Control method for bobbin grabbing mechanism of doffer

Abstract

A control method for a bobbin grabbing mechanism of a doffer comprises the following steps: 1, an FPGA (Field Programmable Gate Array) controller outputs a signal to drive an x-axis motor of a manipulator to rotate in the forward direction to push out a clamping device, and after receiving a signal, the FPGA controller outputs a brake signal for the x-axis motor to maintain the moment of the x-axis motor; 2, the FPGA controller outputs a signal to drive a clamping motor to rotate in the forward direction to drive the clamping device to clamp a full bobbin, and the full bobbin is pushed loose from the stator of a spinning machine; 3, then the FPGA controller interface drives a Y-axis motor of the manipulator to rotate in the forward direction, and the x-axis motor rotates in the reverse direction to the position of a sensor; and 4, the FPGA controller drives the clamping motor to rotate in the reverse direction, and the full bobbin freely falls into a prearranged basket in virtue of gravity. The invention has the technical effects as follows: the process of the method is simple, automatic bobbin grabbing and low failure rate are achieved in the bobbin grabbing process, and the competitiveness of enterprises is improved.

Description

technical field [0001] The invention relates to a control method, in particular to a control method of a doffer grabbing mechanism. Background technique [0002] Now, a large number of old-style short-spindle spinning frames in China still manually remove the full bobbins from the spindles and replace them with empty bobbins. Due to the tight adhesion between the full bobbin and the spindle, a large pulling force is required, and the empty bobbin must be replaced at the same time. This will inevitably increase the labor intensity of the doffing workers and reduce the production efficiency, which will increase the cost; on the other hand, due to the high noise, high temperature, serious air pollution and harsh production environment in the spinning workshop, more and more workers are willing to do doffing work. If there are few, enterprises are facing great labor pressure. Therefore, there is a very urgent demand for the automation transformation of the doffing process of ...

AI Technical Summary

Problems solved by technology

This will inevitably increase the labor intensity of the doffing workers and reduce the production efficiency, which will increase the cost; on the other hand, due to the loud noise, high temperature, serious air pollution and harsh production environment in the spinning workshop, more and more workers are willing to do doffing work. less, enterprises are facing great labor pressure

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