A continuous operation automatic doffing trolley and a doffing control method

Abstract

The application provides a continuous operation automatic doffing trolley and a doffing control method. The trolley comprises a work main body, a pipe grabbing device, a displacement control device, a storage device, a continuous doffing device and a driving device. The target object is sequentially controlled to enter the storage device by the continuous doffing device. The driving device comprises a first driving assembly and a second driving assembly. The first driving assembly controls the directional movement of the conveying assembly to realize the discharging of the target object. The second driving assembly controls the relative positions of the two conveying assemblies and the upper part of different storage areas. The application can realize the continuous and orderly discharging of the yarn pipes, separate and store the yarn pipes during the doffing process, improve the doffing efficiency and ensure the stability of the yarn pipes.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of spinning equipment, in particular to an automatic doffing trolley for continuous operation and a doffing control method. BACKGROUND

[0002] In the process of spinning production, the yarn is collected by the rotation of the bobbin, and after the collection is completed, the yarn needs to be broken and the bobbin is taken out in time to ensure the continuous production of the spinning production line.

[0003] The doffing trolley can well solve the problem of low efficiency of manual doffing and tube pulling in traditional spinning production line. The doffing trolley can realize continuous tube pulling, doffing and tube inserting during walking along the production line. Some enterprises have installed multiple tube grippers on the surface of the doffing trolley, which can collect multiple bobbins during movement, greatly improving the doffing efficiency. However, the traditional doffing trolley lacks secondary doffing components. During the primary doffing process, multiple bobbins directly and disorderly fall into the collection container below, and multiple bobbins are disorderly stacked with gaps, which directly limits the collection efficiency of the collection container and reduces the capacity. The disorderly stacked bobbins lack of limiting, and are easy to shake during the movement of the doffing trolley, and the bobbins are easy to collide and rub with each other, affecting the quality of the finished yarn. SUMMARY

[0004] In view of the above problems, the present application provides an automatic doffing trolley for continuous operation and a doffing control method. The present application can realize continuous and orderly discharge of bobbins, separate stacking of bobbins during doffing, improve the doffing efficiency and ensure the stability of the bobbins.

[0005] To solve the above problems, the technical scheme adopted by the present application is:

[0006] An automatic doffing trolley for continuous operation, comprising:

[0007] Operation main body: for installing doffing equipment;

[0008] Tube gripping device: for gripping target objects;

[0009] Displacement control device: installed between the operation main body and the tube gripping device, for controlling the movement of the tube gripping device to realize the gripping process of the target objects;

[0010] Storage device: installed at the lower end of the operation main body, for storing target objects, which has multiple vertically arranged storage intervals;

[0011] Continuous doffing device: installed between the tube gripping device and the storage device, used to control the target objects to enter the storage device in sequence; the continuous doffing device comprises two sets of conveying assemblies, which are movably arranged on both sides of the working body; the two conveying assemblies have conveying ends, and the conveying ends have a predetermined distance between them to form a discharge port;

[0012] Driving device: the driving device comprises a first driving assembly and a second driving assembly, wherein the first driving assembly controls the directional movement of the conveying assembly to achieve the discharge of the target objects; the second driving assembly controls the relative position of the two conveying assemblies above different storage areas.

[0013] Preferably, the tube gripping device comprises a tube gripping mounting seat and a plurality of tube grippers, which are linearly arranged along the tube gripping mounting seat.

[0014] Preferably, the displacement control device comprises a position control assembly one and a position control assembly two, the position control assembly one has a control end one, wherein the control end one is connected with the position control assembly two for driving the position control assembly two to move linearly along the first direction; the position control assembly two has a control end two, wherein the control end two is connected with the tube gripping device for driving the tube gripping device to move linearly along the second direction.

[0015] Preferably, a temporary storage device is installed inside the working body, which is located above the continuous doffing device for storing target objects.

[0016] Preferably, the temporary storage device comprises a temporary storage mounting plate, the surface of the temporary storage mounting plate is provided with a plurality of strip-shaped ports, and an upper and lower through guide hopper is installed at the upper end of the strip-shaped port.

