WO2011054295A1

WO2011054295A1 - Automatic doffer for ring spinning machine

Info

Publication number: WO2011054295A1
Application number: PCT/CN2010/078396
Authority: WO
Inventors: 索双富; 阮运松; 王志豪; 王腊保; 宋琳; 于庆广; 陈山; 安鹿颖
Original assignee: 铜陵市松宝机械有限公司; 清华大学
Priority date: 2009-11-04
Filing date: 2010-11-04
Publication date: 2011-05-12
Also published as: CN102560764A; CN102560765A; CN102414353A; CN102414353B

Abstract

An automatic doffer of a ring spinning machine for replacing the tubes (10) on the ring spinning machine (2) comprises a doffing dolly (1). The doffing dolly is located at one side of the ring spinning machine. A three-dimensional robot (4) is set on top of the doffing dolly, and a non-simultaneous tube drawing mechanism (5) is fixedly installed on the robot. The non-simultaneous tube drawing mechanism comprises a cross beam (51), and two fixed tube drawing devices (52) are set on the beam. Each fixed tube drawing device comprises a connecting block (53) and a mechanical arm (54). Adjustable tube drawing devices (55) are set between the two fixed tube drawing devices. Each adjustable tube drawing device comprises an upper limit plate (56) and a lower limit plate (57), and a longitudinal sliding rail (58) is connected between the upper limit plate and the lower limit plate. A longitudinal sliding block (59) is set on the sliding rail, and a back spring (60) is set between the longitudinal sliding block and the lower limit plate. A mechanical arm for grasping and putting down a tube is fixedly connected on the longitudinal sliding block. This automatic doffer has high efficiency in drawing tubes, and can prevent machine damage.

Description

Ring spinning intelligent doffer

The invention relates to a device for replacing a bobbin on a ring spinning machine, in particular to a ring spinning intelligent doffer. Background technique

At present, the new ring spinning machine has adopted automatic doffing technology such as integral doffing, and most of the old ring spinning machines used in China's spinning mills still use artificial doffing. Since the fit between the full bobbin and the spindle is very tight, when the doffing is required, a large force is required to pull the full bobbin, so that the work intensity of the artificial doffing is high, the labor cost is increased, and the production efficiency is low. Therefore, the need for automated retrofitting of the old ring spinning machine is very urgent.

In order to solve the above problems, the industry has also made many attempts, such as the use of pre-pulling secondary yarn drawing and vibration drawing, and the yarn drawing device used in these methods has a radial force on the spindle during the yarn drawing process. It is easy to collide with the spindle, it is not easy to detect the problem of the yarn drop and the low yarn pulling speed, and it is easy to cause damage to the equipment and reduce the production efficiency.

Summary of the invention

The technical problem to be solved by the present invention is to provide a ring spinning intelligent doffing machine which has high yarn drawing efficiency and is not easy to cause damage to equipment.

The ring spinning intelligent doffer of the present invention comprises a doffing trolley which is mounted on one side of a ring spinning machine by a sliding device for causing the doffing trolley to follow the ring spinning machine The lengthwise direction moves in parallel, and the doffing cart is equipped with a yarn receiving basket, wherein the doffing trolley is mounted with a three-dimensional robot, and the three-dimensional robot is fixedly mounted with a non-simultaneous extubating mechanism, and the three-dimensional robot is used to drive the non-simultaneous pulling mechanism. At the same time, the extubation mechanism moves in the three-dimensional direction of the space.

The non-simultaneous extubation mechanism comprises a cross beam, and the cross beam is fixedly mounted on one side of the ring spinning machine with two fixed extubation devices, each of the fixed extubation devices comprising a connecting block and a robot hand, The connecting block is fixedly connected to the beam, the robot hand is fixedly connected to the connecting block, and at least one movable extubating device is further arranged side by side between the two fixed pipe extruding devices, and the movable extubating device comprises a fixed connection An upper limit plate of the top surface of the beam and a lower limit plate fixedly connected to the bottom surface of the beam, wherein the upper limit plate and the lower limit plate are fixedly connected with a longitudinal sliding rail, and the longitudinal sliding rail is provided with a sliding manner along the upper and lower sides thereof a longitudinal slider, a return spring is disposed between the longitudinal slider and the lower limit plate, and the longitudinal hand slider is fixedly connected to the robot hand, and the robot hand is used for grasping the bobbin,

When the movable extubation device is one, the center distance between the movable extubation device and the two fixed extubation devices is equal, and the center distance is equal to the center distance of two adjacent bobbins on the ring spinning machine;

When the number of the active extubation devices is greater than one, a plurality of the movable extubation devices are evenly distributed between the two fixed extubation devices, and the central distance between the fixed extubation device and the immediately adjacent active extubation device and the adjacent two Center of a live extubation device The distance is equal, and the center distance is equal to the center distance of two adjacent bobbins on the ring spinning machine, and the height of the upper end surface of the lower limit plate in the plurality of movable extubation devices is from one or two movable extubates in the middle The device begins to rise or fall equidistantly to both sides.

