Doffing robot

Abstract

The invention discloses a doffing mechanical arm on a spinning machine. The doffing mechanical arm comprises a drive device, a transmission assembly and a holding assembly. The drive device is connected with the lower end of a first lever of the transmission assembly. The upper end of the first lever is hinged to the lower end of a second lever through a transition plate. The upper end of the second lever is fixed with a cross-shaped shaft seat. A lengthwise shaft of a cross-shaped shaft is connected in a hole of the cross-shaped shaft seat in an inserted mode to form clearance fit. A horizontal shaft is fixed to the tail end of a swing arm, and the horizontal shaft penetrates through a horizontal axial hole in the cross-shaped shaft and is connected with the drive device through a horizontal joint pull rod. The tail end of the swing arm is connected with the drive device through a lengthwise joint pull rod. The holding part is arranged at the head end of the swing arm. As the drive device is controlled by an automatic control system, after the holding part is connected with a moving arm of a creel in a clamped mode, the holding part can move in three dimensions, namely in lengthwise direction, in horizontal direction and in a front-and-back mode under the drive of the transmission assembly. The reel will be driven along with the holding part to finish all actions needed in doffing. Thus, mechanical operation of automatic doffing is achieved and the working efficiency of the spinning machine is improved.

Description

technical field [0001] The invention belongs to the field of textile machinery, and in particular relates to a manipulator for opening and closing creels in a spinning machine for yarn winding and doffing. Background technique [0002] During the spinning process, the new spun yarn needs to be stored on paper tubes held by creels. Due to the limited amount of yarn storage in the paper tube, when the paper tube is full of yarn, the creel needs to be opened to remove the yarn tube, and the creel must be closed after a new paper tube is in place. In addition, the yarn on the bobbin may be temporarily checked for quality, which also requires the opening and closing of the creels. At present, the operation of the creel is manually carried out by the staff, and the specific operation steps are as follows: figure 1 shown. a is that the creel 23 clamps the paper tube 24, and the paper tube 24 is close to the normal spinning state of the winding roller on the spinning machine; b i...

AI Technical Summary

Problems solved by technology

[0003] The above-mentioned steps are all manually operated by the staff. The existing problem is that there are many spindle positions on the spinning machine, and there are correspondingly many creels that need to be doffed. Only manual doffing will undoubtedly limit the spinning efficiency of the spinning machine.

In addition, the operation of the creel by the staff takes manpower, which does not conform to the trend of mechanical automation

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