Efficient automatic yarn throwing robot

Abstract

The invention discloses an efficient automatic yarn throwing robot, relates to the technical field of textile machinery automation, and realizes full-process automation by arranging a feeding assembly, a loading assembly, an identifying and overturning assembly, a yarn detection and operation assembly, a grabbing and throwing assembly and other assemblies and cooperative operation thereof. Yarn bars are conveyed through a conveying belt of the feeding assembly, lifted through a lifting plate, fed to the feeding assembly and then thrown to the recognizing and overturning assembly, and direction correction is completed through infrared distance measurement and air cylinder action. Then, in the yarn detection operation assembly, the yarn bar completes thread residue processing through an electric rotating clamping head, a thread picking needle, a thread suction pipe and the like. And finally, the grabbing and putting manipulator accurately grabs and puts the yarn bars and concentrates the yarns under the cooperation of the air source device according to the image of the camera. The full-process automation of the yarn bars from feeding to yarn concentration is achieved, the labor intensity is greatly reduced, the production efficiency, precision and stability are improved, and automatic and intelligent development of textile production is powerfully promoted.

Description

Technical Field

[0001] This invention relates to the field of textile machinery automation technology, and in particular to a high-efficiency automatic yarn feeding robot. Background Technology

[0002] In the textile production process, yarn bobbins need to be oriented, threaded, and precisely placed to designated workstations. Traditional manual operation suffers from low efficiency and poor consistency, while existing automated equipment still faces technical bottlenecks in yarn bobbin orientation recognition, automatic thread handling, and multi-target collaborative placement. For example, it cannot efficiently achieve directional flipping of yarn bobbins (narrower at the top and wider at the bottom), has a high failure rate in threading, and lacks precision in multi-yarn bobbin assembly operations. Therefore, there is an urgent need for an integrated device that combines intelligent recognition, automatic threading, and collaborative placement functions to improve production efficiency and reliability. Summary of the Invention

[0003] This invention provides a high-efficiency automatic yarn feeding robot, including a feeding component, a loading component, a recognition and flipping component, a yarn detection and operation component, a worktable, a yarn bar, and a gripping and dispensing manipulator; The feeding component is used to transport the yarn bar to the feeding component in an orderly manner. The feeding component is used to lift the yarn bar to the identification and flipping component. The identification and flipping component is used to flip the yarn bar into a state that is narrow at the top and wide at the bottom so that it can enter the yarn detection and operation component. The yarn detection and operation component is used to guide the yarn end of the yarn bar into the through hole inside the yarn bar and operate it to wait for the gripping and delivery robot to grip and deliver it. A support base is provided on one side of the workbench. A camera is provided on the side wall of the support base away from the workbench. A first rotary bearing is provided on the top of the support base. The support base is rotatably connected to one end of a horizontally arranged connecting arm through the first rotary bearing. The top of the other end of the connecting arm is rotatably connected to one end of a second rotary bearing. The other end of the second rotary bearing is rotatably connected to one side of the bottom of the connecting frame. A second electric telescopic rod is provided inside the connecting frame on the side away from the connecting arm. The bottom of the second electric telescopic rod is fixedly connected to the top side of the second connecting plate. A second motor is provided at the bottom of the second connecting plate below the second electric telescopic rod. Multiple third electric telescopic rods are provided around the second motor. Multiple clamping columns are fixedly connected to the bottom of the second connecting plate on the side away from the second motor. A tapered through hole is provided in the middle of the clamping column. A first through hole is provided on the side of the clamping column near the second motor. The second electric telescopic rod is set in the first through hole and is movably connected to the clamping column. A semi-circular clamping frame is provided above the top clamping column of the connecting frame. The semi-circular clamping frame has multiple second through holes inside. A third through hole is provided on the inner wall of the second through hole near the second electric telescopic rod. A movable plug is provided in the third through hole. The movable plug is fixedly connected to one end of the fourth electric telescopic rod on the side near the second electric telescopic rod. The other end of the fourth electric telescopic rod is fixedly connected to the third motor. The second connecting plate is provided with connecting holes corresponding to the tapered through hole and the second through hole. The connection between the clamping frame and the clamping column is realized through the mutual communication between the tapered through hole, the connecting hole, and the second through hole.

[0004] Preferably, a dispensing platform is provided on the side of the workbench near the support base. The dispensing platform is arranged longitudinally with the workbench. A second conveyor belt is provided on the top of the dispensing platform. A dispensing rack is provided on the second conveyor belt. A wire gathering hole is provided in the middle of the dispensing rack. A negative pressure generator is provided inside the wire gathering hole. Multiple dispensing cylinders are provided around the wire gathering hole.

[0005] Preferably, the feeding assembly includes a feeding box, which is located on one side near the workbench support. The feeding box is arranged horizontally with the workbench. A discharge bin and a feeding bin are respectively arranged on the left and right sides of the feeding box. A partition is arranged between the discharge bin and the feeding bin. A first conveyor belt is arranged below the feeding bin. A lifting plate is arranged below the discharge bin. A first cylinder is arranged below the lifting plate. The first cylinder is used to drive the lifting plate to move up and down.

[0006] Preferably, a feeding assembly is provided on the side of the discharge hopper away from the feed hopper. The feeding assembly includes two opposing support frames, which are located between the feed box and the worktable. A chain lifting mechanism is provided inside the support frame, and multiple feeding claws are provided between the two sets of chain lifting mechanisms. A first motor is fixedly installed on the top of the chain lifting mechanism.

