibers enter the interior of the rotor through the fiber conveying channel 140, then come out of the coagulation groove, are drawn into the false twisting disc and are made into yarns.
In this embodiment, the air supply channel 150 and the impurity discharge area 160 of the carding chamber are disposed under the corresponding carding chamber. Air is supplied to the carding cavity through the air supply channel 150, and the air supply direction corresponds to the lower part of the carding roller 120. The lower part of the carding cavity is a carding cavity impurity discharging area 160. Specifically, an impurity peeling surface 170 is provided on the case 110 to be inclined downward corresponding to the carding chamber impurity discharging area 160, and an impurity peeling passage inclined downward may be formed at a lower portion of the carding roller 120 by the impurity peeling surface 170. When the cotton sliver fed into the carding cavity is carded by the carding roller, air is supplied to the carding cavity through the air supply channel 150, and impurities or part of the impurities fall into the impurity discharge belt through the impurity discharge area 160 of the carding cavity and are discharged under the action of self gravity.
The cotton sliver feeding mechanism 130 comprises a sliver guide and a feeding roller, wherein the outlet of the channel of the sliver guide is connected with the feeding roller, and the cotton sliver is conveyed to the carding mechanism for carding under the rotation of the feeding roller.
In this embodiment, the bar guider may specifically include a feeding horn and a feeding plate. The feeding horn can be formed by pressing plastic or bakelite, the section of a channel of the feeding horn is gradually contracted into a flat shape from an inlet to an outlet, and the section of a cotton strip is correspondingly changed along with the cotton strip passing through the feeding horn. The feeding plate is positioned below the feeding roller, and the feeding roller and the feeding plate are jointly held to form holding force for the cotton sliver. The front end of the feeding plate forms a feeding jaw, a spring is arranged below the feeding plate, the pressure of the feeding jaw comes from the spring, and the pressure of the feeding jaw is adjusted by adjusting the compression amount of the spring. The feeding roller is preferably a grooved roller which is held together with the feeding plate and conveys the sliver to the carding roller for carding by means of the positive rotation of the feeding roller.
The outer circulation traction structure 180 is arranged corresponding to the channel of the sliver guide, and can pull the sliver to move towards the direction of the feeding roller after being connected with the inner circulation traction structure 230 and the outer circulation traction structure 180, so that the automatic feeding of the sliver is realized.
Specifically, the outer circulation traction structure 180 and the inner circulation traction structure 230 may adopt a transmission chain or a transmission belt.
Preferably, the external circulation traction structure and the internal circulation traction structure are made of isomorphic transmission chains or transmission belts. The outer circulation traction structure can comprise a plurality of transmission chain units or transmission belt units which are connected end to end, the inner circulation traction structure also comprises a plurality of transmission chain units or transmission belt units which are connected end to end, and the joint structure comprises an upper joint piece and a lower joint piece. When the outer circulation traction structure and the inner circulation traction structure are connected, the upper tail end of the inner circulation traction structure is connected with the upper tail end of the outer circulation traction structure through the upper joint piece, and the lower tail end of the inner circulation traction structure is connected with the lower tail end of the outer circulation traction structure through the lower joint piece, so that a closed-loop cotton sliver transmission chain or transmission belt is formed.
The sliver transport chain or belt is preferably arranged in correspondence with the sliver guide channel by means of a plurality of guide wheels. At least one guide wheel in the plurality of guide wheels is a driving wheel, the rest guide wheels are driven wheels, and the driving wheel is driven by the rotary driving structure to rotate, so that the driven wheels are driven to rotate to form a closed-loop cotton sliver transmission chain or transmission belt.
In this embodiment, preferably, 3 guide wheels are arranged corresponding to the sliver guide channel to form a triangular or approximately triangular sliver conveying chain or belt. As shown in fig. 2, a sliver conveying guide wheel is arranged below the sliver guide channel, an upper guide wheel is arranged at the upper joint position corresponding to the internal circulation traction structure and the external circulation traction structure, and a lower guide wheel is arranged at the lower joint position corresponding to the internal circulation traction structure and the external circulation traction structure. The guide wheel and the cotton sliver conveying guide wheel can be set as driving wheels, and a selective driving structure is arranged corresponding to the driving wheels; the rest guide wheels are driven wheels and can rotate under the transmission action of a chain or a transmission belt. When the cotton sliver is fed and conveyed, the driving wheel is driven by the rotary driving structure to rotate, so that the driven wheel is driven to rotate to form a closed-loop cotton sliver conveying chain or conveying belt.
