Automatic doffing machine with vertical positioning function

Abstract

The utility model relates to an automatic doffing machine capable of vertically positioning. The automatic doffing machine comprises a sky rail, guide wheels, a sky rail connecting part, a cross beam, a belt, a motor, a stand column, an objective table, a bar code tape, a code reader, a server and a PLC (Programmable Logic Controller), the bar code tape is fixed on the vertical column along the vertical direction. The code reader is fixed on the objective table and is matched with the barcode tape to obtain current absolute position information of the objective table, and the current absolute position information is recorded as absolute information I; the server is electrically connected with the PLC and the motor, and the server is used for receiving absolute position information sent by the PLC and required to be reached by the objective table and controlling the motor to rotate; wherein the absolute position information which the objective table needs to reach is recorded as absolute information II; the server is connected with the code reader, and the server is further used for receiving the absolute information I, comparing the absolute information I with the absolute information II and controlling the deviation value of the absolute information I and the absolute information II to be 0. The vertical positioning device effectively avoids the influence of abrasion of the belt and the guide wheel on vertical positioning, and is accurate in positioning.

Description

Technical Field

[0001] The utility model belongs to the technical field of auxiliary equipment for chemical fiber production, and relates to a vertically positioned automatic doffing machine. Background Art

[0002] The automatic doffer is an auxiliary automation equipment in chemical fiber production, which is used to transport chemical fiber yarn cakes and take over the yarn cakes wound by the winder. A production line usually has dozens of winders. Every time the goods are received and delivered, the automatic doffer needs to be accurately docked and positioned with the winder spindle so that the yarn cake can be smoothly pushed to the wire rod of the automatic doffer.

[0003] like Figure 1 As shown, the automatic doffing machine of the prior art includes a ceiling rail 2, a guide wheel 1, a ceiling rail connection part, a crossbeam 3, a belt 4, a motor 5, a column 6, a loading platform 7, a PLC controller, and a server; the guide wheel 1 is arranged above the ceiling rail 2, and the ceiling rail connection part is connected to the ceiling rail 2 through the guide wheel 1, and the guide wheel 1 is used to control the horizontal movement of the automatic doffing machine; the crossbeam 3 is located below the ceiling rail 2 and is connected to the ceiling rail connection part; the column 6 is located below the crossbeam 3, the top of the column 6 is connected to the crossbeam 3, and the bottom of the column does not contact the ground; The LC controller is electrically connected to the server, and the PLC controller is used to send the absolute position information that the stage needs to reach to the server. The absolute position information is the distance between the stage and the ground. The server is connected to the motor to control the rotation angle of the motor. The motor is a servo motor, and an encoder is provided inside the servo motor. The motor 5 is fixed on the upper part of the column 6, and is connected to the stage 7 through the belt 4, driving the stage 7 to move up and down. The stage 7 is provided with a push rod 8, which is used to dock with the winding machine or the buffer rack to receive the silk cake. When the stage is to be moved to the absolute position that needs to be reached, the PLC controller sends the absolute position information that the stage needs to reach to the server. The server converts the absolute position information into a pulse value (the function of the server itself), and the encoder measures the motor rotation angle, and converts the angle into a pulse value and feeds it back to the server. When the feedback pulse value is equal to the pulse value sent by the server, the server controls the motor to stop rotating, that is, the stage reaches the absolute position that needs to be reached.

[0004] During long-term use, the mechanical parts of the automatic bobbin-dropping machine of the prior art are easily worn, resulting in inaccurate positioning. When taking the silk cake, the push rod squeezes the paper tube on the silk cake, damaging the paper tube port, causing the paper tube to break and leading to product degradation, affecting product sales.

[0005] According to long-term use experience and maintenance data statistics, inaccurate positioning is mainly caused by damage to the belt and guide wheel. The automatic tube-dropping machine of the prior art can only ensure that the number of revolutions of the motor is accurate during vertical positioning. The belt will wear and loosen during long-term use, which causes the displacement of the belt to change after the motor drives the belt, causing the positioning to change, resulting in inaccurate positioning. The guide wheel will also wear during long-term use, and the height of the guide wheel will change, which causes the distance from the bottom of the column to the ground to change, causing the positioning to change, resulting in inaccurate positioning. Faced with these problems, engineers need to re-adjust the vertical positioning after the belt and / or guide wheel are worn, or replace the belt and / or guide wheel as soon as they are worn, resulting in a huge workload and serious impact on production.

