Doffing device of spinning frame
By designing an adjustable-length robotic arm and a clamping structure for the spinning machine doffing device, the problem of the limited number of yarn tubes that existing doffing robots can grasp has been solved, achieving efficient grasping and optimized space utilization.
Patent Information
- Application Number
- CN202423235648.5
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-12-27
- Publication Date
- 2026-01-20
- Estimated Expiration
- 2034-12-27
AI Technical Summary
Existing doffing robots have a limited number of yarn tubes they can grasp, resulting in low efficiency.
Design a yarn doffing device for a spinning machine. By using an adjustable-length robotic arm and clamping plate structure, the number of yarn tubes that can be gripped can be increased. The device includes a combination of a moving cart, a robotic arm, a telescopic mechanism, and clamping plates to achieve efficient yarn tube gripping.
It increases the number of yarn tubes that can be gripped, improves the working efficiency of the doffing robot, and reduces the space it occupies.
Smart Images
Figure CN223813574U_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The utility model relates to a doffer robot technical field, concretely is a spinning frame doffer device. BACKGROUND
[0002] The spinning doffer work is an important component of spinning workshop production, needs to take down the full bobbin on the spinning frame, because the bobbin on the spinning frame is numerous, takes down by artificial efficiency is low, so the doffer robot arises at the historic moment, improves the doffer efficiency.
[0003] For the doffer robot that is grabbed by the mechanical hand, the length of the mechanical arm that grabs is certain, causes the quantity of the yarn pipe that is grabbed each time is limited. UTILITY MODEL CONTENT
[0004] In view of the insufficient quantity of the yarn pipe that the existing doffer robot is grabbed when grabbing the yarn pipe, the utility model provides a spinning frame doffer device, has the advantage that the mechanical arm that grabs the yarn pipe can be increased, the quantity of the yarn pipe that grabs is greatly increased, improves work efficiency, solves the problem raised in the above background art.
[0005] To achieve the above object, the utility model is realized by the following technical scheme: a spinning frame doffer device is designed, including mobile car, mobile car top is equipped with mechanical arm;
[0006] The free end of the mechanical arm is connected with the first strip arm through the mounting bracket, and the two ends of the first strip arm are rotatably connected with the second strip arm, and the second strip arm can be turned over to the top of the first strip arm.
[0007] The first strip arm is provided with a first strip clamp parallel to the side away from the mechanical arm, and the two ends of the first strip clamp are rotatably connected with a second strip clamp, and the second strip clamp can be turned over to the top of the first strip clamp.
[0008] At least one telescopic mechanism is vertically installed on the second strip arm and the first strip arm respectively, and the free ends of the telescopic mechanisms are connected with the second strip clamp and the first strip clamp respectively.
[0009] Preferably, the mechanical arm is one of a three-axis gantry mechanical arm, a three-axis mechanical arm, a four-axis mechanical arm, or a five-axis mechanical arm, or a six-axis mechanical arm.
[0010] Preferably, the second strip clamp, the second strip arm, the first strip arm, and the first strip clamp are all provided with an extension portion downward, and a non-slip layer is provided on the surface of the extension portion.
[0011] Preferably, at least one guide rod is vertically connected to the second strip-shaped clamping plate and the first strip-shaped clamping plate respectively, and the guide rod is slidingly penetrated through the second strip-shaped arm and the first strip-shaped arm.
[0012] Preferably, the moving vehicle comprises a vehicle body and a bearing frame arranged above the vehicle body, and the bottom corners of the bearing frame are connected to the vehicle body through supports respectively.
[0013] The mechanical arm is installed on the frame body, the frame body is installed at the middle of the top of the bearing frame, and the mounting frame faces the spinning machine, and in the initial state, the mechanical arm drives the first strip-shaped arm and the first strip-shaped clamping plate to stay at the side of the bearing frame.
[0014] The control cabinet is further arranged on the vehicle body, and the control cabinet is internally provided with a battery pack and a controller, and the battery pack, the mechanical arm, the telescopic mechanism and the vehicle body are electrically connected to the controller respectively.
[0015] Preferably, the two ends of the bearing frame below the first strip-shaped arm are respectively provided with openings, and an equalizing groove is slidingly arranged in the opening, and when the equalizing groove is pulled out, the equalizing groove is located below the second strip-shaped clamping plate and the second strip-shaped arm.
[0016] Preferably, the equalizing groove is arranged in an upward inclination.
[0017] Preferably, a material containing box is arranged on the top of the vehicle body.
