CN116497482A - Continuous operation automatic doffing trolley and doffing control method - Google Patents

Abstract

The invention provides an automatic doffing trolley for continuous operation and a doffing control method, wherein the trolley comprises an operation main body, a tube grabbing device, a displacement control device, a storage device, a continuous doffing device and a driving shape; wherein, the target object is controlled to enter the storage device in sequence through the continuous doffing device; the driving device comprises a first driving component and a second driving component, wherein the first driving component controls the conveying components to move directionally to realize the discharging of the target objects, and the second driving component controls the two conveying components to be opposite to the upper parts of different storage areas. The invention can realize continuous and orderly blanking of the bobbins, separate stacking of the bobbins is realized in the doffing process, the doffing efficiency is improved, and the stability of the bobbins is ensured.

Description

Continuous operation automatic doffing trolley and doffing control method

Technical Field

The invention relates to the technical field of spinning equipment, in particular to an automatic doffing trolley for continuous operation and a doffing control method.

Background

In the spinning production process, spun yarns are collected along with rotation of the bobbins, and after the bobbins are collected, the bobbins are required to be broken and taken down in time, so that continuous production of the spinning production line is ensured.

The problems of manual yarn breakage and low tube drawing efficiency of the traditional spinning production line can be well solved through the doffing trolley, and continuous tube drawing, tube falling and tube inserting processes can be realized in the process that the doffing trolley walks along the production line; the doffing trolley developed by some enterprises is provided with a plurality of tube grippers on the surface, so that a plurality of bobbins can be gripped and collected in the moving process, and the doffing efficiency is greatly improved; however, the traditional doffing trolley lacks a secondary doffing assembly, in the primary doffing process, a plurality of groups of bobbins directly fall into a collecting container below in a disordered manner, and the bobbins are randomly stacked to form gaps, so that the collecting efficiency of the collecting container is directly limited, and the containing amount is greatly reduced; and the unordered bobbins put together lack of spacing, shake easily takes place at doffing dolly in-process that removes, collide friction each other between the spool, influences the quality of finished yarn.

Disclosure of Invention

According to the automatic doffing trolley and the doffing control method for continuous operation, continuous and orderly doffing of the bobbins can be achieved, separate stacking of the bobbins is achieved in the doffing process, doffing efficiency is improved, and stability of the bobbins is guaranteed.

In order to solve the problems, the invention adopts the following technical scheme:

an automatic doffing cart for continuous operation, comprising:

a work main body: for mounting doffing equipment;

pipe grabbing device: the device is used for grabbing a target object;

displacement control device: the pipe grabbing device is arranged between the operation main body and the pipe grabbing device and used for controlling the pipe grabbing device to move so as to achieve a target object grabbing process;

a storage device: the storage device is arranged at the lower end of the inside of the operation main body and is used for storing a target object and is provided with a plurality of vertically arranged storage sections;

continuous doffing device: the device is arranged between the pipe grabbing device and the storage device and is used for controlling the target objects to sequentially enter the storage device; the continuous doffing device comprises two groups of conveying components, wherein the two groups of conveying components are positioned at two sides of the inside of the operation main body and are movably arranged, the two conveying components are provided with conveying tail ends, and a preset interval is formed between the two conveying tail ends to form a feed opening;

a driving device: the driving device comprises a first driving component and a second driving component, wherein the first driving component controls the conveying component to directionally move so as to realize the discharging of the target object; the second driving assembly controls the two conveying assemblies to be opposite to the upper part of different storage intervals.

Preferably, the pipe grabbing device comprises a pipe grabbing mounting base and a plurality of pipe grabbers, wherein the pipe grabbers are linearly arranged along the pipe grabbing mounting base.

Preferably, the displacement control device comprises a first bit control component and a second bit control component, wherein the first bit control component is provided with a first control end, and the first control end is connected with the second bit control component and used for driving the second bit control component to linearly move along a first direction; the second control component is provided with a second control end, wherein the second control end is connected with the pipe grabbing device and used for driving the pipe grabbing device to linearly move along a second direction.

Preferably, a temporary storage device is installed inside the working body, and the temporary storage device is located above the continuous doffing device and is used for storing the target object.