The ring spinning intelligent doffer of the present invention, wherein the three-dimensional robot comprises an X-axis machine lever arm, two Y-axis machine lever arms and a z-axis machine lever arm, and two ends of the two Y-axis machine lever arms They are fixedly connected to the top of the doffing cart respectively. The two Y-axis machine arm arms are parallel and perpendicular to the direction of movement of the doffing cart. The two Y-axis machine arm arms are respectively mounted with a Y-axis along which they can slide. a slider, the two ends of the X-axis machine lever arm are fixedly connected to the two Y-axis sliders, the X-axis machine lever arm is parallel to the movement direction of the doffing trolley, and the X-axis machine lever arm is mounted along the same a sliding X-axis slider, the X-axis slider is fixedly connected with a z-axis slider, and the Z-axis machine lever arm is vertically arranged to cooperate with the Z-axis slider so that the Z-axis slider can slide up and down relative thereto One end of the z-axis machine lever arm is fixedly connected to the beam, and the three-dimensional robot is provided with a servo motor that drives the X-axis slider, the Y-axis slider, and the z-axis machine lever arm.

The ring spinning intelligent doffer according to the present invention, wherein the sliding device comprises an upper guide wheel, an upper guide rail, a travel drive motor, a gear and a rack, and the upper guide rail is horizontally mounted on one side of the ring spinning machine through the rail support The rack is fixedly mounted on a lower portion of the upper rail, and the two sides of the doffing cart are mounted on one side of the ring spinning machine, and two guide wheels are mounted on each of the guide wheel fixing plates. The upper guide wheel is located above the upper rail and cooperates with the upper rail. One of the guide wheel fixing plates is provided with a shaft hole. The travel drive motor is installed in the doffing trolley, and the output shaft of the travel drive motor is worn. The through shaft hole is coupled to the gear, and the gear is located below the rack and meshes with the rack.

The ring spinning intelligent doffer according to the present invention, wherein the sliding device further comprises a lower guide wheel and a lower rail, wherein the lower rail is horizontally mounted under the upper rail through the rail support, and each of the guide wheel fixing plates is mounted There are two guide wheel sliders that can slide up and down, a spring pad is mounted between the lower end of the guide wheel slider and the guide wheel fixing plate, and a lower guide wheel is mounted on each of the guide wheel sliders, The lower guide wheel is located below the lower rail and cooperates with the lower rail.

The ring spinning intelligent doffer according to the present invention, wherein a clutch is arranged between the gear and an output shaft of the travel drive motor. The ring spinning intelligent doffer according to the present invention, wherein the bottom of the lower limit plate is provided with an adjusting bolt, and the upper end of the adjusting bolt is connected to the lower end of the return spring.

The invention relates to a ring spinning intelligent doffer of the invention, wherein the robot hand adopts a cylindrical charging and discharging gas capsule or a tensioning robot.

The ring spinning intelligent doffer according to the present invention, wherein the doffing cart is further provided with two friction wheels on a side close to the ring spinning machine, and the friction wheel is in contact with a secondary rail installed at a lower portion of the ring spinning machine.

The ring spinning intelligent doffer according to the present invention, wherein a shockproof pad is disposed between the bottom of the yarn receiving basket and the doffing cart.

The ring spinning intelligent doffer according to the present invention, wherein the bottom of the doffing cart is equipped with a universal wheel on a side away from the ring spinning machine. The ring spinning intelligent doffer according to the present invention, wherein the doffing cart is further equipped with a control system, a positioning system and a detecting system, the positioning system comprising a photoelectric sensor disposed on the doffing cart and disposed on the track support Positioner For transmitting a position signal of the doffing cart to the control system, the detecting system includes a limit switch respectively disposed on the X-axis machine lever arm, the Y-axis machine lever arm and the z-axis machine lever arm, the detection system will The position signal of the three-dimensional robot is transmitted to a control system for controlling the travel drive motor and the servo motor on the three-dimensional robot.

The ring spinning intelligent doffer according to the present invention further includes an automatic conveying pipe, a pipe and a pipe insertion device, wherein the automatic pipe, the pipe and the intubating device comprise a propulsion trolley, and the propulsion trolley is arranged in the ring spinning machine On one side of the propulsion trolley, a horizontal slide rail perpendicular to the longitudinal direction of the ring spinning machine is mounted, the horizontal slide rail is provided with a horizontal slider, and the upper end of the horizontal slider is fixedly mounted with a movable bracket, An electric cylinder parallel to the horizontal slide rail is mounted in the propulsion trolley, the piston rod of the electric cylinder is connected to the movable bracket through a connecting rod, and the top of the movable bracket is installed with an empty bobbin case, the empty yarn The bottom of the pipe box is provided with an empty bobbin pipe rack, and the hollow bobbin pipe frame is provided with a bobbin channel, the width of the bobbin channel is larger than the diameter of the bobbin and less than twice the diameter of the bobbin, and two of the bobbin channels One side of the rolling roller shaft is respectively provided with a rolling roller, and one side of the bobbin channel is further provided with a first motor, and the output shaft of the first motor is provided with a columnar wheel, The wheel is parallel to the axis of the rolling roller, and the two ends of the rolling roller are respectively connected with a swinging rod, and the outer ends of the two adjacent swinging rods are connected by a first connecting rod, and the first connecting rod is connected One end is connected to one end of the second connecting rod, the other end of the second connecting rod is hinged on the end surface of the cylindrical wheel, and the lower end of the bobbin passage communicates with the upper end of the arc-shaped connecting tube passage, the arc The shape of the tube passage includes an arc-shaped support plate for supporting a bottom end of the bobbin, and an arc-shaped support rod for supporting a side of the bobbin, the arc-shaped support The lower end of the pipe passage is provided with an arc-shaped intercepting rod, and the arc-shaped intercepting rod is provided with a limiting spring for pressing the bobbin, and the arc-shaped intercepting rod and the limiting reed are used for a pre-intubation mechanism for maintaining the bobbin in a vertical state, an electromagnetic tube-operator is disposed above the pre-intubation mechanism, and the electromagnetic tube-operator is mounted on the movable bracket