[0018] Preferably, the second strip-shaped arm and the first strip-shaped arm are rotationally connected between the tops thereof, and the second strip-shaped arm and the first strip-shaped arm are connected through a lock catch at the bottom thereof.
[0019] The second strip-shaped clamping plate and the first strip-shaped clamping plate are rotationally connected between the tops thereof, and the second strip-shaped clamping plate and the first strip-shaped clamping plate are connected through a lock catch at the bottom thereof.
[0020] Compared with the prior art, in use, the second strip-shaped clamping plate and the second strip-shaped arm can be stored in a folded manner, the equalizing groove can be stored in a pulling manner, the occupied area is reduced, the second strip-shaped clamping plate, the second strip-shaped arm and the equalizing groove are opened together when in use, the number of grasping of the doffer robot is increased, and the efficiency of the doffer robot is improved. BRIEF DESCRIPTION OF DRAWINGS
[0021] Figure 1 It is a structural schematic view of the front part of the utility model.
[0022] Figure 2 It is a structural schematic view of the rear part of the utility model.
[0023] Figure 3 It is a structural schematic view of the strip-shaped clamping plate and the strip-shaped arm after being opened.
[0024] Figure 4The utility model strip clamping plate and strip arm closed structure schematic view after.
[0025] In the figure: 1, vehicle body; 2, material container; 3, support; 4, bearing frame; 5, baffle; 6, opening; 7, material tank; 8, second strip clamping plate; 9, second strip arm; 10, first strip arm; 11, first strip clamping plate; 12, mounting bracket; 13, mechanical arm; 14, control cabinet; 15, telescopic mechanism; 16, guide rod; 17, frame body. DETAILED DESCRIPTION
[0026] The technical solutions in the embodiments of the utility model will be clearly and completely described below with reference to the drawings in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by those skilled in the art without creative labor belong to the scope of protection of the utility model.
[0027] Please refer to Figures 1 to 4 The utility model provides a technical scheme: a drawing frame doffing device, including mobile car, mobile car includes vehicle body 1 and the bearing frame 4 being set at the top of vehicle body, the bottom four corners of bearing frame 4 are connected with vehicle body 1 through support 3 respectively, and the top of vehicle body is equipped with groove (such as Figure 1 the position indicated by arrow A in the middle), at least one material container 2 is placed in the groove, and the material container 2 is below the bearing frame 4, which can be put in or taken out from between the supports 3;
[0028] As Figure 1 Indicated, the top surface of bearing frame 4 is equipped with frame body 17, and the mechanical arm 13 is installed on frame body 17, and the mounting bracket 12 is arranged towards the drawing frame. In use, the mechanical arm 13 drives the mounting bracket 12 to move towards the drawing frame or retract, but in the initial state, the mechanical arm 13 drives the mounting bracket 12 to stay at the side of bearing frame 4.
[0029] The above-mentioned mechanical arm is one of three-axis swivel mechanical arm, three-axis mechanical arm, four-axis mechanical arm or five-axis mechanical arm or six-axis mechanical arm, and the three-axis swivel mechanical arm is preferred in the scheme, of course, other mechanical arms can also be used. The three-axis swivel mechanical arm can move forward and backward, up and down and left and right, and the mounting bracket 12 is arranged on the free end of the up and down movement.
[0030] Further, as Figure 1 And Figure 2 Indicated, the free end of the mechanical arm 13 is connected with the first strip arm 10 through the mounting bracket 12, and the second strip arm 9 is rotatably connected to the two ends of the first strip arm 10, and the second strip arm 9 can be turned to the top of the first strip arm 10.
[0031] The first strip arm 10 is provided with a first strip clamping plate 11 on the side away from the mechanical arm 13, and the two ends of the first strip clamping plate 11 are rotatably connected with a second strip clamping plate 8, which can be flipped to the top of the first strip clamping plate 11. In the initial state, the second strip clamping plate 8 and the second strip arm 9 are in a folded state, which can reduce the floor space, and the first strip arm 10, the first strip clamping plate 11 and the mounting frame 12 stay together at the side of the bearing frame 4;
[0032] At least one telescopic mechanism 15 is vertically installed on the second strip arm 9 and the first strip arm 10 respectively, and the telescopic mechanism 15 is a pneumatic cylinder or an electric telescopic rod. The free end of the telescopic mechanism 15 is connected with the second strip clamping plate 8 and the first strip clamping plate 11 respectively, and the second strip clamping plate 8 and the second strip arm 9 and the first strip arm 10 and the first strip clamping plate 11 are all provided with an extension part downward, and the surface of the extension part is provided with an anti-skid layer, such as an elastic anti-skid rubber pad. Therefore, when the telescopic mechanism 15 is extended, the plurality of telescopic mechanisms 15 move simultaneously and drive the second strip clamping plate 8 and the first strip clamping plate 11 to move towards the spinning machine, so that a gap is formed between the extension parts, which is used for clamping each yarn pipe, and then the telescopic mechanism is shortened to drive the extension part to clamp the yarn pipe;
[0033] The specific process is that after the yarn pipe is clamped, the mechanical arm 13 lifts the yarn pipe upward to separate it from the spinning machine, and then the mechanical arm drives the clamped yarn pipe to move towards the vehicle body 1. When the yarn pipe moves above the edge of the bearing frame 4 and the mechanical arm 13 descends to a predetermined height, the telescopic mechanism is controlled to be extended, the clamped yarn pipe is released, and each yarn pipe falls into the storage box 2 for storage.