Preferably, the transmission chain or the transmission belt of the internal circulation traction structure is arranged on the side part of the base of the robot through a vertical rod, the tail end of the upper part of the transmission chain or the transmission belt is limited on the upper part of the vertical rod, and the tail end of the lower part of the transmission chain or the transmission belt is limited on the lower part of the vertical rod in the non-working state.
The upper joint piece and the upper guide wheel are arranged on the upper part of the vertical rod, and the lower joint piece and the lower guide wheel are arranged on the lower part of the vertical rod. In a working state, after the upper joint piece is connected with the upper tail end of the internal circulation traction structure and the upper tail end of the external circulation traction structure, the controller releases the limit of the upper tail end; meanwhile, after the lower joint piece is connected with the lower end of the internal circulation traction structure and the lower end of the external circulation traction structure, the controller releases the limit of the lower end. Then the controller controls the driving wheel to rotate, and the cotton sliver transmission chain or the transmission direction of the transmission belt is guided by the upper guide wheel and the lower guide wheel.
In this embodiment, the joint structure 240 is used to detachably connect the inner circulation traction structure 230 and the outer circulation traction structure 180, so that the inner circulation traction structure 230 and the outer circulation traction structure 180 can be connected to form a closed loop transmission structure for feeding and conveying the sliver when needed, and can also be separated when needed to replace an empty sliver can.
The connector structure 240 preferably employs a snap connector, an adsorption connector and/or a clip connector.
The clamping connecting piece preferably adopts a snap fastener with a circular groove.
The preferred adoption magnetism of adsorption connector adsorbs the connecting piece, and the principle that attracts mutually through opposite magnetic pole realizes that inner loop pulls structure and outer loop and pulls the dismantlement of structure and be connected, and is preferred, adopts the electro-magnet structure.
The clip connecting piece preferably adopts a type clip. The type clip comprises two cross arms and a vertical arm for connecting the two cross arms, wherein the two cross arms are respectively inserted into the open holes at the tail end of the internal circulation traction structure and the tail end of the external circulation traction structure and limited by the limiting structures in the open holes, so that the tail end of the internal circulation traction structure is connected with the tail end of the external circulation traction structure.
The limiting structure may be, for example and without limitation, a limiting groove, and an annular protrusion matched with the limiting groove is disposed on the surface of the corresponding cross arm, so that the protrusion can limit horizontal movement of the cross arm after the limiting groove is formed, and the cross arm is prevented from being separated from the opening.
By way of example and not limitation, the following describes in detail the steps of connecting the outer circulation traction structure and the inner circulation traction structure by the joint structure to form a closed loop tampon conveying structure, taking the snap connection of the joint structure using snap fasteners as an example.
Specifically, the clamping structure comprises a female buckle and a male buckle which can be matched, the female buckle can adopt a groove, the inner wall of the groove is arc-shaped, and the corresponding male buckle adopts a circular bulge; under the action of external force, the secondary buckle can be inserted into the female buckle to form clamping connection, and under the action of external force, the secondary buckle can be pulled out from the female buckle to release connection. When the son is buckled and is inserted female buckle and carry out the joint, the son is buckled and can also carries out angular rotation around female buckle.
The joint structure comprises an upper joint piece and a lower joint piece, when the outer circulation traction structure and the inner circulation traction structure are connected, the upper end of the inner circulation traction structure is connected with the upper end of the outer circulation traction structure through the upper joint piece, and the lower end of the inner circulation traction structure is connected with the lower end of the outer circulation traction structure through the lower joint piece, so that a closed-loop cotton sliver transmission chain or transmission belt is formed.