[0017] Preferably, a limiting assembly is arranged inside the guide hopper, which is located on the movement path of the target objects for controlling the discharge of the target objects, and the limiting assembly comprises a limiting air bag, and the limiting air bag is circumscribed by a pumping device to form a control loop.

[0018] Preferably, a gas guide control assembly is arranged between the two sets of conveying assemblies, which is connected in series in the control loop and has a conductive state and a closed state; when the two sets of conveying assemblies are in the conveying state one, the gas guide control assembly is in the conductive state, and when the two sets of conveying assemblies are in the conveying state two, the gas guide displacement control device is in the closed state.

[0019] Preferably, the conveying assembly comprises a dynamic conveying roller I and a dynamic conveying roller II, a conveying belt is sleeved between the dynamic conveying roller and the dynamic conveying roller II, the inner wall of the operation main body is rotationally connected with a fixed conveying roller I and a fixed conveying roller matched with the conveying belt, and the inner wall of the operation main body is provided with an adjusting assembly I and an adjusting assembly II for coordinately controlling the movement of the dynamic conveying roller I and the dynamic conveying roller II.

[0020] A doffing control method comprises the following steps:

[0021] S1: target object grabbing; the displacement control device is used to control the pipe grabbing device to move to one side of the target object, and the target object is grabbed and moved to a predetermined position above the storage device;

[0022] S2: target object conveying; after the target object is moved to the predetermined position above the storage device, the target object is controlled to drop onto the surface of the conveying assembly; the two conveying assemblies are controlled to move in sequence, so that the target object is continuously dropped.

[0023] Preferably, after the target object is moved to the predetermined position above the storage device in S2, the target object is controlled to drop onto the surface of the temporary storage device for temporary storage.

[0024] The present application has the following beneficial effects:

[0025] 1. The continuous doffing device is arranged, the two conveying assemblies are controlled to form a drop opening with a predetermined spacing in the doffing process, the yarn pipes on the surface are conveyed in a direction, a plurality of yarn pipes can be sequentially and orderly dropped into the storage area for accommodation, a continuous and stable doffing process of the yarn pipes is realized, the drop opening can be controlled to be opposite to the surface of different storage areas by the driving device, the target object can be sequentially placed in different storage areas, and the yarn pipes are orderly stacked; a plurality of vertically arranged storage areas are arranged, the yarn pipes can be orderly placed in the storage areas by the continuous doffing device, the yarn pipes can be orderly stacked, the gap between the yarn pipes is reduced, and the stability of the yarn pipe stacking is ensured; the yarn pipes are stored in the plurality of storage areas arranged in a spaced manner, the adjacent yarn pipes are supported, and the stability of the yarn pipes during movement of the doffing trolley is ensured.

[0026] 2. A plurality of pipe grabbers are arranged, a plurality of yarn pipes can be grabbed at a time, the doffing efficiency is improved, the temporary storage device is arranged, a plurality of yarn pipes can be temporarily stored and supported, the transfer amount of the yarn pipes is improved, the problem of no pipe to drop or parking and waiting is avoided, the normal doffing of the equipment is ensured, the doffing efficiency is maximized, and the normal operation of the whole equipment is ensured.

[0027] 3. By setting a limiting air bag in the guide hopper, the limiting air bag can be adjusted according to the position state between the conveying assemblies, which can automatically control the air bag in the guide hopper according to the conveying state of the conveying assemblies, improve the coordination of the whole equipment control, reduce the control process, and improve the automation efficiency. BRIEF DESCRIPTION OF DRAWINGS

[0028] Figure 1 is a schematic diagram of the three-dimensional structure of the present application;

[0029] Figure 2 is a schematic diagram of the front view structure of the present application;

[0030] Figure 3 is a schematic diagram of the side view structure of the present application;

[0031] Figure 4 is a schematic diagram of the top view structure of the present application;

[0032] Figure 5 is a schematic diagram of the rear view structure of the present application;

[0033] Figure 6 is a schematic diagram of the A-A line section structure of the present application.

