CN102560765A - Three-dimensional robot for yarn pulling - Google Patents

Abstract

The invention relates to a three-dimensional robot for pulling yarn, which relates to a device for changing bobbins on a ring spinning machine. The purpose of the invention is to provide a three-dimensional robot for yarn pulling that has high yarn pulling efficiency and is not easy to cause damage to equipment. The invention includes an X-axis machine arm, a Y-axis machine arm and a Z-axis machine arm. The two ends of the two Y-axis machine arms are respectively fixedly connected to the top of the doffing trolley. The two Y-axis machine arms are respectively A Y-axis slider that can slide along it is installed, and the two ends of the X-axis machine arm are fixedly connected to two Y-axis sliders, and the X-axis machine arm is equipped with an X-axis slider that can slide along it. block, the X-axis slider is fixedly connected with the Z-axis slider, and the Z-axis machine lever arm is vertically set to cooperate with the Z-axis slider so that the Z-axis slider can slide up and down relative to it. One end of the Z-axis machine lever arm is connected to the puller The beams of the pipe mechanism are fixedly connected, and the three-dimensional robot is provided with servo motors that drive the movement of the X-axis slider, the Y-axis slider and the Z-axis machine lever arm.

Description

3D Robot for Yarn Pulling

This application is a divisional application of the invention patent 201080017438.0.

technical field

The invention relates to a device for replacing yarn bobbins on a ring spinning frame, in particular to a three-dimensional robot for yarn pulling.

Background technique

At present, the new ring spinning frame starts to adopt the automatic doffing technology such as integral doffing, while the old ring spinning frame widely used in the spinning mills in our country still mostly adopts manual doffing. Due to the close cooperation between the full yarn bobbins and the spindles, it takes a lot of force to pull off the full yarn bobbins during doffing, so that the work intensity of manual doffing is very high, the labor cost increases, and the production efficiency is low. Therefore, there is an urgent need to automate the transformation of old ring spinning machines.

In order to solve the above problems, many attempts have been made in the industry, such as pre-pulling, secondary yarn pulling and vibrating yarn pulling, etc. However, the yarn pulling device used in these methods produces radial force on the spindle during the yarn pulling process, It is easy to collide with the spindle, it is difficult to detect the leakage of doffing yarn and the low speed of yarn pulling, which will easily cause damage to the equipment and reduce production efficiency.

Contents of the invention

The technical problem to be solved by the present invention is to provide a three-dimensional robot for yarn pulling that has high yarn pulling efficiency and is not easy to cause damage to equipment.

The three-dimensional robot used for yarn pulling of the present invention comprises an X-axis machine arm, two Y-axis machine arms and a Z-axis machine arm, and the two ends of the Y-axis machine arms are fixedly connected to the doffing arm respectively. On the top of the trolley, the two Y-axis machine arms are parallel and perpendicular to the moving direction of the doffing car. A Y-axis slider that can slide along them is respectively installed on the two Y-axis machine arms. The two ends of the arm of the X-axis machine are respectively fixedly connected to two Y-axis sliders, the arm of the X-axis machine is parallel to the moving direction of the doffer, and the arm of the X-axis machine is equipped with an X-axis slider that can slide along it , 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 to it, and the Z-axis machine lever arm One end is fixedly connected with the beam of the extubation mechanism, and the three-dimensional robot is provided with a servo motor that drives the movement of the X-axis slider, the Y-axis slider and the Z-axis machine lever arm.

The three-dimensional robot for yarn pulling of the present invention uses three mutually perpendicular machine lever arms to drive the tube pulling mechanism to perform three-dimensional movements in space, so that the tube pulling mechanism can pull out the full bobbin from the spindle.

The three-dimensional robot for yarn pulling of the present invention will be further described below in conjunction with the accompanying drawings.

Description of drawings

Fig. 1 is a side view of the doffing car in the ring spinning intelligent doffing machine;

Fig. 2 is the front view of the non-simultaneous extubation mechanism in the ring spinning intelligent doffing machine;

Fig. 3 is the front view of the active extubation device in the ring spinning intelligent doffing machine;

Fig. 4 is a side view of the active extubation device in the ring spinning intelligent doffing machine;

Fig. 5 is a top view of the fixed tube removal device in the ring spinning intelligent doffing machine;

Fig. 6 is the front view of the three-dimensional robot used for yarn pulling in the present invention;

Fig. 7 is the top view of the three-dimensional robot used for pulling yarn of the present invention;

Fig. 8 is a side view of the three-dimensional robot used for pulling yarn according to the present invention;

