CN201540477U - Automatic control device of doffer - Google Patents
Automatic control device of doffer Download PDFInfo
- Publication number
- CN201540477U CN201540477U CN2009202469206U CN200920246920U CN201540477U CN 201540477 U CN201540477 U CN 201540477U CN 2009202469206 U CN2009202469206 U CN 2009202469206U CN 200920246920 U CN200920246920 U CN 200920246920U CN 201540477 U CN201540477 U CN 201540477U
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- doffer
- servomotor
- servo
- driver
- motion controller
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Abstract
The utility model relates to an automatic control device of a doffer, which belongs to the technical field of automatic control in textile industry and comprises a motion controller, a standard communication interface, a servo-driver, a laser sensor, a status display and a servomotor, wherein the motion controller is connected with the standard communication interface; the motion controller is connected with the servo-driver, the laser sensor and the status display through the standard communication interface; the servo-driver is connected with the servomotor; the servomotor is mounted in the driving position of the doffer; and the laser sensor is mounted at the front end of the doffer. The device can automatically pull cop tubes out, and has stronger maneuverability and transportability.
Description
Technical field
The utility model belongs to the technical field of automatic control of textile industry, particularly the automaton of cotton mill collective doffer.
Background technology
Textile industry is traditional industry, belong to labor-intensive and industry with comparative advantages, in recent years, rise in price along with textile raw material, energy shortage caused the relative rise of labor cost, and the automatic doffing function well reduces recruitment, raise labour efficiency, will become the development trend of the coming years.
At present, though some spinning all-in-one that doffs is being arranged, it is higher that old factory changes equipment cost, so the mode of manually doffing is still adopted in most of cotton mill, is about to full spool and pulls up and change empty spool from the spindle of spinning frame; Doffer's labour intensity is big, and efficient is low, and general cotton mill spindle number is many, and once shutting down needs several doffers to operate the work of doffing of just finishing simultaneously, has wasted too many manpower; The doffer need be operated in the high-intensity work throughout the year, easily health is caused damage, so, the development of automatic doffer to the scrap build of textile mills, raise labour efficiency, reduce labor strength, it is significant to improve robotization, the serialization of producing.
Electro-automatic doffer in the past belongs to semi-automatic doffing mostly, needs the manual operation mechanical part to realize in the operating process.Stronger, the more reliable full-automatic doffer of a kind of adaptability (seeing that the patent No. is 94110816.3 " autocontrol method of electro-automatic doffer and device thereof ") appears in recent years but the shortcoming of said apparatus also clearly: that its core control system adopts is PC able to programme, the control circuit more complicated, outside need is installed a plurality of feelers and is detected the pipe extractor position feedback and return PC able to programme, and PC able to programme unites for the control motor and realizes that complicated motion is difficult; The motor that this device adopts is common alternating current generator, and the positional precision of operation and reaction velocity are fast inadequately; What its display device adopted is light emitting diode, and function and show state are relatively more dull.
Summary of the invention
The purpose of this utility model is in order to overcome the weak point of prior art, to design a kind of automaton of doffer.This device spool of can choosing automatically has stronger operability and portability.
The automaton of the doffer of the utility model design is characterized in that this device comprises motion controller, standard communication interface, servo-driver, laser sensor, status displays, servomotor; Wherein, motion controller links to each other with standard communication interface, and motion controller links to each other with servo-driver, laser sensor, status displays by standard communication interface, and servo-driver links to each other with servomotor; Servomotor is contained in respectively on the activation point of doffer, and laser sensor is installed in the front end of doffer.
Characteristics of the present utility model and beneficial effect:
The utility model is different fully with in the past doffer automaton and surmounted the automaton of doffer in the past, has stronger operability.And this automaton has very strong portability, and is significant to the electrification innovation of old-fashioned automatic doffer.
Description of drawings
Fig. 1 is the structured flowchart of the automaton of the utility model collective doffer.
Fig. 2 is the wiring scheme of the utility model servo-driver.
Fig. 3 is the utility model control method programmed logic figure.
Embodiment
The structure of the automaton of doffer of the present utility model comprises motion controller, standard communication interface, servo-driver, laser sensor, status displays, servomotor as shown in Figure 1; Wherein, motion controller links to each other with standard communication interface, and motion controller links to each other with servo-driver, laser sensor, status displays by standard communication interface, and servo-driver links to each other with servomotor; Motion controller is controlled servomotor by servo-driver; The state that status displays is used to finish self check, duty and the communication state etc. of automatic doffer automaton shows; Servomotor is contained on the activation point of doffer, and laser sensor is installed in the front end of doffer, and the spindle root is detected to reach the purpose of accurate counting.
Parts and the function declaration of the embodiment of present embodiment are as follows:
Motion controller adopts Schneider LMC20 programmable automatic controller PAC, has ease for use, stability is stronger and locatees more accurate faster, the more reliable servomotor of operation; So can drive motor realize more complicated circular interpolation, thereby avoided occurring needing leaning on a large amount of sensors, saved the use of sensor and increased the operational efficiency of program to the situation that the walking position of whole motor positions;
Servo-driver adopts the LXM05A servo-driver;
Standard communication interface is serial line interface RS-232 and the local area network bus interface CAN that is connected in controller, by the CAN bus servomotor is carried out web pages control;
Status displays adopts the touch panel display device of the logical MT6050i of prestige human relations, is connected to PAC by the CAN bus, most operation can be realized by touch-screen.