[0034] In the figure: 100, work subject; 110, adjusting assembly one; 120, adjusting assembly two; 200, pipe grabbing device; 210, pipe grabbing mounting seat; 220, pipe grabber; 300, displacement control device; 310, position control assembly one; 311, control end one; 320, position control assembly two; 321, control end two; 400, temporary storage device; 410, temporary storage mounting plate; 420, strip-shaped port; 430, guide hopper; 431, limiting assembly; 500, storage device; 510, storage interval; 511, discharging box; 600, continuous doffing device; 610, dynamic conveying roller one; 620, fixed conveying roller one; 630, fixed conveying roller two; 640, conveying belt; 650, dynamic conveying roller two; 700, discharging port. EMBODIMENT

[0035] The present application is further illustrated below in combination with the drawings and examples.

[0036] REFERENCE Figures 1-6The utility model provides an automatic doffing trolley of continuous operation, including operation main body 100, grab pipe device 200, displacement control device 300, storage device 500, continuous doffing device 600 and drive device, wherein operation main body 100 is used to install doffing equipment, and the bottom end of operation main body 100 is provided with a walking unit, which can control the overall directional movement along the production line to realize continuous doffing;Grab pipe device 200 is used to grab the yarn tube (hereinafter referred to as target object). Grab pipe device 200 has a gripping state and a relaxed state, and in the gripping state, it is fixed with the top end of the target object to realize the pipe grabbing process;Displacement control device 300 is installed between operation main body 100 and grab pipe device 200, used to control the movement of grab pipe device 200 to realize the grabbing process, and in the process of movement, displacement control device 300 controls grab pipe device 200 to be in different positions, moving back and forth between the production line and operation main body 100 to realize the conveying of the grabbed target object, and realizing the continuous doffing process along the production line.

[0037] Storage device 500 is used to store the target object, which is installed at the lower end of the inside of operation main body 100, and has a plurality of vertically arranged storage intervals 510, with an open arrangement of discharge box 511 arranged at the upper end of storage interval 510, which can improve the accuracy of target object discharge, and by arranging a plurality of storage intervals 510 to store the target objects separately, the orderly storage of the target objects can be realized, the internal space utilization is improved, and the damage caused by the shaking and collision of the target objects during storage and movement is avoided, improving the quality of the product.

[0038] In order to ensure normal doffing efficiency and solve the problem of scattered and disordered doffing in the traditional doffing process, a continuous doffing device 600 is arranged between the grab pipe device 200 and the storage device 500, used to control the target objects to enter the storage device 500 in sequence and control the orderly discharge of the target objects;The continuous doffing device 600 includes two sets of conveying assemblies, which are movably arranged on both sides of the inside of operation main body 100, and the two conveying assemblies have conveying ends, the positions of the conveying ends of the two conveying assemblies are opposite, and the conveying ends have a predetermined distance between them to form a discharge port 700, and the control of the two conveying ends in different positions can form discharge ports 700 of different widths, which can be matched with the size of the target objects to realize effective discharge;During the doffing and discharging process of grab pipe device 200, the target objects fall on the surface of the conveying assembly and are arranged in a neat linear array, and then the two sets of conveying assemblies are controlled to start in sequence to realize the discharging process of the target objects on the surface of the conveying assembly, and a plurality of target objects fall into the corresponding storage intervals 510 in sequence to realize the neat discharging of the target objects.

[0039] The driving device comprises a first driving assembly and a second driving assembly, wherein the first driving assembly controls the directional movement of the conveying assembly to achieve the feeding of the target objects; the second driving assembly controls the relative positions of the two conveying assemblies and the upper ends of different storage sections 510, and after the feeding in the first storage section 510 is completed, the two conveying assemblies are controlled to move, i.e. the feeding port 700 is controlled to be in a position corresponding to the position of the next storage section 510, so that the target objects fall into the next storage section 510, thereby realizing the continuous feeding process.

