The Design And Dynamic Analysis Of The Tubes Pulling And Inserting Device Of A New Intelligent Doffing Machine

Intelligent doffer is a kind of textile equipment used in spinning process. Its mainfunction is to pull out the full tube and insert the empty at the same time. Intelligentdoffer is controlled by PAC bus system, integrating with light, electricity, gas, andthrough3d manipulator to realize automatic doffing function of the spinning frame,greatly improving the automation level of the spinning equipment.In this paper, aimed at the shortcomings from the existing intelligent doffer, anew type of intelligent doffer was designed and produced. Intelligent doffer adoptsadvanced motion control system, three-dimensional motion mechanism andphotoelectric sensor system, which can achieve precise control the space motion ofthe manipulator, and grab the full tubes with the spindle coaxial.Intelligent doffer adopts advanced motion control system, photoelectric sensorsystem, robot coordinate precision control mechanical gripper is perpendicular to thespindle fetching full bobbin, intubation part adopts vertical high-speed pneumaticactuators over quickly inserted yarn tube, to achieve full pull, fill-in tube, full bobbinyarn collection process automation, precision, quickly finished the doffing spinningframe work, improve the production efficiency. Innovation of vertical, bobbin, pullthe yarn quality ring spinning spindle and without any damage. Put doffing rail inspinning frame and a single intelligent doffer can do many sets of the doffing spinningframe, greatly reduce the production cost.The main content of the research:1. Researched the development of intelligent doffers worldwide, and studied theworking environments of different doffing system, which provided a theoretical basisfor designing a new intelligent doffer.2. Designed and put forward different schemes according to the requirements ofthe intelligent doffer technology. By comparing the advantages and disadvantages of each scheme, I finalized the scheme according the preferential selection, anddeveloped a simple economic system.3. Designed a kind of intelligent doffer, mainly includes two aspects: intelligentdoffing system and intelligent pull yarn system. The system has a quickly pull andinsert speed, precision, low error rate and full automation, etc.4. Analyzed and programmed the detailed process of pulling full tubes, andapplied the ADAMS virtual prototype technology to achieve dynamic simulation onremoving the full tubes. Based on the simulation result data, analyzed and comparedthe influences on pulling tubes’ drive system carried by two different devices-pullingout the full tubes at the same time and not, including the impacts of the motor outputshaft and the impacts on the life of reducer output shaft, which are caused by the pullforce.