阅读说明：本技术 一种用于智能落纱的复合机器人系统 (A kind of composite machine people's system for intelligently doffing ) 是由 郑彬 王小军 高鹏 孙小勇 肖剑 赵永廷 于 2019-09-04 设计创作，主要内容包括：本发明属于纺织设备技术领域,具体公开了一种用于智能落纱的复合机器人系统,包括自主移动机构、智能取纱落锭机构和传感系统,所述自主移动机构用于移动和举升智能取纱落锭机构、托运纱管箱以及将智能取纱落锭机构挂轨至细纱机下部的轨道上；所述智能取纱落锭机构用于将细纱机上的满纱管拔出放置纱管箱内以及将空纱管落至空锭子上；所述传感系统用于对自助移动机构和智能取纱落锭机构的位置进行检测和监测。具有上述结构的机器人系统,能够解决现有技术中人工取放纱管造成的纺纱效率低的问题。(The invention belongs to technical field of textile equipment, specifically disclose a kind of composite machine people's system for intelligently doffing, including autonomous mechanism, intelligence Qu Shaluo ingot mechanism and sensor-based system, the autonomous mechanism is for mobile and lifting intelligence Qu Shaluo ingot mechanism, the track consigned bobbin box and intelligent Qu Shaluo ingot mechanism is hung to rail to spinning frame lower part；The intelligence Qu Shaluo ingot mechanism is used to extract the full spool on spinning frame and places in bobbin box and empty spool is dropped down onto bare spindle；The sensor-based system is for being detected and being monitored to the position of self-service mobile mechanism He intelligence Qu Shaluo ingot mechanism.Robot system with above structure is able to solve the low problem of spinning efficiency caused by artificial picking and placing bobbin in the prior art.)

1. a kind of composite machine people's system for intelligently doffing, it is characterised in that: take yarn to fall including autonomous mechanism, intelligence Ingot mechanism and sensor-based system, the autonomous mechanism for mobile and lifting intelligence Qu Shaluo ingot mechanism, consign bobbin box with And intelligent Qu Shaluo ingot mechanism is hung on rail to the track of spinning frame lower part；The intelligence Qu Shaluo ingot mechanism is used for spinning frame On full spool extract and place in bobbin box and drop down onto empty spool on bare spindle；The sensor-based system is used for autonomous The position of mechanism and intelligence Qu Shaluo ingot mechanism is detected and is monitored.

2. a kind of composite machine people's system for intelligently doffing according to claim 1, it is characterised in that: described autonomous Mobile mechanism includes moving trolley and lifting positioning unit, and the bobbin box is mounted in moving trolley；The lifting positioning is single Member includes the two groups of lifting portions of moving trolley front and rear sides of being mounted on, and lifting portion described in every group includes position sensor and two groups the One electric pushrod, the position sensor are mounted on the first electric pushrod, the first electric pushrod described in two groups respectively with position Sensor electrical connection；The upper end of first electric pushrod described in two groups is fixed with one piece of locating piece, is provided with dovetail groove, swallow on locating piece The opening direction of stern notch is vertically upward.

3. a kind of composite machine people's system for intelligently doffing according to claim 2, it is characterised in that: the intelligence Qu Shaluo ingot mechanism includes bearing support, grab pipe machine device people, servo motor, secant component, automatic doffing unit and hangs rail assembly, The autonomous mechanism further includes direct current air pump, and the grab pipe machine device people is equipped with graping chaw, and the direct current air pump is institute It states graping chaw and gas source is provided, the grab pipe machine device people is driven by servo motor；The secant component is mounted on bearing support And it is located at the front of grab pipe machine device people；The secant component include first motor, wire cutter and for detecting line position first Detection sensor, first detection sensor are electrically connected with first motor, and the first motor is for driving wire cutter mobile； The automatic doffing unit includes automatic blanking power-assisted portion, push part and the second motor, and second motor is described for driving Automatic blanking power-assisted portion moves back and forth, and automatic blanking power-assisted portion is equipped with the second detection sensor, and the automatic blanking helps Power portion can be such that spool falls；The push part includes the second electric pushrod and linear guide, and the electric pushrod is equipped with the Three detection sensors, the third detection sensor are used to position the front-rear position of automatic shakeout unit；The extension rail assembly packet Third motor, multiple groups extension rail wheel and support wheel are included, the rail wheel of hanging is mounted on the lower section on bearing support and being located at wire cutter, Extension rail wheel described in multiple groups has synchronous band connection, and the third motor is for driving the extension rail wheel；The support wheel, which is mounted on, to be held The lower part for carrying bracket, is used to support the grab pipe machine device people.

4. a kind of composite machine people's system for intelligently doffing according to claim 3, it is characterised in that: the sensing System includes track origin test section, In-flight measurement portion, hangs rail and keep to the side test section and laser detection portion, the track origin detection For finding track origin, whether the In-flight measurement portion is in orbit for monitoring robot in portion；The extension rail keeps to the side to detect Portion is used to detect the position that grab pipe machine device people hangs rail；The laser detection portion is for grab pipe machine device people described in real-time monitoring and independently Relative distance between mobile mechanism, the travel speed for grab pipe machine device people provide foundation.