Specifically, the external circulation traction structure may include a plurality of transmission chain units connected end to end, and the plurality of transmission chain units are also connected in the snap fastener manner; wherein, the tail end of the last transmission chain unit at the upper part is set as a female buckle (corresponding to the upper tail end of the external circulation traction structure in fig. 2), and the tail end of the last transmission chain unit at the lower part is set as a male buckle (corresponding to the lower tail end of the external circulation traction structure in fig. 2). Correspondingly, the internal circulation traction structure also comprises a plurality of transmission chain units which are connected end to end, and the plurality of transmission chain units are also connected by snap fasteners; wherein, the tail end of the lower last transmission chain unit is arranged as a female buckle (corresponding to the joint structure at the tail end of the lower part of the internal circulation traction structure in fig. 3), and the tail end of the upper last transmission chain unit is arranged as a male buckle (corresponding to the joint structure at the tail end of the upper part of the internal circulation traction structure in fig. 3). Namely, the upper female buckle of the external circulation traction structure and the upper male buckle of the internal circulation traction structure form an upper joint piece, and the lower male buckle of the external circulation traction structure and the lower female buckle of the internal circulation traction structure form a lower joint piece.
When the outer circulation traction structure and the inner circulation traction structure need to be connected, the controller controls the whole body of the shifting robot to move to the position of the outer circulation traction structure, so that the inner circulation traction structure enters between two tail ends of the outer circulation traction structure, and at the moment, the two tail ends of the inner circulation traction structure and the two tail ends of the outer circulation traction structure are located on the same straight line. Then, the controller controls the male buckle to move towards the female buckle (at this time, a driving motor or a driving cylinder is arranged corresponding to the male buckle and connected with the controller and receives the control of the controller) or controls the female buckle to move towards the male buckle (at this time, a driving motor or a driving cylinder is arranged corresponding to the female buckle and connected with the controller and receives the control of the controller), and the male buckle is inserted into the female buckle to complete the clamping under the driving of the driving motor or the driving cylinder.
When the outer circulation traction structure and the inner circulation traction structure are required to be separated, correspondingly, the controller controls the male buckle to move towards the direction far away from the female buckle, or the controller controls the female buckle to move towards the direction far away from the male buckle (at this moment, the movement direction of the driving motor or the driving air cylinder is opposite to the movement direction of the driving motor or the driving air cylinder when the outer circulation traction structure and the inner circulation traction structure are connected).
After the joint structure is connected with the external circulation traction structure and the internal circulation traction structure, the external circulation traction structure and the internal circulation traction structure form a closed-loop cotton sliver transmission chain or transmission belt. The driving wheel in the guide wheel is controlled to rotate to drive the driven wheel to rotate, and the cotton sliver moves towards the direction of the feeding roller under the action of the cotton sliver transmission chain or the transmission belt.
In this embodiment, the cotton sliver limiting structure 250 is used for fixing the cotton sliver head 301 on the internal circulation traction structure 230, and when the internal circulation traction structure 230 moves towards the feeding roller direction, the cotton sliver limiting structure and the cotton sliver head are driven to move towards the feeding roller direction together. When the cotton sliver head 301 enters the front end of the sliver guide, the fixation of the cotton sliver limiting structure on the cotton sliver head 301 is released, and the cotton sliver is conveyed to the carding mechanism under the rotation of the feeding roller.
In one embodiment of this embodiment, the tampon stopping structure is preferably a grip structure. Specifically, an electrically controlled clamping structure can be adopted, namely, the clamping and the loosening of the clamp are controlled in an electric driving mode, and at the moment, the electric driving structure of the clamp is connected with the controller and receives the control of the controller; the clamping structure can also adopt a non-electric control mode, namely, the clamping and the loosening of the clamp are controlled in a non-electric mode.
When the electrically controlled clamping structure is adopted, preferably, the clamping structure comprises a clamp and a clamping canceling structure, and the clamping canceling structure can drive the clamp to loosen so as to cancel clamping. And a position detection structure is arranged corresponding to the clamp, the position information of the clamp is obtained through the position detection structure, whether the clamp reaches the front end of the strip guide device or not is judged, and a clamping release instruction is sent out when the clamp reaches the front end of the strip guide device.
And according to the clamping releasing instruction, the controller controls the clamping releasing structure to drive the clamp to release so as to release the fixation of the cotton sliver head, and the cotton sliver is conveyed to the carding mechanism under the rotation of the feeding roller.