[0007] Preferred: The identification flipping component includes a sheet metal mounting bracket, a cylinder bracket, a funnel-shaped rectangular frame, an infrared ranging probe, and a split limiting shell; A sheet metal mounting frame is provided on the upper end of the support frame away from the feed box. A cylinder bracket is fixedly connected to the side of the sheet metal mounting frame away from the support frame. Two second cylinders are arranged horizontally on the cylinder bracket. An opening is provided on the sheet metal mounting frame at the position corresponding to the second cylinder. A funnel-shaped rectangular frame is provided inside the sheet metal mounting frame. An upper partition is provided at the upper end of the funnel-shaped rectangular frame. A lower partition is provided at the lower end of the funnel-shaped rectangular frame. A split limiting shell is provided below the funnel-shaped rectangular frame. A cylinder gripper is fixedly connected to the lower end of the sheet metal mounting frame near the funnel-shaped rectangular frame. The split limiting shell is symmetrically divided into left and right halves. The outer wall of each half is fixedly connected to the gripper of the cylinder gripper. A flip plate is provided on the side of the upper and lower partitions near the support frame. The two sides of the flip plate are movably connected to the inner wall of the funnel rectangular frame. The bottom of the flip plate is movably connected to one end of the connecting rod. The other end of the connecting rod is fixedly connected to a third cylinder. An infrared ranging probe is provided on one side of the inner wall of the sheet metal mounting frame corresponding to the flip plate. An opening is provided on the side wall of the funnel rectangular frame corresponding to the infrared ranging probe.

[0008] Preferred: The yarn detection operating assembly includes a fixed frame, an electric rotating clamp, a fifth cylinder, a sixth cylinder, a suction tube, a first electric telescopic rod, and a yarn holder; A first limiting plate is fixedly connected to the workbench. The first limiting plate has a hollow center. A second limiting plate is fixedly connected to the hollow center of the first limiting plate on the workbench. A gap is provided between the inner circumference of the hollow center of the first limiting plate and the outer circumference of the second limiting plate. A yarn seat is clamped in the gap. A conveying device is provided between the workbench and the limiting plate below the yarn seat. A fixed frame is installed on the side of the workbench away from the support base. A fifth cylinder is installed inside the fixed frame. A connecting block is fixedly connected to the bottom of the fifth cylinder. A thread take-up needle is installed on the side of the connecting block away from the fixed frame. A fixed plate is installed in the middle of the side of the fixed frame near the thread take-up needle. A fourth cylinder is installed on the top of the fixed plate near the fifth cylinder. The bottom of the fourth cylinder is fixedly connected to the electric rotating chuck. A sixth cylinder is installed on the side wall of the fixed frame near the workbench. The bottom of the sixth cylinder, away from the fixed frame, is fixedly connected to one end of the first connecting plate. A movable cover is fixedly connected to the other end of the first connecting plate. The middle part of the movable cover is sleeved with the lower end of the suction tube. The middle section of the suction tube is fixedly connected to the fixed plate. A first electric telescopic rod is provided between the suction tube on the fixed plate and the sixth cylinder. A movable knife is connected to one end of the first electric telescopic rod near the suction tube. The movable knife is located in the opening on one side of the upper end of the suction tube. A first probe head is provided above the movable knife on the inner wall of the suction tube. A fixed knife is provided on the inner wall of the suction tube opposite to the movable knife. A first suction tube is provided at the top of the suction tube. An air suction device is installed directly below the movable cover inside the workbench. A limit post and a second probe are installed on the top side of the first limit plate away from the support frame. Multiple cylinders are arranged in a ring near the limit post between the workbench and the limit plate. The top output end of the cylinder is fixedly connected to the bottom of the movable block. An air blowing hole is provided in the middle of the movable block. An air inlet is provided on one side wall of the movable block. The bottom of the air blowing hole is connected to one end of the air inlet, and the other end of the air inlet is connected to the output end of the air source device inside the workbench.

[0009] Preferably, the yarn holder has a round base at the bottom and a raised top, with a through hole in the middle.

[0010] Preferably, the yarn bar has a small opening at the top and a large opening at the bottom, and a through hole is provided in the middle of the yarn bar.

[0011] Preferably, the workbench is equipped with a host computer, which is used to control the various components to work together.

[0012] Compared with the prior art, the beneficial effects of the present invention are: This invention achieves fully automated intelligent operation of yarn rods, from feeding, directional flipping, automatic threading of yarn ends to precise delivery. By setting up feeding and loading components, it achieves orderly and automated conveying of yarn rods from feeding to lifting, reducing manual intervention. By setting up a recognition and flipping component, it achieves accurate identification and orientation correction of the large and small ends of the yarn rods, ensuring they enter subsequent processes in a uniform posture. By setting up a yarn detection and operation component, it achieves automatic threading, cutting, and orderly operation of yarn ends, improving the accuracy and efficiency of yarn end processing. By setting up a multi-degree-of-freedom gripping and delivery robot and its matching delivery structure, it achieves precise gripping and delivery of yarn rods and centralized collection of yarn ends, enhancing operational flexibility and accuracy. By setting up a host to coordinate the work of each component, it achieves fully automated linkage throughout the process, significantly improving production efficiency. Attached Figure Description