5. a kind of composite machine people's system for intelligently doffing according to claim 4, it is characterised in that: the track Origin test section includes third detection sensor, and the In-flight measurement portion includes two group of the 4th detection sensor, the described in two groups Four detection sensors are separately positioned on beside the extension rail wheel of bearing support top rear and front end, and vertically downward, and pipe is grabbed in detection Whether whether robot is in orbit, derail；The extension rail keep to the side test section include two group of the 5th detection sensor, described in two groups 5th detection sensor is separately positioned on beside the support wheel of bearing support lower part rear and front end, and vertical outside, and detection is thin The track of yarn machine lower part；The laser detection portion includes laser range sensor and laser ranging reflecting plate, the laser ranging Sensor is arranged on bearing support, and the laser ranging reflecting plate is arranged in moving trolley.

6. a kind of composite machine people's system for intelligently doffing according to claim 3, it is characterised in that: the support Wheel is idle wheel.

7. a kind of composite machine people's system for intelligently doffing according to claim 3, it is characterised in that: the third The output shaft of motor is connected with retarder.

8. a kind of composite machine people's system for intelligently doffing according to claim 3, it is characterised in that: the secant The tow sides of device are equipped with blade, and first detection sensor is equipped with two groups.

9. a kind of composite machine people's system for intelligently doffing according to claim 1, it is characterised in that: the movement The lower part of trolley is equipped with driving chassis, and driving chassis is equipped with four groups of omni-directional wheels, and four groups of omni-directional wheels are respectively by four group the 4th Motor driven, four groups of omni-directional wheels are arranged in the two sides of mobile front-rear position of getting off, and are symmetrically distributed.

10. a kind of composite machine people's system for intelligently doffing according to claim 3, it is characterised in that: described to grab Pipe robot is made of three groups of straight line mould groups, and the graping chaw is ten groups of instrument grippers for capableing of unlimited rotary.

Technical field

The invention belongs to technical field of textile equipment more particularly to a kind of composite machine people's systems for intelligently doffing.

Background technique

Spinning frame refers in spinning process semi-products rove or strip through drawing-off, twist, the spinning for being wound into spun yarn coil Yarn machine, the production unit of spinning frame are spindles, often with the production water of yield (kilogram) Lai Hengliang spinning frame of every thousand ingots hour Flat, spool is used cooperatively with spindle.In existing factory, empty spool is manually dropped down onto bare spindle by most of also use On, and by full spool taking-up textile strand bobbin carriage, will cause the low efficiency of spinning in this way, and time-consuming and laborious.

Summary of the invention

Composite machine people's system that the purpose of the present invention is to provide a kind of for intelligently doffing, to solve in the prior art The low problem of spinning efficiency caused by artificial picking and placing bobbin.

In order to achieve the above object, the technical solution of the present invention is as follows: a kind of composite machine people's system for intelligently doffing, Including autonomous mechanism, intelligence Qu Shaluo ingot mechanism and sensor-based system, the autonomous mechanism is for moving and lifting intelligence Neng Qushaluo ingot mechanism consigns bobbin box and hangs intelligent Qu Shaluo ingot mechanism on rail to the track of spinning frame lower part；It is described Intelligent Qu Shaluo ingot mechanism is used to extract the full spool on spinning frame and places in bobbin box and empty spool is dropped down onto bare spindle On；The sensor-based system is for being detected and being monitored to the position of autonomous mechanism He intelligence Qu Shaluo ingot mechanism.

The beneficial effect of the technical program is: 1. take yarn and fall ingot work start before, autonomous mechanism can will Intelligent Qu Shaluo ingot mechanism is lifted and is hung on rail to the track of spinning frame lower part, is being taken yarn and is being fallen in the ingot course of work, autonomous to move Motivation structure can follow intelligent Qu Shaluo ingot mechanism, and consign bobbin box；After the completion of taking yarn and falling ingot work, autonomous machine Intelligent Qu Shaluo ingot mechanism is accurately moved in autonomous mechanism by structure from the track of fine sand machine, and the spool that will be fully loaded with Case is consigned to discharging area.2. intelligent Qu Shaluo ingot mechanism can be accurately positioned on spinning frame taking yarn and falling in the ingot course of work Each spool, and placed in bobbin boxes from all fully loaded spools of choosing on spinning frame, and empty spool is dropped down on bare spindle.③ Sensor-based system can the position in real time to autonomous mechanism He intelligence Qu Shaluo ingot mechanism detected and monitored, guarantee to doff The accurate progress of work.4. the technical program does not need artificially to be operated, to improve efficiency, reduce cost of labor.