[0040] Specific reference will be made to the accompanying drawings Figure 4 The pipe grabbing device 200 comprises a pipe grabbing mounting base 210 and a plurality of pipe grabbers 220, the pipe grabbers 220 are linearly arranged along the pipe grabbing mounting base 210, the pipe grabbers 220 are provided with telescopic devices, which can control the pipe grabbing device 200 to be in a gripping state or a relaxed state, thereby realizing the pipe grabbing or relaxing process, and the plurality of pipe grabbers 220 are linearly distributed along the pipe grabbing mounting base 210, thereby improving the number of pipe grabbing at one time and improving the efficiency of the pipe grabbing and doffing.

[0041] The displacement control device 300 comprises a position control assembly one 310 and a position control assembly two 320, the position control assembly one 310 has a control end one 311, wherein the control end one 311 is connected with the position control assembly two 320 for driving the position control assembly two 320 to linearly move along a first direction, i.e. linearly move along a vertical direction, thereby realizing the lifting of the target objects; the position control assembly two 320 has a control end two 321, wherein the control end two 321 is connected with the pipe grabbing device 200 for driving the pipe grabbing device 200 to linearly move along a second direction, i.e. linearly move along a front-rear direction, thereby allowing the target objects to approach the working body 100, and the position control assembly one 310 and the position control assembly two 320 can be composed of electric sliding rails, electric telescopic rods and the like, thereby controlling the linear movement of the related target objects and realizing the pipe grabbing control process.

[0042] The temporary storage device 400 is installed inside the working body 100 and is located above the continuous doffing device 600 for storing the target objects, and the temporary storage device 400 can temporarily store the target objects, thereby ensuring the coordinated operation between the pipe grabbing device 200 and the continuous doffing device 600, making up for the difference in the feeding and doffing rates of the two, ensuring the normal doffing of the whole mechanism, avoiding the problems of no pipe to doff or waiting for parking, ensuring the normal doffing of the equipment and maximizing the doffing efficiency.

[0043] The temporary storage device 400 comprises a temporary storage mounting plate 410, and a plurality of strip-shaped openings 420 are formed on the surface of the temporary storage mounting plate 410, the size of the strip-shaped openings 420 is greater than the size of the target objects, so as to ensure normal material falling; an upper and lower through material guide hopper 430 is mounted on the upper end of the strip-shaped opening 420, the material guide hopper 430 is also in the shape of a funnel with a large top opening and a small lower end, which can improve the accuracy of material falling and the efficiency of material falling and conveying.

[0044] A limiting assembly 431 is arranged in the material guide hopper 430, the limiting assembly 431 is located on the moving path of the target objects and is used for controlling the falling of the target objects; when the target objects on the surface of the continuous doffing device 600 have not been conveyed, at this time, the limiting assembly 431 is in a limiting working state, at this time, the target objects in the material guide hopper 430 cannot fall and are temporarily stored in the material guide hopper 430, so as to ensure the normal falling of the target objects in the front and rear batches; the limiting assembly 431 comprises a limiting air bag, a pump air device is connected with the limiting air bag to form a control loop, the pump air device is connected with the limiting air bag through a connecting pipeline, and the pump air device is in different working states to control the limiting air bag to be in different working states, so as to realize the limiting state or the falling state.

[0045] A gas guide control assembly is arranged between the two groups of conveying assemblies, the gas guide control assembly is connected in series in the control loop and has a conducting state and a closing state; when the two groups of conveying assemblies are in conveying state one, the gas guide control assembly is in the conducting state; when the two groups of conveying assemblies are in conveying state two, the gas guide control assembly is in the closing state; the limiting air bag is provided with a gas leakage opening, when the gas guide control assembly is in the closing state, at this time, the gas in the limiting air bag continuously flows away, the limiting air bag shrinks, and the target objects fall to the surface of the continuous doffing device 600 after the limiting of the target objects disappears; when the gas guide control assembly is in the conducting state, at this time, the limiting air bag is in an inflated state, and the limiting air bag can limit the target objects to ensure the stability of the limiting,

[0046] It should be noted that, when the conveying assemblies are in conveying state one, at this time, the two conveying assemblies have a predetermined opening between them, forming a falling opening 700, at this time, the material falls normally; when the conveying assemblies are in conveying state two, at this time, the two conveying assemblies are close to each other and are in a closed state, at this time, the falling opening 700 is closed and disappears, and the two conveying assemblies are in a non-conveying and stopped material receiving state; when the conveying assemblies are in conveying state two, at this time, the two conveying assemblies are close to each other, which can support the target objects, avoid the target objects from directly falling into the storage area 510, at this time, the target objects fall in a step-by-step manner, and subsequent orderly and stable falling is realized.