[0013] Figure 1 This diagram shows a three-dimensional structural schematic of a high-efficiency automatic yarn-feeding robot according to an embodiment of the present disclosure; Figure 2 This diagram illustrates the internal structure of a high-efficiency automatic yarn-feeding robot according to an embodiment of the present disclosure. Figure 3 This diagram illustrates the structure of a high-efficiency automatic yarn-feeding robot identification and flipping component according to an embodiment of the present disclosure. Figure 4 This diagram illustrates the internal structure of a high-efficiency automatic yarn-feeding robot identification and flipping component according to an embodiment of the present disclosure. Figure 5 This diagram illustrates a schematic structure of a flipping plate in a high-efficiency automatic yarn feeding robot identification flipping component according to an embodiment of the present disclosure. Figure 6 This diagram shows a schematic of the workbench structure of a high-efficiency automatic yarn feeding robot according to an embodiment of the present disclosure; Figure 7 An embodiment of the present disclosure illustrates a highly efficient automatic yarn-feeding robot. Figure 6 Enlarged schematic diagram of the internal structure at point A; Figure 8 An embodiment of the present disclosure illustrates a highly efficient automatic yarn-feeding robot. Figure 6 Enlarged schematic diagram of the internal structure at point B; Figure 9 An embodiment of the present disclosure illustrates a highly efficient automatic yarn-feeding robot. Figure 1 Enlarged structural diagram at point C; Figure 10 This diagram shows an enlarged structural schematic of a high-efficiency automatic yarn-feeding robot gripping and dispensing manipulator according to an embodiment of the present disclosure; Figure 11 This diagram shows a cross-sectional view of the internal structure of a high-efficiency automatic yarn-feeding robot's grasping and dispensing manipulator according to an embodiment of the present disclosure. Figure 12 This diagram shows an enlarged structural schematic of a high-efficiency automatic yarn feeding robot workbench yarn holder and yarn bar according to an embodiment of the present disclosure.

[0014] The components include: 1. Feeding assembly; 101. Feeding box; 102. Feeding bin; 1021. First conveyor belt; 103. Discharge bin; 1031. Lifting plate; 1032. First cylinder; 104. Partition plate; 2. Loading assembly; 201. Support frame; 202. Chain lifting mechanism; 203. Loading claw; 204. First motor; 3. Identification and flipping assembly; 301. Sheet metal mounting bracket; 302. Cylinder bracket; 3021. Second cylinder; 303. Funnel rectangular frame; 3031. Upper partition; 3032. Lower partition; 304. Infrared ranging probe; 305. Split limiting shell; 306. Cylinder gripper; 307. Flipping plate; 3071. Connecting rod; 3072. Third cylinder; 4. Yarn detection and operation assembly; 401. Fixing frame; 4011. Fixing plate; 402. Fourth cylinder; 403, electric rotating chuck; 404, fifth cylinder; 405, connecting block; 4051, thread take-up needle; 406, sixth cylinder; 4061, first connecting plate; 407, movable cover; 408, suction tube; 4081, first probe head; 409, first electric telescopic rod; 4091, movable knife; 4092, fixed knife; 410, suction tube; 5, worktable; 501, first limiting plate; 5011, second limiting plate; 50 2. Limiting post; 503. Second probe head; 504. Cylinder; 505. Movable block; 5051. Air blowing hole; 5052. Air inlet; 6. Yarn holder; 7. Yarn bar; 8. Grabbing and dispensing robot; 801. Support base; 8011. Camera; 8012. First rotary bearing; 802. Connecting arm; 803. Connecting frame; 8031. Second rotary bearing; 8032. Second electric telescopic rod; 804. Second connecting plate; 8041. 805. Connecting hole; 8056. Clamping post; 8057. Tapered through hole; 8058. First through hole; 806. Clamping frame; 8069. Second through hole; 8060. Third through hole; 8061. Movable plug; 807. Second motor; 8071. Third electric telescopic rod; 808. Third motor; 8081. Fourth electric telescopic rod; 9. Dispensing platform; 901. Second conveyor belt; 10. Dispensing rack; 1002. Dispensing cylinder; 1003. Cable collection hole. Detailed Implementation

[0015] Various exemplary embodiments, features, and aspects of this disclosure will now be described in detail with reference to the accompanying drawings. The same reference numerals in the drawings denote elements that have the same or similar functions. Although various aspects of the embodiments are shown in the drawings, they are not necessarily drawn to scale unless specifically indicated otherwise.

[0016] The term “exemplary” as used herein means “serving as an example, embodiment, or illustration.” Any embodiment illustrated herein as “exemplary” is not necessarily to be construed as superior to or better than other embodiments.

[0017] Furthermore, to better illustrate this disclosure, numerous specific details are set forth in the following detailed description. Those skilled in the art will understand that this disclosure can be practiced without certain specific details. In some instances, methods, means, components, and circuits well known to those skilled in the art have not been described in detail in order to highlight the main points of this disclosure.

[0018] Reference Figures 1-12 As shown, this embodiment of a high-efficiency automatic yarn feeding robot includes a feeding assembly 1 including a feeding box 101. The feeding box 101 is located on one side near the support base 801 of the workbench 5. The feeding box 101 and the workbench 5 are arranged horizontally. The left and right sides of the feeding box 101 are respectively provided with a discharge bin 103 and a feeding bin 102. A partition 104 is provided between the discharge bin 103 and the feeding bin 102. A first conveyor belt 1021 is provided below the feeding bin 102. A lifting plate 1031 is provided below the discharge bin 103. A first cylinder 1032 is provided below the lifting plate 1031. The first cylinder 1032 is used to drive the lifting plate 1031 to rise and fall.