Preferably, the temporary storage device comprises a temporary storage mounting plate, a plurality of strip-shaped openings are formed in the surface of the temporary storage mounting plate, and a guide hopper which is vertically communicated is arranged at the upper ends of the strip-shaped openings.

Preferably, a limiting component is arranged in the guide hopper and is positioned on the moving path of the target object and used for controlling the discharging of the target object, the limiting component comprises a limiting air bag, and the limiting air bag is externally connected with the air pumping device to form a control loop.

Preferably, an air guide control component is arranged between the two groups of conveying components, the air guide control component is connected in series in the control loop and has a conducting state and a closing state, the two groups of conveying components are in the conducting state when in the conveying state, and the air guide displacement control device is in the closing state when the two groups of conveying components are in the conveying state.

Preferably, the conveying assembly comprises a first movable conveying roller and a second movable conveying roller, a conveying belt is sleeved between the first movable conveying roller and the second movable conveying roller, a first fixed conveying roller and a second fixed conveying roller which are matched with the conveying belt are rotatably connected to the inner wall of the operation main body, and the inner wall of the operation main body is provided with a first adjusting assembly and a second adjusting assembly which cooperatively control the first movable conveying roller and the second movable conveying roller to move.

A doffing control method comprising the steps of:

s1: grabbing a target object; the displacement control device is used for controlling the pipe grabbing device to move to one side of the target object, and the grabbing target object moves to a preset position above the storage device;

s2: conveying a target object; after the target object moves to a preset position above the storage device, controlling the target object to fall off to the surface of the conveying assembly; the two conveying components are controlled to move directionally in sequence, so that continuous blanking of the target object is realized.

Preferably, after the target object in S2 moves to a predetermined position above the storage device, the target object is controlled to be blanked onto the surface of the temporary storage device to realize temporary storage.

The beneficial effects of the invention are as follows:

1. by arranging the continuous doffing device, in the doffing process, a blanking opening is formed by controlling a preset interval between the two conveying components, so that bobbins on the surface of the bobbin can be conveyed in an oriented manner, a plurality of bobbins can be sequentially and orderly dropped into a storage interval to be accommodated, and a continuous and stable doffing process of the bobbins is realized; the feeding hole can be controlled to be opposite to the surfaces of different storage intervals by the driving device, and target objects can be sequentially placed in the different storage intervals, so that orderly stacking of bobbins is realized; through setting up a plurality of storage intervals that vertically arrange, and can place the spool in storage interval in order through continuous doffing device, can carry out orderly stacking to a plurality of spools, reduce the clearance between the spool, guarantee spool stacking stability; the yarn bobbins are stored through the storage intervals which are arranged in a separated mode, the adjacent yarn bobbins can be supported, and stability of the yarn bobbins in the moving process of the doffing trolley is guaranteed.

2. The bobbin grippers are arranged to grip a plurality of bobbins at a time, so that doffing efficiency is improved; and can carry out temporary storage bearing to a plurality of cops through setting up temporary storage device, can improve the transportation volume of cop, avoid appearing no pipe can fall or the problem of stopping waiting, when guaranteeing the normal doffing of equipment, guaranteed the efficiency maximize of doffing, guaranteed the normal operating of whole equipment.

3. Through being provided with spacing gasbag in the guide hopper, spacing gasbag can be adjusted according to the position state between the conveying subassembly, and it can carry out automatic control to the gasbag in the guide hopper according to conveying subassembly's the conveying state, has improved the harmony of whole equipment control, has reduced control process, has improved automatic efficiency.

Drawings

FIG. 1 is a schematic perspective view of the present invention;

FIG. 2 is a schematic diagram of a front view structure of the present invention;

FIG. 3 is a schematic side view of the present invention;

FIG. 4 is a schematic top view of the present invention;

FIG. 5 is a schematic rear view of the present invention;

FIG. 6 is a schematic view of A-A cross-sectional structure of the present invention.