The pusher trolley is further equipped with a photoelectric sensor for detecting the spindle in the vicinity of the ring spinning machine, and the automatic pipe, the pipe and the intubation device further comprise a cannula control system, and the photoelectric sensor detects the signal of the spindle Transfered to the cannula control system, the cannula control system is used to control the electromagnetic tube puller to tap down the tube and reset.

The ring spinning intelligent doffer according to the present invention, wherein the movable bracket further comprises a second motor, the output end of the second motor is provided with a conveying wheel, and the rim of the conveying wheel is provided with a plurality of The arc-shaped paddle, the pipe wheel is located on one side of the arc-shaped pipe passage, and the direction of rotation of the pipe-wheel near the side of the arc-shaped pipe is the same as the direction in which the bobbin falls.

The ring spinning intelligent doffer of the present invention is different from the prior art in that the ring spinning intelligent doffer of the present invention uses a three-dimensional robot to operate a non-simultaneous extubation mechanism to pull out the full bobbin on the ring spinning machine, instead of simultaneously The movable extubation device on the extubation mechanism can sequentially pull out a plurality of full bobbins under a small force, thereby reducing the radial vibration generated by the ring spinning machine spindle during the drawing, and improving the pulling Yarn efficiency.

The automatic conveying pipe, the discharging pipe and the intubating device in the ring spinning intelligent doffer of the invention convey the bobbin from the horizontally placed empty bobbin case to the vertical setting in the ingot by the rolling roller and the arc conveying pipe passage In the upper pre-intubation mechanism, in the electromagnetic tube Under the action of the device, the bobbin is inserted into the spindle of the ring spinning machine, thereby realizing the operation of the automatic pipe, the pipe and the cannula. The ring spinning intelligent doffer of the present invention will be further described below with reference to the accompanying drawings.

DRAWINGS

Figure 1 is a side view of a doffing trolley in a ring spinning intelligent doffer according to the present invention;

Figure 2 is a front view of the non-simultaneous extubation mechanism of the ring spinning intelligent doffer according to the present invention;

Figure 3 is a front elevational view of the movable extubation device of the ring spinning intelligent doffer according to the present invention;

Figure 4 is a side view of the movable extubation device of the ring spinning intelligent doffer according to the present invention;

Figure 5 is a plan view of the fixed pipe extruding device in the ring spinning intelligent doffer according to the present invention;

Figure 6 is a front view of the three-dimensional robot in the ring spinning intelligent doffer according to the present invention;

Figure 7 is a plan view of a three-dimensional robot in a ring spinning intelligent doffer according to the present invention;

Figure 8 is a side view of the three-dimensional robot in the ring spinning intelligent doffer according to the present invention;

Figure 9 is a front elevational view of the sliding device of the ring spinning intelligent doffer according to the present invention;

Figure 10 is a side view of the sliding device of the ring spinning intelligent doffer according to the present invention;

Figure 11 is a side view of the propulsion trolley in the ring spinning intelligent doffer of the present invention;

Figure 12 is a rear elevational view of the propulsion trolley in the ring spinning intelligent doffer of the present invention;

Figure 13 is a cross-sectional view taken along the line A-A in Figure 11;

Figure 14 is a schematic view showing the linkage structure of the rolling roller and the cylindrical wheel in the ring spinning intelligent doffer according to the present invention;

Figure 15 is a partial view of the B direction in Figure 11;

Figure 16 is a front elevational view of the transfer wheel of the ring spinning intelligent doffer of the present invention.

detailed description

As shown in FIG. 1, the ring spinning intelligent doffer of the present invention comprises a doffing trolley 1, a doffing basket 3 is arranged in the doffing trolley 1, and a shockproof pad 31 is arranged between the bottom of the yarn receiving basket 3 and the doffing trolley 1. It is used to buffer the impact on the doffing cart 1 when the bobbin 10 is dropped. The doffing cart 1 is mounted on one side of the ring spinning machine 2 by means of a slide device for moving the doffing cart 1 in parallel along the length direction of the ring spinning machine 2. The doffing cart 1 is also provided with two friction wheels 11 on the side close to the ring spinning machine 2, and the friction wheel 11 is in contact with the auxiliary rail 21 mounted on the lower portion of the ring spinning machine 2. The doffing cart 1 is far away from the bottom of the ring spinning machine 2 is equipped with a universal wheel 12. A three-dimensional robot 4 is mounted above the doffing cart 1, and a non-simultaneous extubation mechanism 5 is fixedly mounted on the movable arm of the three-dimensional robot 4, and the three-dimensional robot 4 is used to drive the non-simultaneous extubation mechanism 5 to move in three-dimensional directions in space.