[0019] Through the structural arrangement of the feeding component 1 in the above embodiments, the feeding bin 102 in the feeding box 101 can temporarily store the yarn rods 7 to be processed, and the first conveyor belt 1021 below it can orderly transport the yarn rods 7 to the discharge bin 103; the partition 104 effectively separates the feeding bin 102 and the discharge bin 103 to avoid the yarn rods 7 from mixing; the lifting plate 1031 below the discharge bin 103 is lifted and lowered under the drive of the first cylinder 1032, which can gradually lift the yarn rods 7 entering the discharge bin 103 to the feeding component 2, thereby realizing the automated connection of the yarn rods 7 from temporary storage to conveying and then to lifting, ensuring the orderliness and efficiency of the feeding process.

[0020] The present invention provides an embodiment including a feeding component 2, which includes two opposing support frames 201. The support frames 201 are disposed between the feeding box (101) and the worktable 5. A chain lifting mechanism 202 is disposed inside the support frame 201. Multiple sets of feeding claws 203 are disposed between the two sets of chain lifting mechanisms 202. A first motor 204 is fixedly disposed on the top of the chain lifting mechanism 202.

[0021] Through the structural arrangement of the feeding component 2 in the above embodiments, two opposing support frames 201 provide stable support for the entire feeding component 2 and are located between the feeding box 101 and the worktable 5, building a conveying bridge from the feeding box to the worktable 5; the chain lifting mechanism 202 inside the support frame 201 operates under the drive of the first motor 204 at the top, driving multiple sets of feeding claws 203 between the two sets of chain lifting mechanisms 202 to rise synchronously; the feeding claws 203 can accurately catch the yarn bar 7 after it is lifted from the discharge bin 103 of the feeding component 1, and convey the yarn bar 7 upward with the operation of the chain lifting mechanism 202, and finally smoothly drop it to the subsequent identification and flipping component 3, thereby realizing the automated lifting and conveying of the yarn bar 7 from the feeding component 1 to the identification and flipping component 3, ensuring the continuity and stability of the feeding process.

[0022] The present invention provides an embodiment including an identification flipping component 3, which includes a sheet metal mounting bracket 301, a cylinder bracket 302, a funnel rectangular frame 303, an infrared ranging probe 304, and a split limiting shell 305. A sheet metal mounting frame 301 is provided on the side of the upper end of the support frame 201 away from the feed box 101. A cylinder bracket 302 is fixedly connected to the side of the sheet metal mounting frame 301 away from the support frame 201. Two second cylinders 3021 are arranged horizontally on the cylinder bracket 302. An opening is provided on the sheet metal mounting frame 301 at the position corresponding to the second cylinders 3021. A funnel rectangular frame 303 is provided inside the sheet metal mounting frame 301. An upper partition 3031 is provided at the upper end of the funnel rectangular frame 303. A lower partition 3032 is provided at the lower end of the funnel rectangular frame 303. A split limiting shell 305 is provided below the funnel rectangular frame 303. A cylinder gripper 306 is fixedly connected to the side of the lower end of the sheet metal mounting frame 301 near the funnel rectangular frame 303. The split limiting shell 305 is symmetrically divided into left and right halves. The outer wall of each half is fixedly connected to the gripper of the cylinder gripper 306. A flip plate 307 is provided on the side of the upper partition 3031 and the lower partition 3032 near the support frame 201. The two sides of the flip plate 307 are movably connected to the inner wall of the funnel rectangular frame 303. The bottom of the flip plate 307 is movably connected to one end of the connecting rod 3071. The other end of the connecting rod 3071 is fixedly connected to a third cylinder 3072. An infrared ranging probe 304 is provided on one side of the inner wall of the sheet metal mounting frame 301 corresponding to the flip plate 307. An opening is provided on the side wall of the funnel rectangular frame 303 corresponding to the infrared ranging probe 304.

[0023] Through the structural configuration of the flipping component 3 identified in the above embodiments, the sheet metal mounting frame 301 provides a stable mounting base for the entire component. The two second cylinders 3021 on the cylinder bracket 302 on the side away from the support frame 201 can adjust the direction of the yarn bar 7 through the corresponding openings on the sheet metal mounting frame 301. The funnel-shaped rectangular frame 303 inside the sheet metal mounting frame 301 has upper and lower partitions 3031 and 3032 that act as limiters. The flipping plate 307 between the upper and lower partitions 3031 and 3032 can be flipped under the drive of the third cylinder 3072 via the connecting rod 3071, enabling the feeding... The yarn rod 7 delivered by component 2 is pushed forward; the infrared ranging probe 304 on the inner wall of the sheet metal mounting frame 301 can detect the position of the large and small ends of the yarn rod 7 through the opening on the side wall of the funnel rectangular frame 303, providing a basis for the action of the second cylinder 3021; ​​the split limiting shell 305 below the funnel rectangular frame 303 can be opened and closed under the action of the cylinder gripper 306, which can receive and temporarily fix the yarn rod 7 after the direction has been adjusted, thereby realizing the accurate identification and direction correction of the large and small ends of the yarn rod 7, ensuring that the yarn rod 7 enters the subsequent yarn detection and operation component 4 with a uniform upper narrow and lower wide posture, ensuring the smooth progress of subsequent processes.