[0006] Therefore, it is of great significance to study a vertically positioned automatic doffing machine to avoid the influence of belts and guide wheels on vertical positioning. Utility Model Content

[0007] The utility model aims to solve the problems existing in the prior art and provides a vertically positioned automatic tube-dropping machine.

[0008] In order to achieve the above purpose, the technical solution adopted by the utility model is as follows:

[0009] A vertically positioned automatic bobbin doffing machine comprises a ceiling rail, a guide wheel, a ceiling rail connecting part, a crossbeam, a belt, a motor, a column and a loading platform; the guide wheel is arranged above the ceiling rail, the ceiling rail connecting part is connected to the ceiling rail through the guide wheel, and the horizontal movement of the automatic bobbin doffing machine is controlled by the guide wheel; the crossbeam is located below the ceiling rail and is connected to the ceiling rail connecting part; the column is located below the crossbeam, the top of the column is connected to the crossbeam, and the bottom of the column does not contact the ground; the motor is fixed on the upper part of the column, the motor is connected to the loading platform through the belt, and drives the loading platform to move up and down; a push rod is arranged on the loading platform, and the push rod is used to dock with a winding machine or a buffer rack to receive the silk cake, and the automatic bobbin doffing machine also includes a barcode tape, a code reader, a server and a PLC controller;

[0010] The barcode tape is fixed on the column along the vertical direction; the code reader is fixed on the stage and cooperates with the barcode tape (the coordinated use of the code reader and the barcode tape is a prior art, such as the barcode positioning system of Lenze Company, the code reader is used to read the information of the barcode tape and obtain the barcode information, the code reader contains an SSI encoder, and the obtained barcode information is converted into distance information by the SSI encoder, that is, the barcode information is converted into an expression in terms of distance by the SSI encoder), and the current absolute position information of the stage is obtained, that is, the distance between the stage and the ground, which is recorded as absolute information I; the barcode information can actually only determine the position of the stage relative to the column, and the absolute position information of the stage lacks the distance between the bottom of the column and the ground. The reason why the barcode information is directly converted into the absolute position information of the stage by the SSI encoder is through point-to-point teaching and debugging of the position, which belongs to the prior art;

[0011] The server is electrically connected to the PLC controller and the motor respectively. The server is used to receive the absolute position information of the stage that needs to be reached from the PLC controller, and control the motor to rotate according to the received absolute position information of the stage that needs to be reached; wherein the absolute position information of the stage that needs to be reached is recorded as absolute information II;

[0012] The server is connected to the barcode reader. The server is also used to receive absolute information I and compare the received absolute information I with absolute information II. If the deviation value between the absolute information I and the absolute information II is not 0, the server controls the rotation of the motor according to the deviation value between the absolute information I and the absolute information II, thereby adjusting the position of the stage until the deviation is 0, thereby eliminating the error caused by the stretching or wear of the belt.

[0013] As the preferred technical solution:

[0014] As described above, the automatic tube-dropping machine for vertical positioning also includes a laser distance sensor; the laser distance sensor is used to measure the current absolute position information of the worktable, which is recorded as absolute information III; the PLC controller is electrically connected to the laser distance sensor, and if the deviation value between the absolute information I and the absolute information II is 0, the PLC controller receives the absolute information III sent by the laser distance sensor and compares it with the absolute information II, and if the deviation value between the absolute information II and the absolute information III is 0, the worktable reaches the absolute position to be reached, and if the deviation value between the absolute information II and the absolute information III is not 0, the PLC controller sends the deviation value between the absolute information II and the absolute information III to the servo controller. The server controls the rotation of the motor according to the deviation value between the absolute information II and the absolute information III, so that the stage reaches the required absolute position to solve the errors caused by the guide wheel being used too long, being worn too much, and the wheel diameter becoming smaller. If only a laser ranging sensor is used to vertically position the stage of the automatic tube-dropping machine to solve the errors caused by the belt and the guide wheel, this will cause the positioning speed of the stage to be very slow, and it is necessary to continuously measure the distance and continuously compare it with the absolute position that the stage needs to reach. In addition, during the debugging process, the deviation is still adjusted by the number of revolutions of the motor. The number of revolutions is converted into the displacement of the belt, which still depends on whether the belt is accurate. If the belt is worn or stretched, the deviation adjustment will be insufficient.