As shown in FIG. 2 and FIG. 5, the non-simultaneous extubation mechanism 5 includes a beam 51, and the side of the beam 51 adjacent to the ring spinning machine 2 is fixedly equipped with two fixed extubation devices 52, and each of the fixed extubation devices 52 includes one. The connecting block 53 and a robot hand 54 are fixedly connected to the beam 51, and the robot hand 54 is fixedly connected to the connecting block 53, two fixed extubing devices 52. At least one movable extubation device 55 is also disposed side by side. 3 and 4, the movable extubation device 55 includes an upper limit plate 56 fixedly coupled to the top surface of the beam 51 and a lower limit plate 57 fixedly coupled to the bottom surface of the beam 51, the upper limit plate 56 and the lower limit plate 57. The longitudinal slide rail 58 is fixedly connected to the longitudinal slide rail 58. The longitudinal slide rail 58 is provided with a longitudinal slider 59 which is slidable up and down. The return spring 60 is disposed between the longitudinal slider 59 and the lower limit position plate 57, and is fixed on the longitudinal slider 59. The robot hand 54 is connected, and the robot hand 54 is provided with a cylindrical charging and discharging capsule 54' for gripping the bobbin 10. The robot hand 54 can also use a tensioning robot. The bottom of the lower limit plate 57 is provided with an adjusting bolt 13, and the upper end of the adjusting bolt 13 is connected to the lower end of the return spring 60, and the restoring force of the return spring 60 can be adjusted by rotating the adjusting bolt 13.

In the present embodiment, the number of the movable extubation devices 55 is eight, and the eight movable extubation devices 55 are evenly distributed between the two fixed extubation devices 52, and the fixed extubation device 52 and the immediately adjacent active extubation device 55 The center distance is equal to the center distance of two adjacent movable tube extruding devices 55, and the center distance is equal to the center distance of two adjacent bobbins 10 on the ring spinning machine 2, and the lower limit of the eight movable extubation devices 55 The height of the upper end surface of the position plate 57 is equally reduced from the two movable tube extruding devices 55 located in the middle to the both sides.

If the movable extubation device 55 is one, the center distance between the movable extubation device 55 and the two fixed extubation devices 52 is equal, and the center distance is the center distance from the adjacent two bobbins 10 on the ring spinning machine 2. equal.

6 to 8, the three-dimensional robot 4 includes an X-axis machine arm 41, two Y-axis machine arm 42 and a Z-axis machine arm 43. The two ends of the two Y-axis machine arm 42 are respectively Fixedly connected to the top of the doffing cart 1, the two Y-axis machine arm 42 are parallel and perpendicular to the direction of movement of the doffing cart 1, and one of the two Y-axis machine arm 42 is slidable along it The Y-axis slider 44, the two ends of the X-axis machine lever arm 41 are fixedly connected to the two Y-axis sliders 44, respectively, and the X-axis machine lever arm 41 is parallel to the moving direction of the doffing cart 1, the X-axis machine arm The X-axis slider 45 is slidably mounted on the 41, and the Z-axis slider 46 is fixedly connected to the X-axis slider 45. The Z-axis machine lever arm 43 is vertically disposed to cooperate with the Z-axis slider 46 to make the Z-axis. The slider 46 is slidable up and down, and one end of the Z-axis machine lever arm 43 is fixedly connected to the beam 51. The three-dimensional robot 4 is provided with a driving X-axis slider 45, a Y-axis slider 44 and a Z-axis machine lever arm 43. servo motor.

9 and 10, the sliding device includes an upper guide pulley 61, an upper guide rail 62, a travel drive motor 63, a gear 64 and a rack 65. The upper rail 62 is horizontally mounted on the ring spinning machine 2 via the rail support 66. On one side, the rack 65 is fixedly mounted on the lower portion of the upper rail 62, and the side of the doffing cart 1 near the ring spinning machine 2 is mounted with two guide wheel fixing plates 67, and two mounting wheels 67 are mounted on each of the guide wheel fixing plates 67. The upper guide wheel 61 is located above the upper rail 62 and cooperates with the upper rail 62. One of the guide wheel fixing plates 67 is provided with a shaft hole 68. The travel drive motor 63 is installed in the doffing cart 1 and walks. The output shaft of the drive motor 63 is coupled to the gear 64 through a shaft bore 68. A clutch is disposed between the gear 64 and the output shaft of the travel drive motor 63. The gear 64 is located below the rack 65 and meshes with the rack 65. The travel drive motor 63 can drive the gear 64 to rotate. Under the meshing action of the gear 64 and the rack 65, the upper guide wheel 61 can roll along the upper guide rail 62, thereby The doffing cart 1 is moved in parallel with the ring spinning machine 2.

In addition to the above embodiments, the sliding device may further include a lower guide rail and a lower rail. The lower rail is horizontally mounted under the upper rail 62 through the rail support 66, and each of the guide wheel fixing plates 67 is mounted with two upper and lower sliding seats. a guide wheel slider, a spring pad is mounted between the lower end of the guide wheel slider and the guide wheel fixing plate 67, and a lower guide wheel is mounted on each of the guide wheel sliders, and the lower guide wheel is located below the lower rail and the lower rail Match. The use of double rails can increase the stability of the doffing trolley 1 operation.