[0047] The air guide control assembly can be a position control valve, which can be controlled in an extension and retraction mode, and the extension end and the base end are connected with different conveying assemblies respectively. When the position control valve is in an extended state, the position control valve is turned on, and the air bag is limited in the open state of the discharge port 700. When the position control valve is in a retracted state, the position control valve is closed, and the air bag is retracted when the discharge port 700 is closed, so as to ensure the normal discharge of the target object. Through the above setting mode, the automatic control process can be realized, the overall collaborative control effect is improved, the failure rate is low, and the overall control efficiency is high.

[0048] As a preferred conveying mode; wherein the conveying assembly comprises a dynamic conveying roller one 610 and a dynamic conveying roller two 650, the conveying belt 640 is sleeved between the dynamic conveying roller one 610 and the dynamic conveying roller two 650, the fixed conveying roller one 620 and the fixed conveying roller two 630 are rotationally connected to the inner wall of the operation main body 100 and cooperate with the conveying belt 640, the fixed conveying roller one 620 and the fixed conveying roller two 630 are connected with a power source, which can realize the transmission of the conveying belt 640, and can change the direction of the conveying belt 640. It can be referred to the accompanying drawings Figure 6 The conveying belt 640 is arranged in an L-shaped state to realize the maximum utilization of the internal space of the operation main body 100; by arranging the dynamic conveying roller one 610 and the dynamic conveying roller two 650, the position of the conveying belt 640 can be adjusted, the dynamic conveying roller one 610 plays a role in position control, and the conveying belt 640 is tensioned during synchronous movement to ensure that the conveying belt 640 can be in a tensioned conveying state; the inner wall of the operation main body 100 is provided with an adjusting assembly one 110 and an adjusting assembly two 120 to coordinate the movement of the dynamic conveying roller one 610 and the dynamic conveying roller two 650. The adjusting assembly one 110 is horizontally arranged, and the adjusting assembly two 120 is vertically arranged, both of which can be electric sliding rails, which are rotationally connected with the corresponding dynamic conveying roller one 610 or dynamic conveying roller two 650 to realize a collaborative control process and ensure that the conveying belt 640 is in an optimal tensioned conveying state.

[0049] A doffing control method, comprising the following steps:

[0050] S1: target object grabbing; the displacement control device controls the pipe grabbing device to move to one side of the target object, and the target object is grabbed and moved to a predetermined position above the storage device; the displacement control device controls the pipe grabbing device to move to one side of the target object on the production line to realize the grabbing of the target object, and then resets to move above the storage device to realize a one-time grabbing process.

[0051] S2: Target object conveying; after the target object moves to a predetermined position above the storage device, the target object is controlled to fall to the surface of the conveying assembly. At this time, the target object in the state of being installed for grabbing is linearly arranged on the surface of the conveying assembly, and a plurality of target objects are linearly arranged. After the target object is placed stably, the two conveying assemblies are controlled to move directionally in sequence to realize continuous feeding of the target object, that is, the conveying assemblies are controlled to move directionally, and the target objects on both sides move to the middle direction of the feeding port in sequence to realize a continuous and orderly feeding process. The target objects are neatly and orderly dropped into the storage interval to realize an orderly feeding and automatic stacking process.

[0052] After the target object moves to a predetermined position above the storage device in S2, the target object is controlled to fall to the surface of the temporary storage device to realize temporary storage. By arranging the temporary storage device, a plurality of target objects can be temporarily stored, so that the problem of no tube to fall or parking waiting can be avoided, the normal feeding of the device is ensured, and the efficiency of the feeding is maximized.

