Method and device for second super reduction of automatic doffing for roving frame

The present invention relates to an automatic doffing re-ultralowering method for roving machine and its equipment. When the roving machine is automatically doffed, the spindle rail can be undergone the processes of high-accuracy ultralowering location at twice, in the course of first ultralowering of the spindle rail the bobbin is separated from lower end of spindle blade, the manipulator can be extended in and the full-bobbin can be integrally held, and in the course of secondary ultralowering of the spindle rail the bobbin gear is sperated from the bobbin, the manipulator and the full-bobbin held by manipulator can be in-situ disengaged. Said invented equipment comprises detecting device, programmable controller (PLC), motor and manipulator, etc. 一种粗纱机自动落纱再次超降的方法及其装置，粗纱机自动落纱时，龙筋进行两次高精度的超降定位，龙筋第一次超降，筒管与锭杆下端脱开，机械手伸进，满管被集体夹持，龙筋第二次超降，筒管齿轮与筒管脱开，使机械手夹持满管原位退出；龙筋和满管一起进行第一次超降到达预定位置时，当龙筋下降的位置满足所述的预定值时通过检测装置，将信号传给可编程序控制器(PLC)，并通知第二次超降到位，通过PLC控制电机使龙筋停止下降。机械手夹持满纱退出，完成了自动取纱，通过令龙筋再次超降，使筒管齿轮自己退出筒管，让机械手顺利的取出满管，很好的解决了筒管齿轮插入筒管底部，机械手无法将纱线取出的问题。