[0024] The present invention provides an embodiment including a yarn detection and operation assembly 4, which includes a fixed frame 401, an electric rotating clamp 403, a fifth cylinder 404, a sixth cylinder 406, a suction tube 408, a first electric telescopic rod 409, and a yarn holder 6. A first limiting plate 501 is fixedly connected to the workbench 5. The first limiting plate 501 has a hollow center. A second limiting plate 5011 is fixedly connected to the hollow center of the first limiting plate 501 on the workbench 5. A gap is provided between the inner circumference of the hollow center of the first limiting plate 501 and the outer circumference of the second limiting plate 5011. A yarn seat 6 is sandwiched in the gap. A conveying device is provided between the workbench 5 and the limiting plate 501 below the yarn seat 6. A fixed frame 401 is provided on the side of the workbench 5 away from the support base 801. A fifth cylinder 404 is provided inside the fixed frame 401. A connecting block 405 is fixedly connected to the bottom of the fifth cylinder 404. A thread take-up needle 4051 is provided on the side of the connecting block 405 away from the fixed frame 401. A fixed plate 4011 is installed in the middle of the side of the fixed frame 401 near the thread take-up needle 4051. A fourth cylinder 402 is provided on the top of the fixed plate 4011 near the side of the fifth cylinder 404. The bottom of the fourth cylinder 402 is fixedly connected to the electric rotating chuck 403. A sixth cylinder 406 is installed on the side wall of the fixed frame 401 near the workbench 5. The bottom of the sixth cylinder 406, away from the fixed frame 401, is fixedly connected to one end of the first connecting plate 4061. A movable cover 407 is fixedly connected to the other end of the first connecting plate 4061. The middle part of the movable cover 407 is sleeved with the lower end of the suction tube 408. The middle section of the suction tube 408 is fixedly connected to the fixed plate 4011. A first electric telescopic rod 409 is provided between the suction tube 408 on the fixed plate 4011 and the sixth cylinder 406. A movable blade 4091 is connected to one end of the first electric telescopic rod 409 near the suction tube 408. The movable blade 4091 is located in the opening on one side of the upper end of the suction tube 408. A first probe head 4081 is provided above the movable blade 4091 on the inner wall of the suction tube (408). A fixed blade 4092 is provided on the inner wall of the suction tube 408 opposite to the movable blade 4091. A first suction tube 410 is provided at the top of the suction tube 408. An air suction device is provided directly below the movable cover 407 inside the workbench 5. A limit post 502 and a second probe 503 are provided on the side of the top of the first limit plate 501 away from the support frame 201.

[0025] Through the structural arrangement of the yarn detection and operation component 4 in the above embodiments, the gap formed by the first limiting plate 501 and the second limiting plate 5011 on the workbench 5 can limit the yarn holder 6, and the conveying device below it can drive the yarn holder 6 and the yarn bar 7 above it to rotate; the fourth cylinder 402 on the fixed frame 401 can drive the electric rotating clamp 403 to descend and lock the yarn bar 7, and the electric rotating clamp 403 rotates in conjunction with the thread take-up needle 4051 on the connecting block 405 driven by the fifth cylinder 404, which can cut the thread on the yarn bar 7; the sixth cylinder 406 on the side wall of the fixed frame 401 can drive the movable cover 407 to descend and cover the yarn through the first connecting plate 4061. The first suction pipe 410 at the top of the yarn bar 7 and the suction tube 408 draws air in, which can suck the yarn end into the suction tube 408. After the first probe 4081 detects the yarn end, the first electric telescopic rod 409 drives the movable blade 4091 to work with the fixed blade 4092 to cut the yarn end. The suction device directly below the movable cover 407 inside the worktable 5 draws air in, which can suck the yarn end into the through hole in the middle of the yarn bar 7. The limiting post 502 at the top of the first limiting plate 501 can limit the position of the yarn seat 6. The second probe 503 can detect the number of yarn seats 6, thereby realizing the automatic processing, detection and orderly operation of the yarn end of the yarn bar 7, and preparing for the subsequent operation of the gripping and delivery robot.

[0026] This invention provides an embodiment including a gripping and delivery robot 8. The gripping and delivery robot 8 includes a support base 801. The support base 801 is provided on one side of a worktable 5. A camera 8011 is provided on the side wall of the upper end of the support base 801 away from the worktable 5. A first rotary bearing 8012 is provided on the top of the support base 801. The support base 801 is rotatably connected to one end of a horizontally arranged connecting arm 802 through the first rotary bearing 8012. The top of the other end of the connecting arm 802 is rotatably connected to one end of a second rotary bearing 8031. The other end of the second rotary bearing 8031 ​​is rotatably connected to one side of the bottom of a connecting frame 803. A second electric telescopic rod 8032 is provided inside the connecting frame 803 on the side away from the connecting arm 802. The bottom of the second electric telescopic rod 8032 is fixedly connected to the top side of the second connecting plate 804. A second motor 807 is provided at the bottom of the second connecting plate 804 below the second electric telescopic rod 8032. Multiple third electric telescopic rods 8071 are provided around the second motor 807. Multiple clamping columns 805 are fixedly connected to the bottom side of the second connecting plate 804 away from the second motor 807. A tapered through hole 8051 is provided in the middle of the clamping column 805. A first through hole 8052 is provided on the side of the clamping column 805 near the second motor 807. The second electric telescopic rod 8032 is disposed in the first through hole 8052 and is movably connected to the clamping column 805. A semi-circular clamping frame 806 is provided above the top clamping column 805 of the connecting frame 803. The semi-circular clamping frame 806 has multiple second through holes 8062 inside. A third through hole 8063 is provided on the inner wall of the second through hole 8062 near the second electric telescopic rod 8032. A movable plug 8064 is provided in the third through hole 8063. The movable plug 8064 near the second electric telescopic rod 8032 is fixedly connected to one end of the fourth electric telescopic rod 8081. The other end of the fourth electric telescopic rod 8081 is fixedly connected to the third motor 808. The second connecting plate 804 is provided with a connecting hole 8041 corresponding to the tapered through hole 8051 and the second through hole 8062. The connection between the clamping frame 806 and the clamping column 805 is realized through the mutual communication between the tapered through hole 8051, the connecting hole 8041, and the second through hole 8062.