Fig. 9 is a front view of the sliding device in the ring spinning intelligent doffing machine;

Figure 10 is a side view of the sliding device in the ring spinning intelligent doffing machine;

Fig. 11 is a side view of the push car in the ring spinning intelligent doffing machine;

Fig. 12 is the rear view of the propulsion trolley in the ring spinning intelligent doffing machine;

Fig. 13 is a sectional view in the direction of A-A in Fig. 11;

Figure 14 is a schematic diagram of the linkage structure of the rolling roller and the cylindrical wheel in the ring spinning intelligent doffing machine;

Fig. 15 is a partial view of direction B in Fig. 11;

Fig. 16 is the front view of the pipe delivery wheel in the ring spinning intelligent doffing machine.

Detailed ways

As shown in Figure 1, the intelligent doffing machine for ring spinning includes a doffer 1, which is equipped with a yarn-connecting basket 3, and an anti-vibration pad 31 is arranged between the bottom of the yarn-connecting basket 3 and the doffing trolley 1. The impact on the doffing carriage 1 when the buffer bobbin 10 falls. The doffing trolley 1 is installed on one side of the ring spinning frame 2 through a sliding device, and the sliding device is used to make the doffing trolley 1 move in parallel along the length direction of the ring spinning frame 2 . The side of the doffing car 1 near the ring spinning frame 2 is also equipped with two friction wheels 11, and the friction wheels 11 are in contact with the auxiliary track 21 installed on the bottom of the ring spinning frame 2. The side of the bottom of the doffing trolley 1 away from the ring spinning frame 2 is provided with universal wheels 12 . A three-dimensional robot 4 is installed above the doffing trolley 1, and a non-simultaneous extubation mechanism 5 is fixedly installed 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 a three-dimensional direction in space.

As shown in Fig. 2 and Fig. 5, the non-simultaneous extubation mechanism 5 includes a crossbeam 51, and the side of the crossbeam 51 close to the ring spinning frame 2 is fixedly equipped with two fixed extubation devices 52, and each fixed extubation device 52 includes a A connection block 53 and a robot arm 54, the connection block 53 is fixedly connected to the beam 51, the robot arm 54 is fixedly connected to the connection block 53, and at least one movable extubation device 55 is arranged side by side between the two fixed extubation devices 52 . 3 and 4, the movable extubation device 55 includes an upper limit plate 56 fixedly connected to the top surface of the beam 51 and a lower limit plate 57 fixedly connected to the bottom surface of the beam 51, between the upper limit plate 56 and the lower limit plate 57 A longitudinal slide rail 58 is fixedly connected between them, and the longitudinal slide rail 58 is provided with a longitudinal slide block 59 that can slide up and down along it. A robot hand 54 is connected, and the robot hand 54 adopts a cylindrical inflatable and deflated capsule 54 ′ for grabbing and releasing the bobbins 10 . Manipulator 54 can also adopt opening and closing type manipulator. The bottom of the lower limiting plate 57 is provided with an adjusting bolt 13, the upper end of which is connected to the lower end of the back-moving spring 60, and the restoring force of the back-moving spring 60 can be regulated by rotating the adjusting bolt 13.

In this embodiment, the number of movable extubation devices 55 is 8, and the eight movable extubation devices 55 are evenly distributed between two fixed extubation devices 52, and the fixed extubation device 52 and the adjacent movable extubation device 55 The center distance between the centers of the two adjacent movable extubation devices 55 is equal, and the center distance is equal to the center distance between the adjacent two bobbins 10 on the ring spinning frame 2, and the lower limit of eight active extubation devices 55 The height of the upper end surface of the positioning plate 57 decreases equidistantly from the two movable extubation devices 55 located in the middle to both sides.

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

Shown in conjunction with Fig. 6 to Fig. 8, the three-dimensional robot that the present invention is used for pulling yarn comprises an X-axis machine lever arm 41, two Y-axis machine lever arms 42 and a Z-axis machine lever arm 43, two Y-axis machine lever arms The two ends of the arm 42 are respectively fixedly connected to the top of the doffer 1. The two Y-axis machine arms 42 are parallel and perpendicular to the movement direction of the doffing car 1. The two Y-axis machine arms 42 are respectively installed with A Y-axis slider 44 that can slide along it, and the two ends of the X-axis machine lever arm 41 are respectively fixedly connected to the two Y-axis sliders 44, and the X-axis machine lever arm 41 is parallel to the movement direction of the doffing trolley 1 , the X-axis machine lever arm 41 is equipped with an X-axis slider 45 that can slide along it, and the X-axis slider 45 is fixedly connected with a Z-axis slider 46, and the Z-axis machine lever arm 43 is vertically arranged with the Z-axis slider 46 are matched so that the Z-axis slider 46 can slide up and down relative to it, and one end of the Z-axis machine lever arm 43 is fixedly connected with the beam 51, and the three-dimensional robot 4 is provided with a drive X-axis slider 45, a Y-axis slider 44 and a Z-axis A servo motor for the movement of the robot lever arm 43 .