Preferably, the position detecting structure may include a camera and an image recognition device, and a detectable mark, such as a special surface color or a special surface texture, or a detectable photoelectric element, is provided at the front end of the bar guider. The camera collects image data of the channel of the sliver guide and sends the image data to the image recognition device, when the sliver reaches the front end of the sliver guide, the detectable mark is covered, and at the moment, no detectable mark exists in the collected image data, so that the situation that the clamp reaches the front end of the sliver guide can be judged, and a clamping releasing instruction is sent. And according to the clamping releasing instruction, the clamping releasing structure drives the clamp to release, and the clamp is released to limit (fix) the cotton sliver head.
When a non-electric control clamping structure is adopted, preferably, the clamping structure comprises a clamp movably arranged on the internal circulation traction structure, when the clamp reaches the front end of the sliver guide, the clamp is pushed open under the action of the feeding roller and/or the sliver guide to release the fixation of the sliver head, and the sliver is conveyed to the carding mechanism under the rotation of the feeding roller.
Preferably, after the ejected clamp is separated from the internal circulation traction structure, the ejected clamp falls into a recovery groove arranged at the front end of the strip guide channel under the action of gravity to be recovered.
In another embodiment of this embodiment, the tampon limiting structure may further adopt a movable limiting block for limiting and releasing.
Specifically, the cotton sliver limiting structure can draw the structural spacing groove including setting up the inner loop, correspond the spacing groove is provided with flexible piece, and the drive structure and the controller of flexible piece are connected and receive the control of controller, and the drive structure through the flexible piece of controller control starts and makes flexible piece get into the spacing groove to fix cotton sliver strip head in the spacing groove.
The front end of the sliver guide is provided with a bulge matched with the limiting groove, when the limiting groove enters the front end of the sliver guide, the bulge enters the limiting groove and drives the telescopic block to move towards the outside of the limiting groove, the limiting groove releases the fixation of the sliver head, and the sliver is conveyed to the carding mechanism under the rotation of the feeding roller.
In this embodiment, referring to fig. 3, the robot further includes a sliver detecting structure 260 disposed corresponding to the can 300, and the sliver detecting structure 260 is connected to and receives control of the controller. During the transportation of the sliver, the sliver detecting structure 260 detects whether the sliver exists in the preset area on the sliver can 300, and issues a can changing instruction when the sliver does not exist.
According to the bobbin-changing command, the controller controls the joint structure 250 to release the connection of the outer circulation traction structure and the inner circulation traction structure, and then the robot carries away the empty bobbin, so that other robots loaded with the full bobbin connect the inner circulation traction structure to the outer circulation traction structure.
In this embodiment, the main body support 220 may be provided with a structure for taking the can so as to achieve automatic taking and removing of the can. Preferably, with the structure of the robot arm 221 in fig. 4, the can is placed in the can placement area 212 or is removed from the can placement area 212 by the robot arm 221 and then is placed at a designated position. The mechanical arm 221 is mounted on the main body support 220 through a lifting mechanism, and can move up and down through the main body support to adapt to cans with different height sizes by the height of the mechanical arm 221.
Preferably, the arm is preferred installs in the left and right sides that the main part supported 220, including left side support arm and right side support arm, can form the structure similar to the staple bolt through left side support arm and right side support arm and embrace the operation of getting to the can to take. The left side support arm and the right side support arm are respectively provided with a control circuit, the two control circuits are connected with a controller, and the mechanical arm is controlled by the controller to take and place the can.
Furthermore, the mechanical arm adopts a six-degree-of-freedom mechanical arm, comprises an arm part, an elbow part and a hand part which are movably connected in sequence, and can be flexibly adjusted to take and place the sliver can according to the requirement.
In this embodiment, the robot main body may further include a camera structure. The camera shooting structure comprises at least one camera and can collect environment image information in directions of the front, the left side, the right side and/or the rear of the robot.
Further, the robot main body part can be further provided with an obstacle avoidance device. When the obstacle avoidance device monitors an obstacle, a signal is sent to the controller, and the controller controls the shifting structure to adjust the moving direction of the robot. When the obstacle avoidance device is specifically arranged, the obstacle avoidance device can be an ultrasonic radar device, an ultrasonic infrared obstacle avoidance instrument and the like, belongs to the prior art, and is not repeated herein.