The doffing cart 1 is also equipped with a control system, a positioning system and a detection system. The positioning system includes a photoelectric sensor disposed on the doffing cart 1 and a positioner disposed on the track support 66. The positioning system is used for the doffing trolley The position signal of 1 is transmitted to the control system, and the detection system includes limit switches respectively disposed on the X-axis machine lever arm 41, the Y-axis machine lever arm 42 and the Z-axis machine lever arm 43, and the detection system sets the position signal of the three-dimensional robot 4 It is transmitted to a control system for controlling the travel drive motor 63 and the servo motor on the three-dimensional robot 4.

As shown in FIG. 11 and FIG. 12, the automatic pipe, the pipe and the intubation device include a push cart 7, the push cart 7 is disposed on one side of the ring spinning machine 2, and the top of the push cart 7 is mounted with a ring spinning machine. 2 horizontally sliding rail 71 in the longitudinal direction, horizontal sliding block 72 is arranged on the water smoothing rail 71, and the movable bracket 8 is fixedly mounted on the upper end of the horizontal sliding block 72, and the electric motor parallel to the horizontal sliding rail 71 is installed in the propulsion trolley 7 The cylinder 73, the piston rod 74 of the electric cylinder 73 is connected to the movable bracket 8 via a connecting rod 75, and the empty bobbin case 9 is mounted on the top of the movable bracket 8.

As shown in FIG. 13 and FIG. 14, the bottom of the empty bobbin case 9 is provided with an empty bobbin holder 91, and the empty bobbin holder 91 is provided with a bobbin passage 92, the width of the bobbin passage 92 being larger than the diameter of the bobbin 10 and Less than twice the diameter of the bobbin 10, the two sides of the bobbin passage 92 are respectively provided with a rolling roller shaft 93, and the rolling roller shaft 93 is respectively provided with a rolling roller 94, and one side of the bobbin passage 92 is also provided with a first The output shaft of the first motor 95 is provided with a cylindrical wheel 96. The cylindrical wheel 96 is parallel to the axis of the rolling roller 94. The two ends of the rolling roller shaft 93 are respectively connected with a swinging rod 97, and two adjacent swinging rods 97 are connected. The outer end is connected by a first link 98, one end of which is connected to one end of the second link 99, and the other end of the second link 99 is hinged to the end face of the cylindrical wheel 96, the bobbin passage 92 The lower end is in communication with the upper end of the arc-shaped delivery tube passage 81. The arc-shaped delivery tube passage 81 includes an arc-shaped support plate 82 and an arc-shaped support rod 83 for supporting the bottom end of the bobbin 10, An arcuate support rod 83 is used to support the side of the bobbin 10. The movable bracket 8 is further provided with a second motor 88. The output end of the second motor 88 is provided with a delivery wheel 89. As shown in FIG. 16, a plurality of curved paddles 90 are arranged at the rim of the delivery tube 89. The delivery wheel 89 is located on one side of the arc-shaped delivery tube passage 81, and the direction of rotation of the delivery tube 89 near the side of the arc-shaped delivery tube passage 81 is the same as the direction in which the bobbin 10 is dropped.

As shown in FIG. 15, the lower end of the arc-shaped delivery pipe passage 81 is provided with an arc-shaped retaining rod 84, and the arc-shaped retaining rod 84 is provided with a limiting reed 85 for pressing the bobbin 10, and the arc-shaped blocking position is provided. The rod 84 and the limiting reed 85 constitute a pre-cannula mechanism 86 for maintaining the bobbin 10 in a vertical state, and an electromagnetic tube-operator 87 is disposed above the pre-intubation mechanism 86, and the electromagnetic tube-operator 87 is installed. On the movable stand 8. The push cart 7 is also adjacent to the ring spinning machine 2 - side is also equipped with a photoelectric sensor 76 for detecting the spindle 22, the automatic tube, the tube and the intubation device further comprise a cannula control system, and the photoelectric sensor 76 will detect the signal of the spindle 22 Transferred into the cannula control system, the intubation control system is used to control the electromagnetic tube puller 87 to strike the bobbin 10 and reset.

The working process of the ring spinning intelligent doffer of the invention is as follows:

The doffing cart 1 is pushed from the platform on the side of the ring spinning machine to the upper rail 62, and the doffing cart 1 is hooked on the ring spinning machine 2 by the mutual cooperation of the upper guide pulley 61 and the upper rail 62. At this time, the doffing cart 1 is suspended to avoid the influence of the uneven ground on the doffing process. After the photoelectric sensor on the doffing cart 1 and the positioner provided on the track support 66 confirm the initial position of the doffing cart 1, the control system activates the travel drive motor 63, the travel drive motor 63 drives the gear 64 to operate, and the gear 64 follows the teeth. The strip 65 moves and drives the upper guide wheel 61 to travel along the upper rail 62 to move the doffing cart 1 along the length of the ring spinning machine 2. When the positioning system detects that the doffing cart 1 is in the working position, the detected signal is transmitted to the control system, the control system issues a command, the travel drive motor 63 stops working, and the doffing cart 1 stops moving forward. At this time, the control system starts Y. The servo motor on the shaft machine lever arm 42 drives the Y-axis slider 44 to approach the ring spinning machine 2, and simultaneously activates the servo motor on the Z-axis machine lever arm 43 to drive the Z-axis machine lever arm 43 to descend, reaching the non-simultaneous pull-out. The tube mechanism 5 can perform the position of extubation, and the cylindrical charging and discharging gas capsule 54' on the non-simultaneous extubation mechanism 5 inflates and holds the bobbin 10 fixed to the spindle 22, and then the Z-axis robot arm 43 rises. The bobbin 10 clamped by the cylindrical charging and discharging capsule 54' is pulled out, and when the bobbin 10 reaches the position to leave the spindle 22, in order to prevent the bobbin 10 from hitting the spinning frame of the ring spinning machine 2, the Y-axis The slider 44 moves away from the ring spinning machine 2, and at this time, the bobbin 10 performs an arc-up motion. When the bobbin 10 completely leaves the spindle 22, the control system activates the travel drive motor 63 to drive the doffing cart 1 Run. At the same time, the three-dimensional robot 4 moves away from the ring spinning machine 2, and when the bobbin 10 reaches above the yarn receiving basket 3, the cylindrical charging and discharging capsule 54' releases the bobbin 10 to release the bobbin 10 In the yarn basket 3, the doffing task is completed. Then, the X-axis slider 45 moves along the X-axis machine lever arm 41 in the running direction of the doffing cart 1, and the Y-axis slider 44 is placed close to the ring spinning machine 2 to prepare for the next extubation. In this manner, the doffing cart 1 is removed from the other end of the ring spinning machine 2 until all the bobbins 10 on the ring spinning machine 2 have been removed. Since the height of the upper end surface of the upper limit plate 57 of the movable extubation device 55 is different, during the lifting process of the beam 51, the movable tube extruding device 55 near the middle first pulls out the two bobbins 10, and during the rising of the beam 51, The corresponding bobbin 10 is sequentially pulled out from the middle to the movable extubation device 55 on both sides, and the special structure of the non-simultaneous extubation mechanism 5 causes the three-dimensional robot 4 to pull out more bobbins in a lifting cycle with a small lifting force. 10. The radial vibration of the spindle 22 is reduced while the yarn drawing efficiency is improved.

The propulsion cart 7 of the automatic duct, the tube and the intubation device moves in parallel along the side of the ring spinning machine 2 on which the spindle 22 is mounted, while the electric cylinder 73 pushes the movable bracket 8 through the piston rod to slide along the horizontal rail into it. In the intubation working position, after the first motor 95 is started, the swing lever 97 that drives the axial centers of the two rolling rollers 94 reciprocates to block the empty bobbin 10 which may be separated from the sliding direction, and the empty bobbin 10 is removed from the empty bobbin holder. The bobbin passage 92 slides into the arc-shaped discharge pipe passage 81 without The problem of the card tube is caused by the direction of the slippage, and gradually tilts down under the restriction of the arc-shaped discharge pipe passage 81 until the arc-shaped stop lever 84 and the limit reed 85 are formed to hold the bobbin 10 In the pre-intubation mechanism 86 in the vertical state, at the same time, the second motor 88 drives the rotation of the pusher wheel to cause the empty bobbin 10 to be caught in the pre-intubation mechanism 86 to prevent the empty bobbin 10 from falling, and then to advance the photoelectricity on the trolley 7. When the sensor detects the spindle 22 of the empty bobbin, the signal is transmitted to the cannula control system, and the intubation control system operates the electromagnetic hoser 87 when the centerline of the empty bobbin 10 is aligned with the centerline of the spindle 22. The empty bobbin 10 is accurately inserted into the spindle 22, and after the insertion, the cannula control system issues a reset command to move the electromagnetic hoser 87 back to the position before the tube. Thereby, the operation of the tube, the tube and the intubation of the empty bobbin is automatically completed, the phenomenon of the tube tube and the tube is avoided, the production efficiency is improved, and the labor intensity which is excessively labor-dependent is reduced. And it can achieve 240 spindle intubation in 48 seconds, which is faster than the current one-shot cannula.

The embodiments described above are only intended to describe the preferred embodiments of the present invention, and are not intended to limit the scope of the present invention, and various embodiments of the present invention may be made by those skilled in the art without departing from the spirit of the invention. Modifications and improvements are intended to fall within the scope of the invention as defined by the appended claims.

Industrial applicability

The ring spinning intelligent doffer of the invention can realize automatic drawing of the full bobbin on the ring spinning machine, and can also automatically discharge the empty bobbin and insert it into the empty spindle of the ring spinning machine, which greatly improves the The production efficiency of the ring spinning machine reduces the damage to the equipment during the drawing and intubation process, and it can be modified on the basis of the existing old ring spinning machine, so it has great market prospect and strong Industrial applicability.