9 and 10, the sliding device includes an upper guide wheel 61, an upper guide rail 62, a traveling drive motor 63, a gear 64 and a rack 65, and the upper guide rail 62 is horizontally installed on the ring frame 2 through a track support 66. On one side, the rack 65 is fixedly installed on the lower part of the upper guide rail 62. Two guide wheel fixing plates 67 are installed on the side of the doffing trolley 1 close to the ring spinning machine 2, and each guide wheel fixing plate 67 is equipped with two The upper guide wheel 61, the upper guide wheel 61 is located on the top of the upper guide rail 62 and matches with the upper guide rail 62, one of the guide wheel fixing plates 67 is provided with a shaft hole 68, and the driving drive motor 63 is installed in the doffing trolley 1 to move The output shaft of drive motor 63 passes shaft hole 68 and is connected with gear 64, clutch is housed between gear 64 and the output shaft of travel drive motor 63, and gear 64 is positioned at the below of tooth bar 65 and is meshed with tooth bar 65. The driving motor 63 can drive the gear 64 to rotate. Under the meshing effect of the gear 64 and the rack 65, the upper guide wheel 61 can roll along the upper guide rail 62, thereby realizing the parallel movement of the doffing trolley 1 relative to the ring spinning frame 2.

In addition to the above-mentioned embodiments, the sliding device can also add lower guide wheels and lower guide rails. The lower guide rails are horizontally installed below the upper guide rails 62 through the track support 66. Two sliding wheels that can slide up and down are installed on each guide wheel fixing plate 67 Guide wheel slider, a spring pad is installed between the lower end of the guide wheel slider and the guide wheel fixed plate 67, a lower guide wheel is installed on each guide wheel slider, and the lower guide wheel is positioned at the bottom of the lower guide rail and is connected with the lower guide rail. match. The stability of the operation of the doffing trolley 1 can be increased by adopting double guide rails.

The doffing trolley 1 is also equipped with a control system, a positioning system and a detection system. The positioning system includes a photoelectric sensor arranged on the doffing trolley 1 and a locator arranged on the track support 66. The positioning system is used to place the doffing trolley The position signal of 1 is transmitted to the control system, and the detection system includes limit switches respectively arranged 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 sends the position signal of the three-dimensional robot 4 It is transmitted to the control system, and the control system is used to control the walking drive motor 63 and the servo motor on the three-dimensional robot 4 .

As shown in Figures 11 and 12, the automatic pipe delivery, pipe discharge and intubation device includes a pusher trolley 7, which is arranged on one side of the ring spinning frame 2, and the top of the pusher trolley 7 is equipped with a 2 The horizontal slide rail 71 vertical to the length direction, the horizontal slide rail 71 is provided with a horizontal slide block 72, the upper end of the horizontal slide block 72 is fixedly equipped with a movable support 8, and the electric drive parallel to the horizontal slide rail 71 is installed in the pushing trolley 7. Cylinder 73, the piston rod 74 of electric cylinder 73 is connected with movable support 8 by connecting rod 75, and the top of movable support 8 is equipped with empty bobbin box 9.

As shown in Figure 13 and Figure 14, an empty bobbin frame 91 is provided at the bottom of the empty bobbin box 9, and a bobbin channel 92 is arranged inside the empty bobbin frame 91, and the width of the bobbin channel 92 is larger than the diameter of the bobbin 10 and Less than twice the diameter of the bobbin 10, a rolling roller shaft 93 is provided on both sides of the bobbin passage 92, and a rolling roller 94 is respectively set on the rolling roller shaft 93, and a first rolling roller 94 is set on one side of the bobbin passage 92. Motor 95, cylindrical wheel 96 is housed on the output shaft of the first motor 95, and the axis of cylindrical wheel 96 and rolling roller 94 is parallel, and the two ends of rolling roller shaft 93 are respectively connected with fork 97, two adjacent fork 97 The outer end is connected by a first connecting rod 98, and one end of the first connecting rod 98 is connected with an end of the second connecting rod 99, and the other end of the second connecting rod 99 is hinged on the end face of the cylindrical wheel 96, and the bobbin channel 92 The lower end of the lower end communicates with the upper end of the arc-shaped transportation and drainage pipe passage 81. The arc-shaped transportation and drainage pipe passage 81 includes an arc-shaped support plate 82 and an arc-shaped support rod 83. The arc-shaped support plate 82 is used to support the bottom end of the bobbin 10. The arc-shaped support rod 83 is used to support the side of the bobbin 10 . A second motor 88 is also housed in the movable support 8, and the output end of the second motor 88 is equipped with a tube delivery wheel 89. As shown in FIG. The tube delivery wheel 89 is located on one side of the arc-shaped tube delivery and drainage channel 81, and the rotation direction of the tube delivery wheel 89 near the side of the arc-shaped tube delivery and drainage channel 81 is the same as the direction in which the bobbin 10 falls.