[0027] Through the structural design of the gripping and delivery robot 8 in the above embodiments, the support base 801 on the workbench 5 provides stable support for the entire robot, and the camera 8011 at its upper end can provide real-time images to assist the host in precise control of the operation; the support base 801 is rotatably connected to the connecting arm 802 through the first rotary bearing 8012, and the connecting arm 802 is rotatably connected to the connecting frame 803 through the second rotary bearing 8031, realizing multi-degree-of-freedom rotation of the robot, which facilitates adjustment of the gripping and delivery position; the second electric telescopic rod 8032 inside the connecting frame 803 can drive the second connecting plate 804 and the bottom clamping mechanism. The column 805 rises and falls, and the third electric telescopic rod 8071 on the outer periphery of the second motor 807 at the bottom of the second connecting plate 804 can cooperate with the clamping column 805 to clamp the top of the yarn bar 7; the tapered through hole 8051 of the clamping column 805 is connected to the connecting hole 8041 of the second connecting plate 804 and the second through hole 8062 of the clamping frame 806; the movable plug 8064 in the third through hole 8063 can clamp the thread end under the drive of the fourth electric telescopic rod 8081; with the coordinated action of each component, the precise gripping, stable delivery, and orderly collection of the yarn bar 7 are achieved, ensuring the efficiency and accuracy of the yarn delivery process.

[0028] This invention provides an embodiment in which multiple cylinders 504 are arranged in a ring around one end of the workbench 5 and the limiting plate 501 near the limiting post 502. The top output end of the cylinders 504 is fixedly connected to the bottom of the movable block 505. An air blowing hole 5051 is provided in the middle of the movable block 505, and an air inlet hole 5052 is provided on one side wall of the movable block 5051. The bottom of the air blowing hole 5051 is connected to one end of the air inlet hole 5052, and the other end of the air inlet hole 5052 is connected to the output end of the air source device inside the workbench 5.

[0029] With the configuration of cylinder 504 and movable block 505 in the above embodiments, when the yarn rods 7 are arranged and ready to be grasped, cylinder 504 drives movable block 505 to be raised, so that movable block 505 is close to the through hole at the bottom of yarn seat 6. At this time, the air source device inside the workbench 5 starts to blow air through air blowing hole 5051, and blows the thread end in the through hole of yarn rod 7 into the second through hole 8062 through the through hole of yarn seat 6, which facilitates the operation of subsequent yarn gathering steps.

[0030] The working principle of this invention is: After the yarn bar 7 enters from the feed hopper 102 of the feeding assembly 1, it is conveyed to the discharge hopper 103 by the first conveyor belt 1021. The lifting plate 1031 at the bottom of the discharge hopper 103 is lifted by the first cylinder 1032, transporting the yarn bar 7 orderly to the loading claw 203 of the loading assembly 2. The loading claw 203 rises under the drive of the chain lifting mechanism 202, and the first motor 204 provides power to the chain lifting mechanism 202. Then, the loading claw 203 throws the yarn bar 7 onto the flip plate 307 of the identification flipping assembly 3. The infrared ranging probe 304 detects the position of the large and small ends of the yarn bar 7. If the large end is close, it controls the second cylinder 3021 on the cylinder bracket 302 away from the infrared ranging probe 304 to extend, thus reversing the flow of the yarn bar 7. Similarly, the third cylinder 3072 extends, driving the connecting rod 3071 to push the flipping plate 307, pushing the yarn bar 7 forward. During its descent, the yarn bar 7 is adjusted by the second cylinder 3021, ensuring the larger end always faces downwards. Then, limited by the funnel-shaped rectangular frame 303, it falls into the split-type limiting shell 305. A yarn seat 6 is located on the worktable 5 below the split-type limiting shell 305. After the yarn bar 7 falls above the yarn seat 6, the cylinder gripper 306 causes the split-type limiting shell 305 to separate to both sides. The yarn bar 7 and the yarn seat 6, under the action of the conveying device on the worktable 5, move to the yarn detection and operation component 4. The conveying device transports the yarn seat 6 and the yarn bar 7 to below the electric rotating chuck 403. The fourth cylinder 402 drives the electric rotating... The clamp 403 descends and locks onto the top of the yarn bar 7. The electrically rotating clamp 403 begins to rotate. At this time, the fifth cylinder 404 retracts, causing the connecting block 405 to rise. The thread-taking needle 4051 on the connecting block 405 scrapes off the thread end on the yarn bar 7. Then, the electrically rotating clamp 403 stops rotating and rises. The conveying device continues to transport the yarn holder 6 and the yarn bar 7 to directly below the movable cover 407. The sixth cylinder 406 extends, causing the first connecting plate 4061 and the movable cover 407 to descend. The movable cover 407 covers the top of the yarn bar 7. The first suction pipe 410, connected to the air source device inside the workbench 5, begins to suck in air, drawing the thread end into the suction pipe 408. When the first probe 4081 detects the thread end, the first electrically telescopic rod 409... The extension drives the movable blade 4091 to work with the fixed blade 4092 to cut the thread end. The first suction pipe 410 stops suction, the thread end falls, and the suction device inside the workbench 5 directly below the movable cover 407 starts suction, sucking the thread end into the through hole in the middle of the yarn bar 7. The conveying device continues to drive the yarn seat 6 and the yarn bar 7 to rotate until they are blocked by the limit post 502. When the second probe 503 detects that the number of items that can be grasped has been reached, the host controls the first rotary bearing 8012 to drive the connecting arm 802, the second rotary bearing 8031 ​​to drive the connecting frame 803, and the connecting frame 803 to drive the second electric telescopic rod 8032, so that the entire grasping and delivery robot 8 rotates in coordination, so that the clamping post 805 is aligned with the multiple yarn bars 7 above the workbench 5.The second electric telescopic rod 8032 extends, causing the clamping column 805 to descend and cover the upper end of the yarn bar 7. The third electric telescopic rod 8071 extends to clamp the top of the yarn bar 7. At this time, the cylinder 504 drives the movable block 505 to rise, bringing the movable block 505 close to the through hole at the bottom of the yarn seat 6. Then, the air inlet 5052, connected to the air source device in the worktable 5, starts blowing air through the air blowing hole 5051, blowing the yarn end inside the yarn bar 7 through the conical through hole 8051 and the connecting hole 8041 into the second through hole 8062. The fourth electric telescopic rod 8081 extends and pushes the movable plug 8064 to clamp the yarn end. The camera 8011 provides real-time images. The host controls the robot to move the clamping column 805 above the delivery rack 10. 1. After detecting sufficient space in the feeding cylinder 1001, the second electric telescopic rod 8032 extends, causing the clamping column 805 and clamping frame 806 to descend. The third electric telescopic rod 8071 retracts, causing the yarn rod 7 to fall into the feeding cylinder 1001. Then, the main unit controls the clamping column 805 to align with the yarn collecting hole 1002. The corresponding fourth electric telescopic rod 8081 retracts, causing the movable plug 8064 to loosen the yarn end. The negative pressure generator in the yarn collecting hole 1002 begins to draw air in, sucking the loosened yarn end into the yarn collecting hole 1002, completing the collection of one yarn rod 7. Then, the second clamping column 805 continues to align with the yarn collecting hole 1002, repeating the above steps until all the yarn ends of all yarn rods 7 have fallen into the yarn collecting hole 1002, completing the entire workflow.