According to the requirement, a human-computer interaction module can be further arranged on the robot. By way of example and not limitation, the human-computer interaction module may include an operation panel, a speaker, and a microphone disposed on the trunk of the robot, the operation panel, the speaker, and the microphone all being electrically connected to the controller.
Fig. 5 is a block diagram of a controller of the robot according to the present embodiment. The controller 201 may include a chip 11, a battery 12, a storage module 11-1, a WIFI module 11-2, an image processing module 11-3, a wireless communication structure 11-4, a charging module 11-5, and the like. The chip 11 can be of a PCBA type printed circuit board structure, and the storage module 11-1, the WIFI module 11-2, the image processing module 11-3, the wireless communication structure 11-4 and the charging module 11-5 are integrally arranged on the chip in an electrically connected mode. The batteries 12 are electrically connected to the modules, respectively.
The storage module 11-1 can be used for storing information recorded, stored, uploaded and downloaded by the robot; the WIFI module 11-2 can establish wireless network connection between the robot and the associated terminal and the server; the image processing module 11-3 is used for processing image information recorded, stored, uploaded and downloaded by the robot and can be electrically connected with the camera shooting structure; the wireless communication structure 11-4 is used for communicating with an associated terminal (such as a user terminal, a server, etc.); the charging module 11-5 is used for controlling charge and charge management of the battery 12.
In the description above, the various components may be selectively and operatively combined in any number within the intended scope of the present disclosure. In addition, terms like "comprising," "including," and "having" should be interpreted as inclusive or open-ended, rather than exclusive or closed-ended, by default, unless explicitly defined to the contrary. All technical, scientific, or other terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs unless defined otherwise. Common terms found in dictionaries should not be interpreted as being too idealized or too impractical in the context of related art documents unless the present disclosure expressly limits them to that.
While exemplary aspects of the present disclosure have been described for illustrative purposes, those skilled in the art will appreciate that the foregoing description is by way of description of the preferred embodiments of the present disclosure only, and is not intended to limit the scope of the present disclosure in any way, which includes additional implementations in which functions may be performed out of the order of presentation or discussion. Any changes and modifications of the present invention based on the above disclosure will be within the scope of the appended claims.
Claims (10)
1. The utility model provides a spinning automatic conveying robot, includes the robot main part, be provided with controller and aversion structure on the robot main part, the structure of aversion is used for realizing the position of robot and removes, its characterized in that:
the robot main body part comprises a base, a barrel placing area and an internal circulation traction structure are arranged on the base, the barrel placing area is used for installing a barrel, a cotton sliver limiting structure is arranged on the internal circulation traction structure to fix a cotton sliver head on the barrel, and the cotton sliver limiting structure can release the fixation of the cotton sliver head;
the internal circulation traction structure is used for being connected with an external circulation traction structure in a cotton sliver feeding mechanism of the spinning machine, and the external circulation traction structure is arranged corresponding to a sliver guider channel of the cotton sliver feeding mechanism; after the sliver barrel is transported to the position of the external circulation traction structure by the robot, the controller control joint structure is connected with the external circulation traction structure and the internal circulation traction structure to form a closed-loop sliver conveying structure, a sliver on the sliver barrel is conveyed to a channel of the sliver guide through the sliver conveying structure, the fixation of the sliver limiting structure on the sliver head is released when the sliver head enters the front end of the sliver guide, and the sliver is conveyed under the rotation of a feeding roller of the sliver feeding mechanism.
2. The automatic transfer robot according to claim 1, wherein: the controller comprises a wireless communication structure, the wireless communication structure is in communication connection with the remote control terminal and is used for performing wireless communication with the remote control terminal and receiving a control instruction of the remote control terminal.
3. The automatic transfer robot according to claim 1, wherein: a cotton sliver detection structure is arranged corresponding to the barrel, the cotton sliver detection structure is connected with the controller and receives the control of the controller, whether cotton slivers exist in a preset area on the barrel is detected through the cotton sliver detection structure, and a barrel changing instruction is sent out when the cotton slivers do not exist;
according to the bobbin changing instruction, the controller controls the joint structure to remove the connection between the outer circulation traction structure and the inner circulation traction structure, and the robot carries away the empty bobbin.