As shown in FIG. 15 , the lower end of the arc-shaped conveying and discharging pipe channel 81 is provided with an arc-shaped blocking rod 84 , and the inside of the arc-shaped blocking rod 84 is provided with a limit reed 85 for pressing the bobbin 10 . The rod 84 and the limit reed 85 constitute a pre-insertion mechanism 86 for keeping the yarn bobbin 10 in a vertical state. An electromagnetic tube puncher 87 is arranged above the pre-intubation mechanism 86, and the electromagnetic tube puncher 87 is installed On the movable support 8.

The propelling trolley 7 is also equipped with a photoelectric sensor 76 for detecting the spindle 22 near the side of the ring spinning frame 2, and the automatic tube delivery, tube arrangement and intubation device also includes an intubation control system, and the photoelectric sensor 76 will detect the signal of the spindle 22. It is transmitted to the intubation control system, which is used to control the electromagnetic tube breaker 87 to hit the bobbin 10 downward and reset.

The working process of ring spinning intelligent doffing machine is as follows:

The doffing trolley 1 is pushed into the upper guide rail 62 from the platform on one side of the ring spinning frame 2, and the doffing trolley 1 is hung on the ring spinning frame 2 through the mutual cooperation of the upper guide wheel 61 and the upper guide rail 62. At this time, the doffing trolley 1 is suspended in the air, so as to avoid the influence of uneven ground on the doffing process. After the photoelectric sensor on the doffing trolley 1 and the locator arranged on the track support 66 confirm the initial position of the doffing trolley 1, the control system starts the travel drive motor 63, and the travel drive motor 63 drives the gear 64 to run, and the gear 64 moves along the gear. The bar 65 moves, and drives the upper guide wheel 61 to run along the upper guide rail 62, so that the doffing trolley 1 moves along the length direction of the ring spinning frame 2. When the positioning system detects that the doffing trolley 1 is in the working position, it transmits the detected signal to the control system, and the control system issues an instruction, the travel drive motor 63 stops working, and the doffing trolley 1 stops moving forward. At this time, the control system starts the Y The servo motor on the shaft machine lever arm 42 drives the Y-axis slider 44 to approach the ring spinning frame 2, and simultaneously starts the servo motor on the Z-axis machine lever arm 43, drives the Z-axis machine lever arm 43 to descend, and reaches the non-simultaneous pulling The tube mechanism 5 can perform extubation. The tube-shaped inflatable and deflated capsule 54' on the non-simultaneous extubation mechanism 5 inflates and clamps the bobbin 10 fixed on the spindle 22. Then, the Z-axis machine lever arm 43 rises, Pull out the bobbin 10 clamped by the cylindrical inflatable and deflated capsule 54 ′. When the bobbin 10 reaches the position about to leave the spindle 22 , in order to prevent the bobbin 10 from hitting the spinning frame of the ring spinning frame 2, the Y-axis The slider 44 moves away from the ring spinning frame 2. At this time, the bobbin 10 moves upward in an arc. When the bobbin 10 leaves the spindle 22 completely, the control system starts the driving motor 63 to drive the doffing car 1 to continue running. Simultaneously, the three-dimensional robot 4 moves away from the ring spinning frame 2, and when the yarn bobbin 10 reaches the top of the yarn connecting basket 3, the cylindrical air-filled and deflated capsule 54' deflates and releases the yarn bobbin 10, so that the yarn bobbin 10 falls into the In the yarn receiving basket 3, finish the doffing task. Then the X-axis slide block 45 moves along the X-axis machine lever arm 41 to the running direction of the doffing dolly 1, while the Y-axis slide block 44 is close to the ring spinning frame 2 to prepare for the next extubation. Such reincarnation works until all bobbins 10 on the ring spinning frame 2 are pulled out, and the doffing dolly 1 is unloaded on the other end platform of the ring spinning frame 2. Due to the different heights of the upper and lower end surfaces of the upper and lower limit plates 57 of the movable extubation device 55, during the lifting process of the crossbeam 51, the movable extubation device 55 near the middle first pulls out the two bobbins 10, and during the continuous rising of the crossbeam 51, Pull out the corresponding tubes 10 sequentially from the middle to the movable tube pulling device 55 on both sides. The special structure of the non-simultaneous tube pulling mechanism 5 enables the three-dimensional robot 4 to pull out more tubes in one lifting cycle with a small lifting force. 10. While reducing the radial vibration of the spindle 22, the yarn pulling efficiency is improved.