In the figure: 100. a work main body; 110. an adjusting component I; 120. an adjusting component II; 200. a pipe grabbing device; 210. a pipe grabbing mounting base; 220. a pipe gripper; 300. a displacement control device; 310. a first bit control assembly; 311. controlling the first tail end; 320. a second bit control component; 321. a second control end; 400. temporary storage means; 410. temporary storage mounting plates; 420. a strip-shaped opening; 430. a guide hopper; 431. a limit component; 500. a storage device; 510. a storage section; 511. a blanking box; 600. continuous doffing device; 610. a first movable conveying roller; 620. a first fixed conveying roller; 630. a fixed conveying roller II; 640. a conveyor belt; 650. a second movable conveying roller; 700. and a feed opening.

Description of the embodiments

The invention will be further described with reference to the drawings and examples.

Referring to fig. 1 to 6, an automatic doffing cart for continuous operation includes an operation body 100, a tube grabbing device 200, a displacement control device 300, a storage device 500, a continuous doffing device 600, and a driving device, wherein the operation body 100 is used for installing doffing equipment, and a traveling unit is arranged at the bottom end of the operation body 100, which can control the whole to move directionally along a production line, so as to realize continuous doffing; the bobbin gripping device 200 is used for gripping a bobbin (hereinafter referred to as a target object). The tube grasping device 200 has a grasping state and a releasing state, and is fixed with the top end of the target object in the grasping state to realize a tube grasping process; the displacement control device 300 is installed between the working body 100 and the pipe grabbing device 200, and is used for controlling the pipe grabbing device 200 to move so as to achieve a grabbing process, in the moving process, the displacement control device 300 controls the pipe grabbing device 200 to be located at different positions, to and fro between the production line and the working body 100, so that the conveying of grabbing objects is achieved, and in the moving process along the production line, the continuous doffing process is achieved.

The storage device 500 is used for storing objects, is mounted at the lower end inside the working body 100 and is provided with a plurality of vertically arranged storage sections 510, and an open-arrangement blanking box 511 is arranged at the upper end of each storage section 510, so that the accuracy of object blanking can be improved, the objects can be respectively stored by arranging the plurality of storage sections 510, orderly accommodation of the objects can be realized, the utilization of the internal space is improved, damage caused by shaking and mutual collision of the objects in the storage and movement process is avoided, and the quality of products is improved.

In order to solve the problem of random doffing in the traditional doffing process while ensuring normal doffing efficiency, a continuous doffing device 600 is arranged between the tube grabbing device 200 and the storage device 500 and is used for controlling the targets to sequentially enter the storage device 500 and controlling the targets to sequentially feed; the continuous doffing device 600 comprises two groups of conveying components, wherein the two groups of conveying components are positioned at two sides of the inside of the operation main body 100 and are movably arranged, the two conveying components are provided with conveying tail ends, the positions of the conveying tail ends of the two conveying components are opposite, a preset interval is reserved between the two conveying tail ends to form a blanking opening 700, the two conveying tail ends are controlled to be positioned at different positions to form blanking openings 700 with different widths and sizes, and the two conveying tail ends can be matched with the size of a target object to realize effective blanking; in the doffing and blanking process, the grabbing pipe device 200 drops objects on the surfaces of the conveying components, the objects are distributed in a regular linear array, then the two groups of conveying components are controlled to be started successively, the blanking process of the objects on the surfaces of the conveying components is sequentially achieved, a plurality of objects drop into corresponding storage intervals 510 in sequence, and the regular blanking of the objects is achieved.

The driving device comprises a first driving component and a second driving component, wherein the first driving component controls the conveying component to directionally move so as to realize the discharging of the target object; the second driving assembly controls the two conveying assemblies to be opposite to the upper end positions of different storage intervals 510, and after the storage of the first storage interval 510 is finished, the two groups of conveying assemblies are controlled to move at the moment, namely the blanking opening 700 is controlled to be positioned at different positions corresponding to the position of the next storage interval 510, so that a target object falls into the next storage interval 510, and the continuous blanking process is realized.

With particular reference to fig. 4; the pipe grabbing device 200 comprises a pipe grabbing mounting seat 210 and a plurality of pipe grabbing devices 220, the pipe grabbing devices 220 are linearly arranged along the pipe grabbing mounting seat 210, a telescopic device is arranged in the pipe grabbing devices 220, the pipe grabbing devices 200 can be controlled to be in a grabbing state or a loosening state, a pipe grabbing or loosening process is achieved, a plurality of pipe grabbing devices 220 are linearly distributed along the pipe grabbing mounting seat 210, the number of grabbing pipes at one time can be increased, and the pipe grabbing and doffing efficiency is improved.