Claims

Rights request

A ring spinning intelligent doffer, comprising a doffing cart (1), the doffing cart (1) being mounted on one side of a ring spinning machine (2) by a sliding device, the sliding device being used for The doffing trolley (1) is moved in parallel along the length direction of the ring spinning machine (2), and the doffing basket (1) is provided with a yarn receiving basket (3), characterized in that: the doffing trolley (1) A three-dimensional robot (4) is mounted on the upper side, and a non-simultaneous extubation mechanism (5) is fixedly mounted on the movable arm of the three-dimensional robot (4), and the three-dimensional robot (4) is used to drive the non-simultaneous extubation mechanism (5) in space. Moving in three dimensions,

The non-simultaneous extubation mechanism (5) comprises a beam (51), and the beam (51) is fixedly mounted on one side of the ring spinning machine (2) with two fixed extubation devices (52), each of which is The fixed extubation device (52) comprises a connecting block (53) and a robot hand (54), the connecting block (53) is fixedly connected to the beam (51), and the robot hand (54) is fixedly connected to the connecting block (53), at least one movable extubation device (55) is further arranged side by side between the two fixed extubation devices (52), and the movable extubation device (55) comprises a fixed connection on the top of the beam (51) The upper limit plate (56) of the surface and the lower limit plate (57) fixedly connected to the bottom surface of the beam (51), and the longitudinal slide rail (58) is fixedly connected between the upper limit plate (56) and the lower limit plate (57). The longitudinal slide rail (58) is provided with a longitudinal slider (59) slidable up and down, and a return spring (60) is disposed between the longitudinal slider (59) and the lower limit plate (57). , the longitudinal slider (59) is fixedly connected to the robot hand (54), and the above robot hand (54) is used for grasping the bobbin (10),

When the movable extubation device (55) is one, the movable extubation device (55) is equal to the center distance of the two fixed extubation devices (52), and the center distance is on the ring spinning machine (2) The center distances of two adjacent bobbins (10) are equal;

When the number of the movable extubation devices (55) is greater than one, a plurality of the movable extubation devices (55) are evenly distributed between the two fixed extubation devices (52), and the fixed extubation device (52) is in close proximity The center distance of the movable extubation device (55) is equal to the center distance of two adjacent movable extubation devices (55), and the center distance is adjacent to the two bobbins (10) on the ring spinning machine (2) The center distances are equal, and the heights of the upper end faces of the lower limit plates (57) of the plurality of movable extubation devices (55) are equidistantly raised from the one or two movable extubation devices (55) located in the middle to the sides. High or low.

2. The ring spinning intelligent doffer according to claim 1, wherein: said three-dimensional robot (4) comprises an X-axis machine lever arm (41), two Y-axis machine lever arms (42), and a Z-axis machine arm (43), two ends of the two Y-axis machine arm (42) are fixedly connected to the top of the doffing cart (1), and the two Y-axis machine arm (42) are parallel And both are perpendicular to the direction of movement of the doffing cart (1), and the two Y-axis machine arm (42) are respectively mounted with a Y-axis slider (44) along which the X-axis machine arm is slid. The two ends of (41) are fixedly connected to the two Y-axis sliders (44), and the X-axis machine lever arm (41) is parallel to the direction of movement of the doffing cart (1) on the X-axis machine arm (41). An X-axis slider (45) is slidably mounted thereon, and a Z-axis slider (46) is fixedly coupled to the X-axis slider (45), and the Z-axis machine lever arm (43) is vertically disposed The Z-axis slider (46) is matched so that the Z-axis slider (46) can be moved up and down Sliding, one end of the Z-axis machine arm (43) is fixedly connected to the beam (51), and the three-dimensional robot (4) is provided with a driving X-axis slider (45), a Y-axis slider (44) and a Z-axis machine. The servo motor that moves the lever arm (43).

3. The ring spinning intelligent doffer according to claim 2, wherein: the sliding device comprises an upper guide wheel (61), an upper rail (62), a travel drive motor (63), and a gear (64). And a rack (65), the upper rail (62) is horizontally mounted on one side of the ring spinning machine (2) by a rail support (66), and the rack (65) is fixedly mounted on the upper rail (62) In the lower part, the doffing trolley (1) is mounted on the side of the ring spinning machine (2) with two guide wheel fixing plates (67), and each of the guide wheel fixing plates (67) is mounted with two The upper guide wheel (61) is located above the upper rail (62) and cooperates with the upper rail (62), wherein a guide wheel fixing plate (67) is provided with a shaft hole (68) The travel drive motor (63) is mounted in the doffing cart (1), and the output shaft of the travel drive motor (63) is connected to the gear (64) through the shaft hole (68), and the gear (64) is located Below the rack (65) and meshing with the rack (65).

4. The ring spinning intelligent doffer according to claim 3, wherein: the sliding device further comprises a lower guide wheel and a lower rail, and the lower rail is horizontally mounted on the upper rail through the rail support (66) Below, each of the guide wheel fixing plates

(67) There are two guide wheel sliders that can be slid up and down, and a spring pad is mounted between the lower end of the guide wheel slider and the guide wheel fixing plate (67), and each of the guide wheel sliders is mounted thereon. There is a lower guide wheel, which is located below the lower rail and cooperates with the lower rail.

A ring spinning intelligent doffer according to claim 3, wherein a clutch is provided between the gear (64) and the output shaft of the travel drive motor (63).