[0015] In a vertically positioned automatic tube-dropping machine as described above, the emitting end of the laser distance measuring sensor is flush with the lower surface of the loading platform.

[0016] As described above, a vertically positioned automatic tube doffing machine also includes a display screen; the display screen is electrically connected to the PLC controller, the display screen is used to input the absolute position information that the worktable needs to reach and send it to the PLC controller, the display screen is also used to display the deviation value between absolute information I and absolute information II, and the deviation value between absolute information II and absolute information III. By observing the deviation value, maintenance personnel can indirectly understand the degree of wear of wearing parts, know the life cycle of parts in advance, evaluate in advance whether replacement is needed, and reduce the failure rate.

[0017] In the vertically positioned automatic doffing machine as described above, the guide wheel is a rubber guide wheel.

[0018] In a vertically positioned automatic doffing machine as described above, one end of the barcode tape is flush with the bottom of the column, corresponding to the lowest position where the loading platform can be lowered, and the other end is located 1 to 2 cm below the motor, corresponding to the highest position where the loading platform can be raised.

[0019] In the vertically positioned automatic tube-dropping machine as described above, the code reader is connected to the loading platform via a bracket.

[0020] Beneficial effects:

[0021] (1) The utility model is a vertically positioned automatic doffer. During use, as the loading platform moves vertically, the barcode reader moves along the barcode belt, thereby avoiding the influence of the belt on positioning; the laser distance sensor feedback is used for secondary verification, thereby avoiding the influence of the overall decline of the automatic doffer on positioning caused by the wear of the guide wheel;

[0022] (2) The utility model is a vertically positioned automatic doffing machine, which effectively eliminates positioning errors caused by wear and stretching of the transmission belt, wear of the guide wheel, etc., and prolongs the service life of the parts;

[0023] (3) The utility model is a vertically positioned automatic tube doffing machine, which effectively avoids the problem that maintenance personnel need to frequently calibrate the positions due to unstable positioning, directly improves the operating efficiency of the automatic tube doffing machine, indirectly improves production efficiency, and saves manpower;

[0024] (4) The utility model provides a vertically positioned automatic tube-dropping machine, which can understand the degree of wear of wearing parts by recording deviation values ​​and displaying them on a display screen, and can know the life cycle of parts in advance, and evaluate in advance whether replacement is needed, thereby reducing the failure rate of equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 It is a structural diagram of the automatic doffing machine of the prior art;

[0026] Figure 2 This is a front view of the automatic tube-dropping machine of the utility model;

[0027] Figure 3 This is a partial structural diagram of the automatic tube-dropping machine of the utility model;

[0028] Figure 4 for Figure 2 Cross-sectional view along AA;

[0029] Figure 5 This is a flow chart of the use of the automatic tube-dropping machine of the utility model;

[0030] Among them, 1-guide wheel, 2-ceiling rail, 3-crossbeam, 4-belt, 5-motor, 6-column, 7-loading platform, 8-push rod, 9-code reader, 10-barcode tape, 11-bracket, 12-laser ranging sensor. DETAILED DESCRIPTION

[0031] The present invention is further described below in conjunction with specific embodiments. It should be understood that these embodiments are only used to illustrate the present invention and are not used to limit the scope of the present invention. In addition, it should be understood that after reading the content taught by the present invention, those skilled in the art can make various changes or modifications to the present invention, and these equivalent forms also fall within the scope defined by the claims attached to this application.