The displacement control device 300 comprises a first bit control component 310 and a second bit control component 320, wherein the first bit control component 310 is provided with a first control terminal 311, and the first control terminal 311 is connected with the second bit control component 320 and is used for driving the second bit control component 320 to linearly move along a first direction, namely to linearly move along a vertical direction, so as to realize the lifting of a target object; the second position control component 320 has a second control end 321, where the second control end 321 is connected to the pipe grabbing device 200 and used for driving the pipe grabbing device 200 to linearly move along the second direction, i.e. to stretch along the front-back direction, so that the target object approaches the working body 100, and the first position control component 310 and the second position control component 320 can be formed by selecting components such as an electric sliding rail and an electric telescopic rod, so as to control the related target object to linearly move, thereby realizing the pipe grabbing control process.

The temporary storage device 400 is arranged in the operation main body 100, the temporary storage device 400 is positioned above the continuous doffing device 600 and is used for storing a target object, and the temporary storage device 400 is arranged to temporarily store the target object so as to ensure the coordinated operation between the tube grabbing device 200 and the continuous doffing device 600, so that the blanking doffing speed difference of the tube grabbing device 200 and the continuous doffing device 600 can be made up, the normal doffing of the whole mechanism is ensured, the problem of tubeless doffing or parking waiting is avoided, and the maximization of doffing efficiency is ensured while the normal doffing of equipment is ensured.

The temporary storage device 400 comprises a temporary storage mounting plate 410, wherein a plurality of strip-shaped openings 420 are formed in the surface of the temporary storage mounting plate 410, and the size of each strip-shaped opening 420 is larger than that of a target object so as to ensure normal blanking of the target object; the upper end of the strip-shaped opening 420 is provided with the guide hopper 430 which is vertically penetrated, the guide hopper 430 is also in a funnel shape with a large top end opening and a small lower end, the blanking accuracy can be improved, and the blanking conveying efficiency is improved.

A limiting component 431 is arranged in the guide hopper 430, the limiting component 431 is positioned on the moving path of the target object and is used for controlling the target object to be fed, when the target object on the surface of the continuous doffing device 600 is not completely conveyed, the limiting component 431 is in a limiting working state, at the moment, the target object in the guide hopper 430 cannot descend and is temporarily stored in the guide hopper 430, the target object cannot descend, and the normal feeding of the front batch of target object and the rear batch of target object is ensured; the limiting component 431 comprises a limiting air bag, the limiting air bag is externally connected with a pumping device to form a control loop, the pumping device is connected with the limiting air bag through a connecting pipeline, and the pumping device is in different working states to control the limiting air bag to be in different working states so as to realize a limiting state or a blanking state.

An air guide control component is arranged between the two groups of conveying components, the air guide control component is connected in series in the control loop and has a conducting state and a closing state, the two groups of conveying components are in the conducting state when in the conveying state, the air guide control component is in the closing state when the two groups of conveying components are in the conveying state, an air leakage opening is formed in the surface of the limiting air bag, when the air guide control component is in the closing state, air in the limiting air bag continuously flows away at the moment, the limiting air bag is atrophic, and the target object falls onto the surface of the continuous doffing device 600 after being limited and disappeared; when the air guide control component is in a conducting state, the limiting air bag is in an expanded state, the limiting air bag can limit the target object at the moment, the limiting stability is ensured,

it should be noted that, when the conveying components are in the conveying state, a predetermined opening is formed between the two conveying components to form a feeding opening 700, and the material is fed normally; when the conveying components are in the conveying state II, the two conveying components are close to each other and are in a closed state, the blanking opening 700 is closed and disappears, and the two conveying components are in a stop receiving state without conveying; when the conveying state II is in a state of being close to the conveying assembly, the conveying assembly can play a role in supporting at the moment, can support the target object, avoid the target object to directly fall into the storage section 510, and realize the follow-up orderly stable blanking due to the fact that the target object is buffered and stepped down.