[0034] In order to prevent the yarn pipe from falling, as shown in Figure 1 and Figure 2 , the two ends of the bearing frame 4 below the first strip arm 10 are respectively provided with an opening 6, and an equalizing groove 7 is slidably arranged in the opening 6. When the equalizing groove 7 is extracted, the equalizing groove 7 is located below the second strip clamping plate 8 and the second strip arm 9, and the equalizing groove 7 is connected with the bearing frame through a lock buckle after being extracted, so that the equalizing groove 7 can be fixed. The equalizing groove 7 is inclined upward, so that the yarn pipe falling into it can slide along the equalizing groove and fall into the storage box 2.
[0035] Further, in order to make the second strip clamping plate 8 and the first strip clamping plate 11 move more stably, at least one guide rod 16 is vertically connected with the second strip clamping plate 8 and the first strip clamping plate 11 respectively, and the guide rod 16 is slidably penetrated in the second strip arm 9 and the first strip arm 10.
[0036] The rotating relationship between the second strip arm 9 and the first strip arm 10 and between the second strip clamping plate 8 and the first strip clamping plate 11 will be described in detail as follows:Figure 3 and Figure 4 As shown, the tops of the second strip arm 9 and the first strip arm 10 are rotatably connected, and the bottoms of the second strip arm 9 and the first strip arm 10 are connected by a latch;
[0037] The top of the second strip clamp 8 and the top of the first strip clamp 11 are rotatably connected, and the bottom of the second strip clamp 8 and the first strip clamp 11 are connected by a latch;
[0038] A locking block can also be provided at one end of the second strip clamp 8 and the second strip arm 9 near their rotatable connection. A locking groove matching the locking block is provided at both ends of the first strip arm 10 and the first strip clamp 11, so that the locking block can be placed in the locking groove. This can improve the bending resistance of the ends of the strip clamp and the strip arm.
[0039] Based on the above embodiments, further optimizations can be made, such as... Figure 1 As shown, a control cabinet 14 is also provided on the vehicle body 1. The control cabinet 14 is located at one end of the vehicle body. The control cabinet 14 contains a battery pack and a controller. The battery pack, robotic arm 13, telescopic mechanism 15, and vehicle body 1 are electrically connected to the controller. The battery pack provides power to the vehicle body 1 and the telescopic mechanism. The control cabinet is also provided with operation buttons and a display screen connected to the controller. The operation buttons include start and stop buttons for controlling the movement of the vehicle body.
[0040] Based on the above embodiments, further optimization can be achieved by providing a thread cutter on the support frame 4 or bracket, allowing the moving carriage to cut the thread ends of the yarn tube as it travels along the spinning machine path.
[0041] Finally, an inclined baffle 5 can be provided on the top of the support frame 4 and the material trough 7 near the spinning machine. The baffle 5 is used to prevent the yarn tube from falling outward.
[0042] In summary, the doffing device for a spinning machine proposed in this utility model can store the second strip clamp 8 and the second strip arm 9 by folding, and store the equalizing trough 7 by pulling it out. When in use, the second strip clamp 8 and the second strip arm 9 are opened together, and then the equalizing trough 7 is pulled out. This can increase the number of items that the doffing robot can grab, thereby improving the efficiency of the doffing robot. When not in use, only the second strip clamp 8, the second strip arm 9, and the equalizing trough 7 need to be stored away, reducing the space occupied.