[0032] A vertically positioned automatic doffer, such as Figures 2 to 4 As shown, it includes a ceiling rail 2, a guide wheel 1, a ceiling rail connection part, a crossbeam 3, a belt 4, a motor 5, a column 6, a loading platform 7, a barcode tape 10, a code reader 9, a server, a PLC controller, a laser distance sensor 12 and a display screen;

[0033] The guide wheel 1 is a rubber guide wheel, which is arranged above the ceiling rail 2. The ceiling rail connecting part is connected to the ceiling rail 2 through the guide wheel 1, and the horizontal movement of the automatic bobbin doffing machine is controlled by the guide wheel 1; the crossbeam 3 is located below the ceiling rail 2 and is connected to the ceiling rail connecting part; the column 6 is located below the crossbeam 3, the top of the column 6 is connected to the crossbeam 3, and the bottom of the column does not contact the ground; the motor 5 is fixed on the upper part of the column 6, and the motor 5 is connected to the loading platform 7 through the belt 4, and drives the loading platform 7 to move up and down; a push rod 8 is provided on the loading platform 7, and the push rod 8 is used to dock with the winding machine or the buffer rack to receive the silk cake;

[0034] The barcode tape 10 is fixed on the column 6 along the vertical direction; one end of the barcode tape 10 is flush with the bottom of the column 6, and the other end is located 1 to 2 cm below the motor 5; the code reader 9 is fixed on the stage 7 through the bracket 11, and cooperates with the barcode tape 10 to obtain the current absolute position information of the stage 7, that is, the distance between the stage 7 and the ground, which is recorded as absolute information I;

[0035] The display screen is electrically connected to the PLC controller, and the display screen is used to input the absolute position information that the stage needs to reach and send it to the PLC controller; wherein the absolute position information that the stage 7 needs to reach is recorded as absolute information II;

[0036] The server is electrically connected to the PLC controller and the motor 5 respectively. The server is used to receive the absolute position information of the stage that needs to be reached from the PLC controller, and control the motor 5 to rotate according to the received absolute position information of the stage that needs to be reached;

[0037] The server is connected to the code reader 9, and the server is also used to receive the absolute information I, and compare the received absolute information I with the absolute information II. If the deviation value between the absolute information I and the absolute information II is not 0, the server controls the motor to rotate according to the deviation value between the absolute information I and the absolute information II, thereby adjusting the position of the stage 7 until the deviation is 0;

[0038] The transmitting end of the laser ranging sensor 12 is flush with the lower surface of the stage 7; the laser ranging sensor 12 is used to measure the current absolute position information of the stage 7, which is recorded as absolute information III; the PLC controller and the laser ranging sensor 12 are electrically connected, and if the deviation value of the absolute information I and the absolute information II is 0, the PLC controller receives the absolute information III sent by the laser ranging sensor 12 and compares it with the absolute information II, if the deviation value of the absolute information II and the absolute information III is 0, the stage reaches the required absolute position, if the deviation value of the absolute information II and the absolute information III is not 0, the PLC controller sends the deviation value of the absolute information II and the absolute information III to the server, and the server controls the motor to rotate according to the deviation value of the absolute information II and the absolute information III, so that the stage reaches the required absolute position; wherein, the deviation value of the absolute information I and the absolute information II and the deviation value of the absolute information II and the absolute information III are both displayed on the display screen.

[0039] Specific use process: Figure 5 As shown, first, the PLC controller sends absolute information II, that is, the target position; the server receives the absolute information II (that is, the received target position information) sent by the PLC controller, and controls the motor to rotate according to the absolute information II; the server obtains the absolute information I through the code reader, and then the server performs the first error verification to determine whether the deviation value between the absolute information I and the absolute information II is 0. If the deviation value between the absolute information I and the absolute information II is not 0, the server controls the motor to rotate according to the deviation value between the absolute information I and the absolute information II, thereby adjusting the position of the stage until the deviation is 0; if the deviation value between the absolute information I and the absolute information II is 0, the PLC controller reads the reading of the laser ranging sensor, that is, the absolute information III, and compares the absolute information III with the absolute information II for a second verification. If the deviation value between the absolute information II and the absolute information III is 0, the stage reaches the target position. If the deviation value between the absolute information II and the absolute information III is not 0, the PLC controller sends the deviation value between the absolute information II and the absolute information III to the server to fine-tune the motor, so that the stage reaches the target position.