The air guide control component can select a position control valve, the position control valve can be controlled in a telescopic mode, the telescopic tail end and the base end of the position control valve are respectively connected with different conveying components, when the position control valve is in a unfolding state, the position control valve is conducted at the moment, and the air bag limiting is realized in a state that the feed opening 700 is opened; when the position control valve is in a contracted state, the position control valve is closed at the moment, and the contraction of the air bag is realized when the feed opening 700 is closed, so that the normal feeding of a target object is ensured; through the setting mode, the automatic control process can be realized, the overall cooperative control effect is improved, the failure rate is low, and the overall control efficiency is high.

As a preferred mode of delivery; the conveying assembly comprises a first movable conveying roller 610 and a second movable conveying roller 650, a conveying belt 640 is sleeved between the first movable conveying roller 610 and the second movable conveying roller 650, a first fixed conveying roller 620 and a second fixed conveying roller 630 which are matched with the conveying belt 640 are rotatably connected to the inner wall of the operation main body 100, the first fixed conveying roller 620 and the second fixed conveying roller 630 are externally connected with a power source, so that the transmission of the conveying belt 640 can be realized, the trend of the conveying belt 640 can be changed, the conveying belt 640 can be arranged according to fig. 6, and the conveying belt 640 is controlled to be in an L-shaped state so as to realize the maximum utilization of the internal space of the operation main body 100; the first movable conveying roller 610 and the second movable conveying roller 650 can be used for adjusting the position of the conveying belt 640, the first movable conveying roller 610 plays a role in position control, the conveying belt 640 realizes tensioning control in the process of synchronously moving, and the conveying belt 640 is ensured to be in a tensioning conveying state; the first adjusting component 110 and the second adjusting component 120 are disposed on the inner wall of the working body 100 to cooperatively control the first moving conveying roller 610 and the second moving conveying roller 650 to move, the first adjusting component 110 is disposed horizontally, the second adjusting component 120 is disposed vertically and can be an electric sliding rail, and the electric sliding rail is rotationally connected with the corresponding first moving conveying roller 610 or the second moving conveying roller 650, so as to realize a cooperative control process and ensure that the conveying belt 640 is in an optimal tensioning conveying state.

A doffing control method comprising the steps of:

s1: grabbing a target object; the displacement control device is used for controlling the pipe grabbing device to move to one side of the target object, and the grabbing target object moves to a preset position above the storage device; the pipe grabbing device is controlled through the displacement control device, the pipe grabbing device moves to one side of a target object of a production line to grab the target object, resets after grabbing the target object, and moves to the upper portion of the storage device to realize one-time grabbing process.

S2: conveying a target object; after the target object moves to a preset position above the storage device, controlling the target object to fall on the surface of the conveying assembly, wherein the installation and grabbing state of the target object is linearly arranged on the surface of the conveying assembly, and a plurality of target objects are linearly arranged in an array; after the objects are placed stably, the two conveying assemblies are controlled to move directionally in sequence, so that continuous blanking of the objects is realized, namely, the conveying assemblies are controlled to move directionally, the objects on two sides move towards the direction of the blanking opening in the middle in sequence, a continuous and orderly blanking process is realized, the objects fall into a storage interval in order, and an orderly blanking and automatic stacking process is realized.

After the target object moves to a preset position above the storage device in the S2, the target object is controlled to be blanked to the surface of the temporary storage device to realize temporary storage, and the temporary storage device is arranged to temporarily store a plurality of target objects, so that the problem that no pipe can fall or stop waiting is avoided, normal doffing of equipment is ensured, and simultaneously, the maximization of doffing efficiency is ensured.

The foregoing description of the preferred embodiments of the invention is not intended to limit the invention to the precise form disclosed, and any such modifications, equivalents, and alternatives falling within the spirit and scope of the invention are intended to be included within the scope of the invention.