[0031] The various embodiments of this disclosure have been described above. These descriptions are exemplary and not exhaustive, nor are they limited to the disclosed embodiments. Many modifications and variations will be apparent to those skilled in the art without departing from the scope and spirit of the described embodiments. The terminology used herein is chosen to best explain the principles, practical application, or technical improvements to the embodiments in the market, or to enable others skilled in the art to understand the embodiments disclosed herein.

Claims

1. A high-efficiency automatic yarn-feeding robot, characterized in that: It includes a feeding assembly (1), a loading assembly (2), an identification and flipping assembly (3), a yarn detection and operation assembly (4), a worktable (5), a yarn bar (7), and a gripping and delivery robot (8). The feeding component (1) is used to transport the yarn bar to the loading component (2) in an orderly manner. The loading component (2) is used to lift the yarn bar (7) to the identification and flipping component (3). The identification and flipping component (3) is used to flip the yarn bar (7) into a state of being narrow at the top and wide at the bottom and enter the yarn detection and operation component (4). The yarn detection and operation component (4) is used to thread the yarn end of the yarn bar (7) into the through hole inside the yarn bar (7) and operate it to wait for the gripping and delivery robot (8) to grip and deliver it. A support base (801) is provided on one side of the workbench (5). A camera (8011) is provided on the side wall of the support base (801) away from the workbench (5). A first rotary bearing (8012) is provided on the top of the support base (801). The support base (801) is rotatably connected to one end of a horizontally arranged connecting arm (802) through the first rotary bearing (8012). The top of the other end of the connecting arm (802) is rotatably connected to one end of a second rotary bearing (8031). The other end of the second rotary bearing (8031) is rotatably connected to one side of the bottom of the connecting frame (803). A second electric telescopic rod (8032) is provided on the side of the connecting frame (803) away from the connecting arm (802). The bottom of the second electric telescopic rod (8032) is fixedly connected to the top side of the second connecting plate (804). A second motor (807) is provided at the bottom of the second connecting plate (804) below the second electric telescopic rod (8032). A plurality of third electric telescopic rods (8071) are provided on the outer periphery of the second motor (807). A plurality of clamping columns (805) are fixedly connected on the bottom side of the second connecting plate (804) away from the second motor (807). A tapered through hole (8051) is provided in the middle of the clamping column (805). A first through hole (8052) is provided on the side of the clamping column (805) close to the second motor (807). The second electric telescopic rod (8032) is located in the first through hole (8052) and is movably connected to the clamping column (805). A semi-circular clamping frame (806) is provided above the top clamping column (805) of the connecting frame (803). The semi-circular clamping frame (806) has multiple second through holes (8062) inside. A third through hole (8063) is provided on the inner wall of the second through hole (8062) near the second electric telescopic rod (8032). A movable plug (8064) is provided in the third through hole (8063). The movable plug (8064) is fixedly connected to one end of the fourth electric telescopic rod (8081) on the side near the second electric telescopic rod (8032). The other end of the fourth electric telescopic rod (8081) is fixedly connected to the third motor (808). The second connecting plate (804) is provided with a connecting hole (8041) corresponding to the tapered through hole (8051) and the second through hole (8062). The connection between the clamping frame (806) and the clamping column (805) is realized through the mutual communication between the tapered through hole (8051), the connecting hole (8041), and the second through hole (8062).

2. The high-efficiency automatic yarn feeding robot according to claim 1, characterized in that: A dispensing platform (9) is provided on the side of the workbench (5) near the support base (801). The dispensing platform (9) and the workbench (5) are arranged longitudinally. A second conveyor belt (901) is provided on the top of the dispensing platform (9). A dispensing rack (10) is provided on the second conveyor belt (901). A cable collection hole (1002) is provided in the middle of the dispensing rack (10). A negative pressure generator is provided inside the cable collection hole (1002). Multiple dispensing cylinders (1001) are provided around the cable collection hole (1002).