4. The automatic transfer robot according to claim 1, wherein: the cotton sliver limiting structure is a clamping structure, the clamping structure comprises a clamp and a clamping canceling structure, and the clamping canceling structure can drive the clamp to release so as to cancel clamping; a position detection structure is arranged corresponding to the clamp, the position detection structure is connected with the controller and receives the control of the controller, the position information of the clamp is obtained through the position detection structure, whether the clamp reaches the front end of the strip guide or not is judged, and a cancellation canceling instruction is sent out when the clamp reaches the front end of the strip guide; and according to the cancellation removing instruction, the controller controls the clamping cancellation structure to drive the clamp to loosen so as to remove the fixation of the cotton sliver head.
5. The automatic transfer robot according to claim 1, wherein: the cotton sliver limiting structure is a clamping structure, the clamping structure comprises a clamp which is movably arranged on an inner circulation traction structure, and when the clamp reaches the front end of the sliver guide, the clamp is pushed open under the action of the sliver guide to remove the fixation of the cotton sliver head.
6. The automatic transfer robot according to claim 1, wherein: the cotton sliver limiting structure comprises a limiting groove arranged on the internal circulation traction structure, a telescopic block is arranged corresponding to the limiting groove, a driving structure of the telescopic block is connected with the controller and receives the control of the controller, and the driving structure of the telescopic block is controlled by the controller to start so that the telescopic block enters the limiting groove, and therefore the cotton sliver head is fixed in the limiting groove;
the front end of the sliver guide is provided with a bulge matched with the limiting groove, when the limiting groove enters the front end of the sliver guide, the bulge enters the limiting groove and drives the telescopic block to move outwards of the limiting groove, and the limiting groove removes the fixation of the sliver head.
7. The automatic transfer robot according to claim 1, wherein: the internal circulation traction structure and the external circulation traction structure are made of isomorphic transmission chains or transmission belts, the internal circulation traction structure comprises a plurality of transmission chain units or transmission belt units which are connected end to end, and an upper joint piece and a lower joint piece are respectively arranged at the upper tail end and the lower tail end corresponding to the internal circulation traction structure;
when the outer circulation traction structure and the inner circulation traction structure are connected, the upper tail end of the inner circulation traction structure is connected with the upper tail end of the outer circulation traction structure through the upper joint piece, and the lower tail end of the inner circulation traction structure is connected with the lower tail end of the outer circulation traction structure through the lower joint piece, so that a closed-loop cotton sliver transmission chain or transmission belt is formed.
8. The automatic transfer robot of claim 7, wherein: the transmission chain or the transmission belt of the internal circulation traction structure is arranged on the side part of the base through the vertical rod, the tail end of the upper part of the transmission chain or the transmission belt is limited at the upper part of the vertical rod, and the tail end of the lower part of the transmission chain or the transmission belt is limited at the lower part of the vertical rod;
the upper part of the vertical rod is provided with an upper joint piece and an upper guide wheel, the lower part of the vertical rod is provided with a lower joint piece and a lower guide wheel, the upper joint piece is connected with the upper tail end of the internal circulation traction structure and the upper tail end of the external circulation traction structure and then releases the limit of the upper tail end, and the lower joint piece is connected with the lower tail end of the internal circulation traction structure and the lower tail end of the external circulation traction structure and then releases the limit of the lower tail end; the transmission direction of the cotton sliver transmission chain or the transmission belt is guided by the upper guide wheel and the lower guide wheel.
9. The automatic transfer robot according to claim 1, wherein: the joint structure adopts a clamping connecting piece, an adsorption connecting piece or a clamping connecting piece.