[0053] The above description is only the preferred embodiment of the present application and is not intended to limit the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. An automatic doffing trolley for continuous operation, characterized in that, include: Main working body (100): Used for installing doffing equipment; Pipe gripping device (200): used to grip the target object; Displacement control device (300): installed between the working body (100) and the pipe gripping device (200), used to control the movement of the pipe gripping device (200) to realize the target object gripping process; Storage device (500): Installed inside the lower end of the working body (100), used to store the target object, and has multiple vertically arranged storage compartments (510). Continuous doffing device (600): installed between the tube gripping device (200) and the storage device (500), used to control the target material to enter the storage device (500) sequentially; the continuous doffing device (600) includes two sets of conveying components, the two sets of conveying components are located on both sides inside the working body (100) and are movably arranged, the two conveying components have conveying ends, and there is a predetermined distance between the two conveying ends to form a discharge port (700). Drive device: The drive device includes a first drive component and a second drive component, wherein the first drive component controls the directional movement of the conveying component to realize the unloading of the target object; the second drive component controls the two conveying components to be opposite to the upper part of different storage sections (510); The conveying assembly includes a first movable conveying roller (610) and a second movable conveying roller (650). A conveyor belt (640) is sleeved between the first movable conveying roller (610) and the second movable conveying roller (650). The inner wall of the working body (100) is rotatably connected to a first fixed conveying roller (620) and a second fixed conveying roller (630) that cooperate with the conveyor belt (640). The inner wall of the working body (100) is provided with an adjustment component (110) and an adjustment component (120) to coordinate and control the movement of the first movable conveying roller (610) and the second movable conveying roller (650).

2. The automatic doffing trolley for continuous operation according to claim 1, characterized in that, The pipe gripping device (200) includes a pipe gripping mounting base (210) and a plurality of pipe grippers (220), which are arranged linearly along the pipe gripping mounting base (210).

3. The automatic doffing trolley for continuous operation according to claim 1, characterized in that, The displacement control device (300) includes a position control component one (310) and a position control component two (320). The position control component one (310) has a control end one (311), wherein the control end one (311) is connected to the position control component two (320) for driving the position control component two (320) to move linearly along a first direction; the position control component two (320) has a control end two (321), wherein the end of the control end two (321) is connected to the pipe gripping device (200) for driving the pipe gripping device (200) to move linearly along a second direction.

4. The automatic doffing trolley for continuous operation according to claim 1, characterized in that, The working body (100) is equipped with a temporary storage device (400), which is located above the continuous doffing device (600) and is used to store the target object.

5. The automatic doffing trolley for continuous operation according to claim 4, characterized in that, The temporary storage device (400) includes a temporary storage mounting plate (410), the surface of which has a plurality of slots (420), and a guide hopper (430) that runs vertically through the upper end of the slots (420).

6. The automatic doffing trolley for continuous operation according to claim 5, characterized in that, The feed hopper (430) is provided with a limiting component (431). The limiting component (431) is located on the movement path of the target object and is used to control the feeding of the target object. The limiting component (431) includes a limiting airbag, and the limiting airbag is connected to an external pumping device to form a control loop.

7. The automatic doffing trolley for continuous operation according to claim 6, characterized in that, A gas guiding control component is provided between the two sets of conveying components. The gas guiding control component is connected in series in the control loop and has a conducting state and a closed state. When the two sets of conveying components are in conveying state one, the gas guiding control component is in the conducting state. When the two sets of conveying components are in conveying state two, the gas guiding displacement control device (300) is in the closed state.

8. A method for controlling yarn doffing, characterized in that, The automatic doffing trolley for continuous operation as described in any one of claims 1-7 includes the following steps: S1: Target object grasping; The displacement control device controls the gripping device to move to one side of the target object, and the target object is grasped and moved to a predetermined position above the storage device; S2: Target object conveying; after the target object moves to the predetermined position above the storage device, control the target object to fall onto the surface of the conveying component; control the two conveying components to move in a directional manner in sequence to achieve continuous falling of the target object.

9. The doffing control method according to claim 8, characterized in that, In S2, after the target object moves to a predetermined position above the storage device, the target object is controlled to fall onto the surface of the temporary storage device for temporary storage.

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