[0043] In the description of the utility model, it is necessary to explain, the term "center", "upper", "lower", "left", "right", "vertical", "horizontal", "internal", "external" and so on indicate the orientation or positional relationship is based on the orientation or positional relationship shown in the drawing, only for the convenience of describing the utility model and simplifying the description, and is not indicating or implying that the device or element indicated must have a particular orientation, a particular orientation and operation, therefore cannot be understood as a limitation on the utility model;The term "first", "second", "third" is only for the purpose of description, and cannot be understood as indicating or implying relative importance, in addition, unless otherwise expressly specified and limited, the term "installation", "connection", "connection" should be understood broadly, for example, can be fixedly connected, can also be detachably connected, or integrally connected;Can be mechanical connection, can also be electrical connection;Can be directly connected, can also be indirectly connected through an intermediate medium, can be the communication between two elements inside. For ordinary skilled in the art, the specific meaning of the above-mentioned terms in the utility model can be understood according to the specific circumstances. Moreover, the term "includes", "contains" or any other variant thereof is intended to cover non-exclusive inclusion, so that the process, method, article or equipment including a series of elements not only includes those elements, but also includes other elements not explicitly listed, or also includes the elements inherent in such process, method, article or equipment.
[0044] Although the embodiments of the utility model have been shown and described, those skilled in the art can understand that various changes, modifications, replacements and variations can be made to these embodiments without departing from the principles and spirits of the utility model, the scope of the utility model is defined by the appended claims and their equivalents.
Claims
1. A doffing device for a spinning frame, comprising a moving carriage, characterized in that, A robotic arm (13) is mounted on top of the mobile vehicle. The free end of the robotic arm (13) is connected to the first strip arm (10) via a mounting bracket (12). Both ends of the first strip arm (10) are rotatably connected to the second strip arm (9). The second strip arm (9) can be flipped to the top of the first strip arm (10). The first strip arm (10) has a first strip clamp (11) parallel to the side away from the mechanical arm (13). The two ends of the first strip clamp (11) are rotatably connected to the second strip clamp (8). The second strip clamp (8) can be flipped to the top of the first strip clamp (11). At least one telescopic mechanism (15) is vertically installed on the second strip arm (9) and the first strip arm (10), and the free end of the telescopic mechanism (15) is connected to the second strip clamp (8) and the first strip clamp (11), respectively.
2. The doffing device for a spinning frame according to claim 1, characterized in that, The robotic arm (13) is one of the following: a three-axis truss robotic arm, a three-axis robotic arm, a four-axis robotic arm, a five-axis robotic arm, or a six-axis robotic arm.
3. The doffing device for a spinning frame according to claim 2, characterized in that, The second strip clamp (8), the second strip arm (9), the first strip arm (10) and the first strip clamp (11) are all provided with downward extensions, and an anti-slip layer is provided on the surface of the extensions.
4. The doffing device for a spinning frame according to claim 3, characterized in that, At least one guide rod (16) is vertically connected to the second strip clamp (8) and the first strip clamp (11), and the guide rod (16) slides through the second strip arm (9) and the first strip arm (10).
5. A doffing device for a spinning frame according to claim 1 or 4, characterized in that, The mobile vehicle includes a vehicle body (1) and a support frame (4) set on top of the vehicle body. The four bottom corners of the support frame (4) are connected to the vehicle body (1) by brackets (3); The robotic arm (13) is mounted on the frame (17), which is mounted at the top center of the support frame (4), and the mounting frame (12) faces the spinning machine. In the initial state, the robotic arm (13) drives the first strip arm (10) and the first strip clamp (11) to stay on the side of the support frame (4). The vehicle body (1) is also equipped with a control cabinet (14), which contains a battery pack and a controller. The battery pack, robotic arm (13), telescopic mechanism (15), and vehicle body (1) are electrically connected to the controller.
6. The doffing device for a spinning frame according to claim 5, characterized in that, The bearing frame (4) below the first strip arm (10) has openings (6) at both ends. A material leveling groove (7) is slidably provided in the opening (6). When the material leveling groove (7) is pulled out, the material leveling groove (7) is located below the second strip clamp (8) and the second strip arm (9).
7. A doffing device for a spinning frame according to claim 6, characterized in that, The material trough (7) is set at an upward angle.
8. The doffing device for a spinning frame according to claim 7, characterized in that, A material container (2) is placed on top of the vehicle body (1).
9. A doffing device for a spinning frame according to claim 1, characterized in that, The top of the second strip arm (9) and the first strip arm (10) are rotatably connected, and the bottom of the second strip arm (9) and the first strip arm (10) are connected by a latch; The top of the second strip clamp (8) and the first strip clamp (11) are rotatably connected, and the bottom of the second strip clamp (8) and the first strip clamp (11) are connected by a latch.