The propulsion trolley 7 of the automatic tube delivery, tube discharge and tube insertion device moves in parallel along the side of the ring spinning frame 2 where the spindle 22 is installed, and at the same time, the electric cylinder 73 pushes the movable support 8 through the piston rod to slide into it along the horizontal guide rail. In the intubation working position, after the first motor 95 is started, the pendulum 97 of the axis of the two rolling rollers 94 is driven to swing back and forth, so as to block the empty bobbin 10 that may deviate from the sliding direction, so that the empty bobbin 10 can be lifted from the empty bobbin support. The yarn bobbin channel 92 slides down into the arc-shaped tube channel 81 without leaving the direction of the slide to cause the problem of tube jamming, and gradually slides down under the restriction of the arc-shaped tube channel 81 until it enters the arc. In the pre-insertion mechanism 86 formed by the blocking rod 84 and the limit reed 85, the bobbin 10 is kept vertical. At the same time, the second motor 88 drives the propulsion wheel to rotate so that the empty bobbin 10 is stuck in the pre-insertion pipe. The mechanism 86 prevents the empty bobbin 10 from falling, and then when the photoelectric sensor on the push trolley 7 detects the spindle 22 without an empty bobbin, the signal is sent to the intubation control system, which controls the electromagnetic tube opening When the centerline of the empty bobbin 10 is aligned with the centerline of the spindle 22, the device 87 will accurately insert the empty bobbin 10 onto the spindle 22. After insertion, the reset command issued by the intubation control system will make the electromagnetic tuber 87 move back to the spindle 22. position in front of the tube. This realizes the automatic completion of the empty bobbin conveying, arranging and intubating operations, avoids the phenomenon of pipe jamming and pipe dropping, improves production efficiency, and reduces the labor intensity that relies too much on labor. And it can reach 48 seconds to complete 240 spindle intubation actions, which is faster than the current doffing speed that can complete 1 spindle intubation per second at most.

The above-mentioned embodiments are only descriptions of preferred implementations of the present invention, and are not intended to limit the scope of the present invention. Variations and improvements should fall within the scope of protection defined by the claims of the present invention.

Industrial Applicability

The ring spinning intelligent doffing machine can realize the automatic pulling of the full bobbins on the ring spinning frame, and can also automatically transport and discharge the empty bobbins and insert them on the empty spindles of the ring spinning frame, which greatly improves the speed of the ring spinning frame. The production efficiency of the spinning frame reduces the damage to the equipment in the process of yarn pulling and intubation, and it can be modified on the basis of the existing old ring spinning frame, so it has great market prospects and strong industrial application sex.

Claims (1)

1. a three-dimensional robot for pulling yarn is characterized in that it comprises an X-axis machine lever arm (41), two Y-axis machine lever arms (42) and a Z-axis machine lever arm (43), two The two ends of the Y-axis machine arm (42) are respectively fixedly connected to the top of the doffing car (1), and the two Y-axis machine arms (42) are parallel and perpendicular to the doffing car (1). In the direction of movement, a Y-axis slide block (44) that can slide along it is respectively installed on the two Y-axis machine lever arms (42), and the two ends of the X-axis machine lever arms (41) are respectively fixedly connected to the two On a Y-axis slider (44), the X-axis machine lever arm (41) is parallel to the moving direction of the doffing dolly (1), and an X-axis slider that can slide along it is installed on the X-axis machine lever arm (41). (45), the X-axis slide block (45) is fixedly connected with the Z-axis slide block (46), and the Z-axis machine lever arm (43) is vertically arranged to cooperate with the Z-axis slide block (46) to make Z Axis slider (46) can slide up and down relative to it, and one end of the Z-axis machine lever arm (43) is fixedly connected with the crossbeam (51) of the extubation mechanism, and the described three-dimensional robot (4) is provided with a driving X-axis slider ( 45), Y-axis slide block (44) and the servomotor of Z-axis machine lever arm (43) motion.

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