10. The automatic transfer robot according to claim 1, wherein: the displacement structure is a fixed caster wheel, a movable caster wheel or a crawler.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011629405.3A CN113668102B (en) | 2020-12-30 | 2020-12-30 | Automatic spinning conveying robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011629405.3A CN113668102B (en) | 2020-12-30 | 2020-12-30 | Automatic spinning conveying robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113668102A CN113668102A (en) | 2021-11-19 |
| CN113668102B true CN113668102B (en) | 2022-08-23 |
Family
ID=78537999
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011629405.3A Active CN113668102B (en) | 2020-12-30 | 2020-12-30 | Automatic spinning conveying robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113668102B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102022111675A1 (en) * | 2022-05-10 | 2023-11-16 | Trützschler Group SE | Self-propelled vehicle for transporting a receptacle for a sliver and can device with a receptacle |
| WO2023217669A1 (en) | 2022-05-10 | 2023-11-16 | Trützschler Group SE | Self-driving vehicle for transporting a receiving container for a sliver, and can device comprising a receiving container |
Citations (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB1026517A (en) * | 1963-02-28 | 1966-04-20 | P Az Stabilimenti Tessili Ital | An improved sliver feed mechanism |
| US4977738A (en) * | 1988-02-19 | 1990-12-18 | Hans Stahlecker | Process and a machine arrangement for sliver processing |
| US5636411A (en) * | 1992-12-23 | 1997-06-10 | Rieter Ingolstadt Spinnereimaschinenbau Ag | Device for the automatic introduction of a fiber sliver |
| DE19713859A1 (en) * | 1997-04-04 | 1998-10-15 | Manfred Langen | Transport and storage system for spinning cans |
| GB0620181D0 (en) * | 2005-10-12 | 2006-11-22 | Truetzschler Gmbh & Co Kg | Apparatus in a spinning room for transporting a can-less fibre sliver package |
| EP2966201A2 (en) * | 2014-06-11 | 2016-01-13 | Saurer Germany GmbH & Co. KG | Semi-automatic opening rotor spinning machine |
| CN105401275A (en) * | 2015-10-19 | 2016-03-16 | 陕西宝成航空仪表有限责任公司 | Control method used for moving trolley of full-automatic intelligent spinning machine |
| CN206955369U (en) * | 2017-06-28 | 2018-02-02 | 江东科技有限公司 | The device of the disconnected fine upper machine that do not slow down after a kind of traction |
| CN110064639A (en) * | 2018-01-22 | 2019-07-30 | 龙达纺织有限公司 | System and method for recycling fiber from waste textile |
| CN110424075A (en) * | 2019-09-04 | 2019-11-08 | 中国科学院重庆绿色智能技术研究院 | A kind of textile machinery people host computer intelligently doffs control system and method |
| CN110424076A (en) * | 2019-09-04 | 2019-11-08 | 中国科学院重庆绿色智能技术研究院 | A kind of textile machinery people slave computer intelligently doffs control system and method |
| EP3620415A1 (en) * | 2018-09-10 | 2020-03-11 | Maschinenfabrik Rieter AG | Method for feeding a sleeve to a side of a two-sided textile machine and device for feeding a sleeve to a side of a two-sided textile machine |
| CN111394842A (en) * | 2020-05-21 | 2020-07-10 | 邱丽遐 | Sliver can sliver reading device and identification method |
| CN111519290A (en) * | 2020-06-05 | 2020-08-11 | 邱丽遐 | Automatic can conveying system, conveying method and fiber strip feeding and jointing method |
-
2020
- 2020-12-30 CN CN202011629405.3A patent/CN113668102B/en active Active
Patent Citations (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB1026517A (en) * | 1963-02-28 | 1966-04-20 | P Az Stabilimenti Tessili Ital | An improved sliver feed mechanism |
| US4977738A (en) * | 1988-02-19 | 1990-12-18 | Hans Stahlecker | Process and a machine arrangement for sliver processing |
| US5636411A (en) * | 1992-12-23 | 1997-06-10 | Rieter Ingolstadt Spinnereimaschinenbau Ag | Device for the automatic introduction of a fiber sliver |
| DE19713859A1 (en) * | 1997-04-04 | 1998-10-15 | Manfred Langen | Transport and storage system for spinning cans |
| GB0620181D0 (en) * | 2005-10-12 | 2006-11-22 | Truetzschler Gmbh & Co Kg | Apparatus in a spinning room for transporting a can-less fibre sliver package |
