In recent years, several domestic companies have introduced intelligent yarn dropping machines, yarn dropping robots and yarn dropping carts. Among them, there are three early companies, namely SOBONE-S9 Intelligent Dropping Machine (hereinafter referred to as SOBONE-S9 Dropping Machine) produced by Anhui Tongling Songbao Machinery Company, Dropping Robot (hereinafter referred to as Wuxi Clustering Intelligent Textile Machinery Co., Ltd.), HFLS708 Dropping Vehicle (hereinafter referred to as HFLS70) produced by Jiangyin Huafang New Technology Research Co., Ltd. Type 8 Dressing Car. It can be seen that the performance indexes of the three new type doffing machines are basically the same, but the doffing time, power, shape size and weight are slightly different.

SOBONE-S9 Dropping Machine

SOBONE-S9 Ring Spinning Intelligent Dropping Machine is equipped with smooth rod spindle on one side and aluminium sleeve spindle on the other side. The grabber of the machine is perpendicular to the Dragon rib drawing, which is conducive to improving the spinning quality. We know that the existing electric doffing machine uses pre-loosening plate and doffing plate to shovel and lift the yarn tube. The pre-loosening plate and doffing plate with a certain inclination angle to the horizontal plane are moving along with the trolley. In addition to producing the vertical component of yarn drawing, the horizontal component also generates the horizontal component, which may crash the spindle and damage the surface of the yarn tube. This is unacceptable for spinning high-quality yarns. In order to solve this problem thoroughly, the machine adopts a grabber to hold the top of the yarn tube and pull the yarn perpendicular to the top of the rib. The spindle rod is not subjected to transverse force and will not damage the spindle. The grabber does not touch the surface of the yarn when pulling the yarn, so the yarn will not be damaged.

Intelligent doffing machine has applied patented technology in the method of automatic doffing and intubation and its structure and control, which has made a great breakthrough in the technology of doffing trolley. There are two key points in the vertical drawing process of the trolley: one is that the flying shear subroutine in the system makes the slave axis track the spindle in the drawing stage, that is, when the spindle servo motor drives the trolley to move forward uniformly, the slave axis servo motor tracks the spindle to make the drawing device move backward uniformly, so that the drawing device keeps relatively static with the drawing tube yarn; the other two servers. The service motor is responsible for the joint control of the drawing device to make arc interpolation according to the prescribed route. In this way, the positioning is more accurate and faster, and the operation is more reliable, thus ensuring the vertical drawing. Because the machine is in the process of drawing tube and continuous spindle-by-spindle intubation, so the yarn dropping speed is greatly improved, 480 spindle table of the yarn dropping time is about 2 minutes (about one simultaneous yarn dropping).

HFLS708 Dressing Car

HFLS708 doffing trolley adopts fixed installation form, that is, at the end of each doffing, the trolley does not push down from the track, but parks at the tail of the spinning machine, waiting for the next doffing. The machine adopts manual assisted mobile type, that is, two doffing trolleys are in a group, which can be used by multiple spinning machines at the same time.

_The machine adopts the pre-loosening method when drawing yarn, and adopts the simulated manual rotation method to pre-loosen. Because the twisting is carried out at the top or bottom of the tube, and the yarn is not touched, the yarn will not be damaged during pre-loosening. In addition, the yarn tube and spindle can be separated by using less external force in the way of twisting and spinning. At this time, the eccentric disc can take the yarn out in time, that is to say, yarn dropping can be realized. Because the tube yarn has been pre-loosened, the external force required for yarn dropping is small, and the surface of parts such as eccentric wheel and disc contacting the spindle and the tube yarn is treated with soft rubber, so the spindle and the tube yarn can also be protected from damage. Songbao Ring Spinning Intelligent Dropping Machine and Wuxi Collected Dropping Robot Drawing Device are not pre-loosened. For smooth rod spindles, the drawing force is larger, which not only causes large power consumption, but also easily damages the machine parts.

The machine does not need to turn the separator when dropping yarn. This not only simplifies the operation of dropping yarn, but also reduces the breakdown of the overturning separator and improves the yarn dropping efficiency. It is related to the structure design of eccentric wheel disc that the yarn dropping does not need reverse separator. This equipment adopts the gap controllable intubation mode. Every ingot distance is moved by the car, an empty pipe is sent out by the conveying and intubating device and intubated once. The whole process of the conveying and intubating is accurately calculated, the solidification ratio is calculated, and the double arc track is set up to ensure the accuracy and stability of the intubation. The machine adopts spindle-by-spindle drawing and spindle-by-spindle intubation to carry out synchronously, thus reducing the operation links and improving the yarn dropping efficiency. Drawing pipe, intubation parts and frame adopt suspension structure design. The design of the suspension mechanism not only meets the operation requirements of extubation and intubation, but also reduces the requirements of the trolley for the ground drop of the spinning workshop. The operation of the whole system is driven by a DC motor and powered by lithium iron phosphate rechargeable batteries. Therefore, it does not need external power, such as electricity, gas and liquid, and its structure is relatively simple and clear. It has the advantages of small workload, short installation period and low cost. Two yarn baskets are placed on the frame before yarn dropping. One of the baskets is in the position of receiving yarn tube. When it is full, the transposition device makes it automatically retreat, while the other basket automatically enters the position of receiving yarn. This can improve the efficiency of the cart, reduce the labor intensity of the workers and increase the yarn storage of the baskets. This is particularly important in spinning large-scale winding yarn.

Dressing Robot

The two generations of yarn-dropping robot products are quite different in drawing methods and structures. The former's yarn-drawing manipulator touches the surface of the yarn gently while drawing, while the latter adopts the drawing form similar to collective yarn-dropping. The drawing device holds the top of the yarn tube vertically and can realize the yarn-dropping without damaging the yarn or damaging the spindle.

Drawer is perpendicular to the top of dragon rib