【摘要】 针对现有落纱机器人的不足,提出了一种新型鼠笼式落纱机构;并分析了该落纱机构的机构原理,建立了其三维结构模型。该落纱机构主要由拔纱手爪、竖直轨道、驱动轴、驱动链条、驱动链轮和空间凸轮构成。通过对该鼠笼式落纱机构的工作过程进行运动学分析,得到了该机构结构参数的合理取值范围。在鼠笼式落纱机构的基础上,设计了鼠笼式落纱机器人。试验表明,鼠笼式落纱机器人可以实现垂直拔纱,落纱过程中不碰纱线、不伤纱锭、落纱成本低、效率高、可靠性高。更多还原

【Abstract】 In order to overcome the disadvantages of present doffing robots,a novel squirrel-cage doffing mechanism is proposed. The principle of the squirrel-cage doffing mechanism is analyzed and the structure model of the mechanism is built. The squirrel-cage doffing mechanism mainly consists of grippers,vertical rails,driving shafts,driving chains,driving wheels and a spatial cam. The reasonable range of the structural parameters of the squirrel-cage doffing mechanism is determined by the motion analysis of the squirrel-cage doffing mechanism. The squirrel-cage doffing robot adopting the squirrel-cage doffing mechanism is developed. The experimental results show that the squirrel-cage doffing robot can pull the cops out of the spindles vertically. During the doffing process,the doffing robot has no damage to the yarn and spindles. The squirrel-cage doffing robot is of low cost,highly efficient and reliable.更多还原