Claims (10)

1. An automatic doffing cart for continuous operation, comprising:

a work body (100): for mounting doffing equipment;

pipe grabbing device (200): the device is used for grabbing a target object;

displacement control device (300): the pipe grabbing device is arranged between the working body (100) and the pipe grabbing device (200) and used for controlling the pipe grabbing device (200) to move so as to achieve a target object grabbing process;

storage device (500): the storage device is arranged at the lower end of the inside of the working body (100) and is used for storing a target object and is provided with a plurality of vertically arranged storage sections (510);

continuous doffing device (600): is arranged between the pipe grabbing device (200) and the storage device (500) and is used for controlling the target objects to sequentially enter the storage device (500); the continuous doffing device (600) comprises two groups of conveying components, wherein the two groups of conveying components are positioned at two sides of the inside of the operation main body (100) and are movably arranged, the two conveying components are provided with conveying tail ends, and a feed opening (700) is formed between the two conveying tail ends at a preset interval;

a driving device: the driving device comprises a first driving component and a second driving component, wherein the first driving component controls the conveying component to directionally move so as to realize the discharging of the target object; the two transport assemblies are controlled by a second drive assembly to oppose over different storage intervals (510).

2. The continuous operation automatic doffing cart of claim 1, wherein said tube gripping device (200) comprises a tube gripping device mount (210) and a plurality of tube grippers (220), said tube grippers (220) being arranged linearly along said tube gripping device mount (210).

3. The continuous operation automatic doffing cart of claim 1, wherein the displacement control device (300) comprises a first position control component (310) and a second position control component (320), the first position control component (310) having a first control end (311), wherein the first control end (311) is connected to the second position control component (320) for driving the second position control component (320) to move linearly along a first direction; the second bit control assembly (320) is provided with a second control end (321), wherein the second control end (321) is connected with the pipe grabbing device (200) in an end to drive the pipe grabbing device (200) to linearly move along a second direction.

4. The automatic doffing cart for continuous operation according to claim 1, wherein the operation body (100) is internally provided with a temporary storage device (400), and the temporary storage device (400) is located above the continuous doffing device (600) for storing the target object.

5. The continuous operation automatic doffing trolley according to claim 4, wherein the temporary storage device (400) comprises a temporary storage mounting plate (410), a plurality of strip-shaped openings (420) are formed in the surface of the temporary storage mounting plate (410), and a guide hopper (430) penetrating up and down is arranged at the upper end of each strip-shaped opening (420).

6. The continuous operation automatic doffing trolley according to claim 5, wherein a limiting component (431) is arranged in the guide hopper (430), the limiting component (431) is located on a moving path of a target object and used for controlling the target object to be fed, the limiting component (431) comprises a limiting air bag, and the limiting air bag is externally connected with a pumping device to form a control loop.

7. The continuous operation automatic doffing trolley according to claim 6, wherein an air guide control assembly is arranged between the two groups of conveying assemblies, the air guide control assembly is connected in series in the control loop and has a conducting state and a closing state, the two groups of conveying assemblies are in the conducting state when the two groups of conveying assemblies are in the conveying state, and the air guide displacement control device (300) is in the closing state when the two groups of conveying assemblies are in the conveying state.

8. The continuous operation automatic doffing trolley according to claim 1, wherein the conveying assembly comprises a first movable conveying roller (610) and a second movable conveying roller (650), a conveying belt (640) is sleeved between the first movable conveying roller (610) and the second movable conveying roller (650), a first fixed conveying roller (620) and a second fixed conveying roller (630) which are matched with the conveying belt (640) are rotatably connected to the inner wall of the operation main body (100), and an adjusting assembly I (110) and an adjusting assembly II (120) are arranged on the inner wall of the operation main body (100) to cooperatively control the movement of the first movable conveying roller (610) and the second movable conveying roller (650).

9. The doffing control method is characterized by comprising the following steps of:

s1: grabbing a target object; the displacement control device is used for controlling the pipe grabbing device to move to one side of the target object, and the grabbing target object moves to a preset position above the storage device;

s2: conveying a target object; after the target object moves to a preset position above the storage device, controlling the target object to fall off to the surface of the conveying assembly; the two conveying components are controlled to move directionally in sequence, so that continuous blanking of the target object is realized.

10. The doffing control method according to claim 1, wherein after the target object in S2 moves to a predetermined position above the storage device, the target object is controlled to be blanked onto the surface of the temporary storage device to achieve temporary storage.