| EP2966201A2 (en) * | 2014-06-11 | 2016-01-13 | Saurer Germany GmbH & Co. KG | Semi-automatic opening rotor spinning machine |
| CN105401275A (en) * | 2015-10-19 | 2016-03-16 | 陕西宝成航空仪表有限责任公司 | Control method used for moving trolley of full-automatic intelligent spinning machine |
| CN206955369U (en) * | 2017-06-28 | 2018-02-02 | 江东科技有限公司 | The device of the disconnected fine upper machine that do not slow down after a kind of traction |
| CN110064639A (en) * | 2018-01-22 | 2019-07-30 | 龙达纺织有限公司 | System and method for recycling fiber from waste textile |
| EP3620415A1 (en) * | 2018-09-10 | 2020-03-11 | Maschinenfabrik Rieter AG | Method for feeding a sleeve to a side of a two-sided textile machine and device for feeding a sleeve to a side of a two-sided textile machine |
| CN110424075A (en) * | 2019-09-04 | 2019-11-08 | 中国科学院重庆绿色智能技术研究院 | A kind of textile machinery people host computer intelligently doffs control system and method |
| CN110424076A (en) * | 2019-09-04 | 2019-11-08 | 中国科学院重庆绿色智能技术研究院 | A kind of textile machinery people slave computer intelligently doffs control system and method |
| CN111394842A (en) * | 2020-05-21 | 2020-07-10 | 邱丽遐 | Sliver can sliver reading device and identification method |
| CN111519290A (en) * | 2020-06-05 | 2020-08-11 | 邱丽遐 | Automatic can conveying system, conveying method and fiber strip feeding and jointing method |
Also Published As
| Publication number | Publication date |
|---|---|
| CN113668102A (en) | 2021-11-19 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN113668102B (en) | Automatic spinning conveying robot | |
| CN110331483B (en) | Full-flow intelligent spinning production line | |
| US4977738A (en) | Process and a machine arrangement for sliver processing | |
| CN101333702B (en) | Apparatus for the fibre-sorting or fibre-selection of a fibre bundle comprising textile fibres | |
| KR102189042B1 (en) | Wind-up system and how to wind up the strip | |
| EP3708701A1 (en) | A device, a system and method for resurrection of a yarn breakage in a ring spinning machine | |
| CN102453987B (en) | Coner | |
| JPH01201537A (en) | Spinning frame equipped with many parallelly arranged spining places | |
| US9587348B2 (en) | Cloths separating device | |
| CN110886035A (en) | Method for feeding tape ends and spinning machine | |
| CN102808247B (en) | For the aspirator of the service trolley of free-end spinning machine | |
| CN113652785B (en) | Spinning equipment with automatic cotton sliver conveying function | |
| CN112299147B (en) | Roll-up changing device | |
| CN114687023B (en) | Intelligent spinning production system and optimization method | |
| CN114687026B (en) | Full-automatic spinning management system and spinning control method | |
| US5636411A (en) | Device for the automatic introduction of a fiber sliver | |
| CN1619024A (en) | Maintaining car for free end spinning machine | |
| CN207435596U (en) | A kind of spinning unit | |
| EP0548572A1 (en) | Residual yarn removing device for various types of roving bobbin | |
| CN1986924B (en) | Method for recovery of component yarn spinning, particularly on rotor spinning machine, using a splicer, and apparatus for making the same | |
| KR940010637B1 (en) | Weft yarn supplying system for loom | |
| CN114687015B (en) | Intelligent spinning device and system of rotor spinning machine | |
| CN211733457U (en) | Yarn inserting robot | |
| CN114687016B (en) | Air suction auxiliary spinning device combined with AI | |
| CN212497521U (en) | Automatic bandage roll clamping and buckling equipment |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CP02 | Change in the address of a patent holder |
Address after: No. 798, Yuexiu Road, Lili Town, Wujiang District, Suzhou City, Jiangsu Province 215211 Patentee after: SUZHOU DUODAO AUTOMATION TECHNOLOGY CO.,LTD. Address before: 215215 FenHu science and Technology Pioneer Park, No. 558 FenHu Avenue, Lili Town, Wujiang District, Suzhou City, Jiangsu Province Patentee before: SUZHOU DUODAO AUTOMATION TECHNOLOGY CO.,LTD. |
|
| CP02 | Change in the address of a patent holder |