6. The ring spinning intelligent doffer according to claim 3, wherein: the bottom of the lower limit plate (57) is provided with an adjusting bolt (13), and the upper end of the adjusting bolt (13) is reset. The lower ends of the springs (60) are connected.

The ring spinning intelligent doffer according to claim 3, characterized in that: the robot hand (54) is a cylindrical charging and discharging capsule (54') or a tensioning robot.

8. The ring spinning intelligent doffer according to claim 3, characterized in that: the doffing trolley (1) is also equipped with two friction wheels (11) on the side close to the ring spinning machine (2). The friction wheel (11) is in contact with a secondary rail (21) mounted on the lower portion of the ring spinning machine (2).

The ring spinning intelligent doffer according to claim 3, characterized in that: a shockproof pad (31) is disposed between the bottom of the yarn receiving basket (3) and the doffing cart (1).

10. A ring spinning intelligent doffer according to claim 3, characterized in that: the bottom of the doffing cart (1) is mounted on the side of the ring spinning machine (2) with a universal wheel (12).

11. The ring spinning intelligent doffer according to claim 3, wherein: the doffing cart (1) further comprises a control system, a positioning system and a detection system, wherein the positioning system comprises a setting a photoelectric sensor on the yarn trolley (1) and a positioner disposed on the track support (66), the positioning system is used to transmit the position signal of the doffing trolley (1) to the control System, the detection system includes limit switches respectively disposed on an X-axis machine lever arm (41), a Y-axis machine lever arm (42), and a Z-axis machine lever arm (43), the detection system will be a three-dimensional robot ( The position signal of 4) is transmitted to a control system for controlling the servo motor on the travel drive motor (63) and the three-dimensional robot (4).

The ring spinning intelligent doffer according to any one of claims 1 to 11, further comprising an automatic conveying pipe, a pipe discharging pipe and a pipe insertion device, the automatic conveying pipe, the pipe discharging pipe and the intubating device The utility model comprises a propulsion trolley (7), which is arranged on one side of the ring spinning machine (2), and the top of the propulsion trolley (7) is installed with a horizontal sliding perpendicular to the longitudinal direction of the ring spinning machine (2) a rail (71), the horizontal slide rail (71) is provided with a horizontal slider (72), and the upper end of the horizontal slider (72) is fixedly mounted with a movable bracket (8), and the propulsion trolley (7) is inside An electric cylinder (73) parallel to the horizontal rail (71) is mounted, and the piston rod (74) of the electric cylinder (73) is connected to the movable bracket (8) via a connecting rod (75), An empty bobbin case (9) is mounted on the top of the moving bracket (8), and an empty bobbin holder is provided at the bottom of the empty bobbin case (9)

(91), the empty tube frame (91) is provided with a tube passage (92), the width of the tube passage (92) is larger than the diameter of the tube (10) and smaller than the diameter of the tube (10) Twice, the two sides of the bobbin channel (92) are respectively provided with a rolling roller shaft (93), and the rolling roller shaft (93) is respectively provided with a rolling roller (94), and one of the bobbin passages (92) The first motor is also provided on the side

(95), the output shaft of the first motor (95) is provided with a cylindrical wheel (96), the cylindrical wheel (96) is parallel to the axis of the rolling roller (94), and the rolling roller shaft (93) The two ends are respectively connected with a swing rod (97), and the outer ends of the two adjacent swing rods (97) are connected by a first connecting rod (98), one end and the second end of the first connecting rod (98) One end of the connecting rod (99) is connected, and the other end of the second connecting rod (99) is hinged on the end surface of the cylindrical wheel (96), and the lower end of the bobbin passage (92) and the curved connecting tube passage The upper end of (81) is in communication, and the arc-shaped delivery tube passage (81) includes an arc-shaped support plate (82) and an arc-shaped support rod (83) for supporting the bobbin The bottom end of (10), the curved support rod (83) is for supporting the side of the bobbin (10), and the curved end of the arc-shaped discharge tube passage (81) is provided with an arc-shaped stop rod (84) The arc retaining rod (84) is provided with a limiting spring (85) for pressing the bobbin (10), and the arc retaining rod (84) and the limiting spring (85) are formed Used to make The tube (10) maintains a pre-intubation mechanism (86) in a vertical state, and an electromagnetic tube-operator (87) is disposed above the pre-intubation mechanism (86), and the electromagnetic tube-operator (87) is installed On the movable bracket (8), the propulsion trolley (7) is adjacent to the ring spinning machine (2) - and is further provided with a photoelectric sensor (76) for detecting the spindle (22), the automatic conveying tube and the tube and The intubation device further includes a cannula control system, the photosensor (76) transmitting a signal of the detected spindle (22) to the cannula control system, the cannula control system for controlling the electromagnetic tube ( 87) Hit the bobbin (10) down and reset.

13. The ring spinning intelligent doffer according to claim 12, wherein: the movable bracket (8) further comprises a second motor (88), and the output of the second motor (88) The end is provided with a conveying wheel (89), a plurality of curved picking pieces (90) are arranged at the rim of the conveying wheel (89), and the conveying wheel (89) is located at the arc-shaped conveying pipe passage (81) One side, and the tube wheel

(89) Close to the arc-shaped discharge pipe passage (81) - the direction of rotation of the side is the same as the direction in which the bobbin (10) falls.