Further, the autonomous mechanism includes moving trolley and lifting positioning unit, and the bobbin box is mounted on shifting On dynamic trolley；The lifting positioning unit includes two groups of lifting portions for being mounted on moving trolley front and rear sides, is lifted described in every group Portion includes position sensor and two group of first electric pushrod, and the position sensor is mounted on the first electric pushrod, two groups of institutes The first electric pushrod is stated to be electrically connected with position sensor respectively；The upper end of first electric pushrod described in two groups is fixed with one piece of positioning Block is provided with dovetail groove on locating piece, and the opening direction of dovetail groove is vertically upward.

Position sensor can lifting height to the first electric pushrod and drop-off positions detect, be accurately positioned and lift Automation is realized in the position risen.

Further, the intelligence Qu Shaluo ingot mechanism include bearing support, grab pipe machine device people, servo motor, secant component, Automatic doffing unit and extension rail assembly, the autonomous mechanism further includes direct current air pump, and the grab pipe machine device people is equipped with and grabs Gripper is taken, the direct current air pump provides gas source for the graping chaw, and the grab pipe machine device people is driven by servo motor；It is described to cut Line component is mounted on the front on bearing support and being located at grab pipe machine device people；The secant component includes first motor, wire cutter With the first detection sensor for detecting line position, first detection sensor is electrically connected with first motor, and described first Motor is for driving wire cutter mobile；The automatic doffing unit includes automatic blanking power-assisted portion, push part and the second motor, institute The second motor is stated for driving automatic blanking power-assisted portion to move back and forth, automatic blanking power-assisted portion is equipped with the second detection Sensor, automatic blanking power-assisted portion can be such that spool falls；The push part includes the second electric pushrod and linear guide, The electric pushrod is equipped with third detection sensor, and the third detection sensor is used to position the front and back of automatic shakeout unit Position；The extension rail assembly includes third motor, multiple groups hang rail wheel and support wheel, the extension rail wheel are mounted on bearing support simultaneously And it is located at the lower section of wire cutter, extension rail wheel described in multiple groups has synchronous band connection, and the third motor is for driving the extension rail wheel； The support wheel is mounted on the lower part of bearing support, is used to support the grab pipe machine device people.

Further, the sensor-based system includes track origin test section, In-flight measurement portion, hangs rail and keep to the side test section and laser Test section, the track origin test section for finding track origin, the In-flight measurement portion for monitoring robot whether On track；The rail of hanging keeps to the side test section for detecting the position of grab pipe machine device people extension rail；The laser detection portion is for real-time Monitor the relative distance between the grab pipe machine device people and autonomous mechanism, for grab pipe machine device people travel speed provide according to According to.

Further, the track origin test section includes third detection sensor, and the In-flight measurement portion includes two groups the Four detection sensors, the 4th detection sensor described in two groups are separately positioned on by the extension rail wheel of bearing support top rear and front end Side, and vertically downward, whether detection grab pipe machine device people is in orbit, derail；The extension rail keep to the side test section include two The 5th detection sensor of group, the 5th detection sensor described in two groups are separately positioned on the support wheel of bearing support lower part rear and front end Side, and it is vertical outside, detect the track of spinning frame lower part；The laser detection portion includes laser range sensor and laser Ranging reflecting plate, the laser range sensor are arranged on bearing support, and the laser ranging reflecting plate setting is small in movement Che Shang.

Further, the support wheel is idle wheel.

Further, the output shaft of the third motor is connected with retarder.

Further, the tow sides of the wire cutter are equipped with blade, and first detection sensor is equipped with two groups.

Further, the lower part of the moving trolley be equipped with driving chassis, driving chassis be equipped with four groups of omni-directional wheels, described four For group omni-directional wheel respectively by four group of the 4th motor driven, four groups of omni-directional wheels are arranged in the two sides of mobile front-rear position of getting off, and And it is symmetrically distributed.

Omni-directional wheel includes wheel hub and driven wheel, and 3 or 3 or more wheel hubs are uniformly provided at the excircle of the wheel hub Tooth, a driven wheel is installed between every two wheel hub tooth, and the radial direction of the driven wheel and the tangential direction of wheel hub excircle are hung down Directly.

Further, the grab pipe machine device people is made of three groups of straight line mould groups, and the graping chaw, which is ten groups, infinitely to be revolved The instrument gripper turned.

Detailed description of the invention

Fig. 1 is a kind of structural schematic diagram of composite machine people's system for intelligently doffing of the present invention；

Fig. 2 is the structural schematic diagram of Tu1Zhong autonomous mechanism；

Fig. 3 is the structural schematic diagram of intelligence Qu Shaluo ingot mechanism in Fig. 1；

Fig. 4 is the structural schematic diagram of sensor-based system in Fig. 1.

Specific embodiment

It is further described below by specific embodiment:

Appended drawing reference in Figure of description includes: automatic shakeout unit 1, grab pipe machine device people 2, bobbin box 3, lifting positioning Unit 4, moving trolley 5, bearing support 6, hang rail wheel 7, support wheel 8, direct current air pump 9, locating piece 10, the first electric pushrod 11, Track origin test section 13, In-flight measurement portion 14, hang rail keep to the side test section 15, laser range sensor 16, laser ranging reflection Plate 17.