Claims

1. A vertically positioned automatic bobbin-dropping machine, comprising a ceiling rail (2), a guide wheel (1), a ceiling rail connecting part, a crossbeam (3), a belt (4), a motor (5), a column (6) and a loading platform (7); the guide wheel (1) is arranged above the ceiling rail (2), the ceiling rail connecting part is connected to the ceiling rail (2) through the guide wheel (1), and the horizontal movement of the automatic bobbin-dropping machine is controlled by the guide wheel (1); the crossbeam (3) is located below the ceiling rail (2) and is connected to the ceiling rail connecting part; the column (6) is located below the crossbeam (3), the top of the column (6) is connected to the crossbeam (3), and the bottom of the column does not contact the ground; the motor (5) is fixed to the upper part of the column (6), the motor (5) is connected to the loading platform (7) through the belt (4), and drives the loading platform (7) to move up and down; a push rod (8) is provided on the loading platform (7), and the push rod (8) is used to dock with a winding machine or a buffer rack to receive the silk cake, characterized in that The automatic tube-dropping machine also includes a barcode tape (10), a barcode reader (9), a server and a PLC controller; The barcode tape (10) is fixed on the column (6) along the vertical direction; the code reader (9) is fixed on the loading platform (7) and cooperates with the barcode tape (10) to obtain the current absolute position information of the loading platform, that is, the distance between the loading platform and the ground, which is recorded as absolute information I; The server is electrically connected to the PLC controller and the motor respectively. The server is used to receive the absolute position information of the stage that needs to be reached from the PLC controller, and control the motor to rotate according to the received absolute position information of the stage that needs to be reached; wherein the absolute position information of the stage that needs to be reached is recorded as absolute information II; The server is connected to the code reader (9), and the server is also used to receive absolute information I and compare the received absolute information I with absolute information II. If the deviation value between the absolute information I and the absolute information II is not 0, the server controls the rotation of the motor according to the deviation value between the absolute information I and the absolute information II, thereby adjusting the position of the stage until the deviation is 0.

2. A vertically positioned automatic doffing machine according to claim 1, characterized in that: The automatic doffing machine also includes a laser distance sensor; the laser distance sensor is used to measure the current absolute position information of the stage, which is recorded as absolute information III; The PLC controller is electrically connected to the laser ranging sensor. If the deviation value between the absolute information I and the absolute information II is 0, the PLC controller receives the absolute information III sent by the laser ranging sensor and compares it with the absolute information II. If the deviation value between the absolute information II and the absolute information III is 0, the stage reaches the required absolute position. If the deviation value between the absolute information II and the absolute information III is not 0, the PLC controller sends the deviation value between the absolute information II and the absolute information III to the server. The server controls the rotation of the motor according to the deviation value between the absolute information II and the absolute information III, so that the stage reaches the required absolute position.

3. A vertically positioned automatic doffing machine according to claim 2, characterized in that: The emitting end of the laser distance measuring sensor is flush with the lower surface of the stage.

4. A vertically positioned automatic doffing machine according to claim 2, characterized in that: The automatic tube-dropping machine also includes a display screen; the display screen is electrically connected to the PLC controller, the display screen is used to input the absolute position information that the worktable needs to reach and send it to the PLC controller, and the display screen is also used to display the deviation value between absolute information I and absolute information II and the deviation value between absolute information II and absolute information III.

5. The vertically positioned automatic doffing machine according to claim 1, characterized in that: The guide wheel (1) is a rubber guide wheel.

6. The vertically positioned automatic doffing machine according to claim 1, characterized in that: One end of the barcode tape (10) is flush with the bottom of the column (6), and the other end is located 1 to 2 cm below the motor (5).

7. The vertically positioned automatic doffing machine according to claim 1, characterized in that: The code reader (9) is connected to the object platform via a bracket.

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