Servomotor adopts Schneider BSH serial motors BSH0551T02F2A; Present embodiment adopts four servomotors, is contained in four diverse locations of doffer respectively, and wherein a servomotor is contained on the doffer leading portion crossbeam, is responsible for promoting doffer at the uniform velocity to overtake; Another servomotor is responsible for following the tracks of the spindle speed reverse direction operation makes the yarn feeding device that pulls out of doffer keep relative static in the tube drawing stage with spool; All the other two servomotors be responsible for jointly controlling pull out yarn feeding device make its according to the rules route do the camber line interpolation and carry out tube drawing, have the location more accurate faster, move more reliable characteristics.
Laser sensor adopts nation to receive M12 series sensor M126E2LDQ.
The wiring scheme of servo-driver of the present utility model as shown in Figure 2, three input end R/L1, S/L2, T/L3 of servo-driver connect outside 380V alternating current and are responsible for providing main to servo-driver, three output terminal U/T1, V/T2, W/T3 link to each other with servomotor, are responsible for powering to servomotor; 42,44 pins of servo-driver connect outside 24V direct current and are responsible for providing light current to servo-driver, and the BRAKE_OUT pin provides control signal for outside servomotor band-type brake system, and LIMN and LIMP are respectively outside servomotor positive and negative limit signal is provided; The CN4 of servo-driver links to each other with control nucleus movement controller by standard communication interface (RS485-RS232 converting interface) and transmits data.
The control program of motion controller of the present utility model as shown in Figure 3, after doffer is brought to track, select automatic mode, press start button, dolly enters the automatic method of operation, the main shaft drives dolly at the uniform velocity to overtake, spindle detection laser sensor is after synchronizing signal, dolly begins to move in the other direction with spindle speed from axle, simultaneously synchronizing signal is given to reach and is pulled out yarn feeding device control motor, makes to pull out yarn feeding device and begin to do the tube drawing motion, after pulling out yarn feeding device and finishing the tube drawing motion, dolly is from axle fast return initial position, for next tube drawing is prepared.After all spindles have been pulled out in detection, EOP (end of program).
Principle of work of the present utility model:
The utility model is to the corollary apparatus of existing doffer (is 200820136492.7 " automatic doffers " as the patent No.).
During the work of this automaton, doffer is close to the spindle side at the uniform velocity to overtake along track, after servo motion controller is received the synchronization action signal that laser sensor sends, doffer begins action from spindle motor, make the yarn feeding device that pulls out of doffer keep relative static with the spool that will pull out in the tube drawing stage, the motor that the yarn feeding device motion is pulled out in control simultaneously also begins action, it is moved according to fixed route, after pulling out yarn feeding device and running to the tube drawing position, motion controller sends a high level signal, make and pull out yarn feeding device and step up spindle, after simultaneously returning initial position according to original route, pull out the spool that yarn feeding device unclamps clamping, so far one is pulled out the yarn cycle and finishes, doffer waits for that at the uniform velocity forward the arrival of next synchronization action signal carries out the next cycle again, until the end of doffing of all spindles.
Laser sensor is installed in the quantity of spindle of the front-end detection doffer process of doffer, after reaching some, the number of spindle unit of doffer process (depends on a tube drawing quantity of pulling out yarn feeding device), laser sensor is sent out a high level signal to motion controller, motion controller is made correction according to the encoder position of doffer walking main axle servo motor again, when outside laser sensor signal and doffer spindle encoder position reach requirement simultaneously, motion controller sends action command, and doffer begins synchronously and pull out yarn feeding device to begin to move tube drawing from axle.
Claims (3)
1. the automaton of a doffer is characterized in that, this device comprises motion controller, standard communication interface, servo-driver, laser sensor, status displays, servomotor; Wherein, motion controller links to each other with standard communication interface, and motion controller links to each other with servo-driver, laser sensor, status displays by standard communication interface, and servo-driver links to each other with servomotor; Servomotor is contained in respectively on the activation point of doffer, and laser sensor is installed in the front end of doffer.
2. device as claimed in claim 1 is characterized in that, described motion controller adopts programmable automatic controller.
3. device as claimed in claim 1 is characterized in that, described servomotor adopts four, is contained in four diverse locations of doffer respectively.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009202469206U CN201540477U (en) | 2009-11-13 | 2009-11-13 | Automatic control device of doffer |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009202469206U CN201540477U (en) | 2009-11-13 | 2009-11-13 | Automatic control device of doffer |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN201540477U true CN201540477U (en) | 2010-08-04 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2009202469206U Expired - Fee Related CN201540477U (en) | 2009-11-13 | 2009-11-13 | Automatic control device of doffer |
Country Status (1)
| Country | Link |
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| CN (1) | CN201540477U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102634891A (en) * | 2012-04-25 | 2012-08-15 | 铜陵市松宝机械有限公司 | Automatic control device for doffer |
| CN106995955A (en) * | 2017-04-10 | 2017-08-01 | 中国地质大学（武汉） | A kind of automatic doffer with vision |
| CN109837622A (en) * | 2017-11-24 | 2019-06-04 | 铜陵松宝智能装备股份有限公司 | A kind of monitoring device and control method for the intelligent robot that doffs |
-
2009
- 2009-11-13 CN CN2009202469206U patent/CN201540477U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102634891A (en) * | 2012-04-25 | 2012-08-15 | 铜陵市松宝机械有限公司 | Automatic control device for doffer |
| CN106995955A (en) * | 2017-04-10 | 2017-08-01 | 中国地质大学（武汉） | A kind of automatic doffer with vision |
| CN109837622A (en) * | 2017-11-24 | 2019-06-04 | 铜陵松宝智能装备股份有限公司 | A kind of monitoring device and control method for the intelligent robot that doffs |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20100804 Termination date: 20111113 |