3. The high-efficiency automatic yarn feeding robot according to claim 1, characterized in that: The feeding assembly (1) includes a feeding box (101), which is located on one side near the support base (801) of the workbench (5). The feeding box (101) and the workbench (5) are arranged horizontally. The left and right sides of the feeding box (101) are respectively provided with a discharge bin (103) and a feeding bin (102). A partition (104) is provided between the discharge bin (103) and the feeding bin (102). A first conveyor belt (1021) is provided below the feeding bin (102). A lifting plate (1031) is provided below the discharge bin (103). A first cylinder (1032) is provided below the lifting plate (1031). The first cylinder (1032) is used to drive the lifting plate (1031) to rise and fall.

4. The high-efficiency automatic yarn feeding robot according to claim 3, characterized in that: A feeding assembly (2) is provided on the side of the discharge bin (103) away from the feed bin (102). The feeding assembly (2) includes two opposing support frames (201). The support frames (201) are located between the feed box (101) and the workbench (5). A chain lifting mechanism (202) is provided inside the support frame (201). Multiple feeding claws (203) are provided between the two sets of chain lifting mechanisms (202). A first motor (204) is fixedly installed on the top of the chain lifting mechanism (202).

5. The high-efficiency automatic yarn feeding robot according to claim 4, characterized in that: The identification flipping component (3) includes a sheet metal mounting bracket (301), a cylinder bracket (302), a funnel rectangular frame (303), an infrared ranging probe (304), and a split limiting shell (305). A sheet metal mounting bracket (301) is provided on the side of the support frame (201) away from the feed box (101). A cylinder bracket (302) is fixedly connected to the side of the sheet metal mounting bracket (301) away from the support frame (201). Two second cylinders (3021) are arranged horizontally on the cylinder bracket (302). An opening is provided on the sheet metal mounting bracket (301) at the position corresponding to the second cylinder (3021). A funnel rectangular frame (303) is provided inside the sheet metal mounting bracket (301). The upper part of the funnel rectangular frame (303) is provided with an upper partition plate (3031), the lower part of the funnel rectangular frame (303) is provided with a lower partition plate (3032), and a split limiting shell (305) is provided below the funnel rectangular frame (303). A cylinder clamp (306) is fixedly connected to the side of the lower end of the sheet metal mounting bracket (301) near the funnel rectangular frame (303). The split limiting shell (305) is symmetrically divided into left and right halves, and the outer wall of each half is fixedly connected to the clamp of the cylinder clamp (306). A flip plate (307) is provided on the side of the upper partition (3031) and the lower partition (3032) near the support frame (201). The flip plate (307) is movably connected to the inner wall of the funnel rectangular frame (303) on both sides. The flip plate (307) is movably connected to one end of the connecting rod (3071) at the bottom. The other end of the connecting rod (3071) is fixedly connected to a third cylinder (3072). An infrared ranging probe (304) is provided on one side of the inner wall of the sheet metal mounting frame (301) corresponding to the flip plate (307). An opening is provided on the side wall of the funnel rectangular frame (303) corresponding to the infrared ranging probe (304).

6. The high-efficiency automatic yarn feeding robot according to claim 5, characterized in that: The yarn detection operation assembly (4) includes a fixed frame (401), an electric rotating clamp (403), a fifth cylinder (404), a sixth cylinder (406), a suction tube (408), a first electric telescopic rod (409), and a yarn holder (6). A first limiting plate (501) is fixedly connected to the workbench (5). The first limiting plate (501) has a hollow center. A second limiting plate (5011) is fixedly connected to the hollow center of the first limiting plate (501) on the workbench (5). A gap is provided between the inner circumference of the hollow center of the first limiting plate (501) and the outer circumference of the second limiting plate (5011). A yarn seat (6) is sandwiched in the gap. A conveying device is provided between the workbench (5) and the limiting plate (501) below the yarn seat (6). A fixed frame (401) is provided on the side of the workbench (5) away from the support base (801). A fifth cylinder (404) is provided inside the fixed frame (401). A connecting block (405) is fixedly connected to the bottom of the fifth cylinder (404). A thread take-up needle (4051) is provided on the side of the connecting block (405) away from the fixed frame (401). A fixed plate (4011) is installed in the middle of the side of the fixed frame (401) near the thread take-up needle (4051). A fourth cylinder (402) is provided on the top of the fixed plate (4011) near the side of the fifth cylinder (404). The bottom of the fourth cylinder (402) is fixedly connected to the electric rotating chuck (403). A sixth cylinder (406) is provided on the side wall of the fixed frame (401) near the workbench (5). The bottom of the sixth cylinder (406) away from the fixed frame (401) is fixedly connected to one end of the first connecting plate (4061). A movable cover (407) is fixedly connected to the other end of the first connecting plate (4061). The middle part of the movable cover (407) is sleeved with the lower end of the suction tube (408). The middle section of the suction tube (408) is fixedly connected to the fixed plate (4011). A first electric telescopic rod (409) is provided between the suction tube (408) on the fixed plate (4011) and the sixth cylinder (406). A movable blade (4091) is connected to one end of the first electric telescopic rod (409) near the suction tube (408). The movable blade (4091) is located in the opening on one side of the upper end of the suction tube (408). A first probe head (4081) is provided above the movable blade (4091) on the inner wall of the suction tube (408). A fixed blade (4092) is provided on the inner wall of the suction tube (408) opposite to the movable blade (4091). A first suction tube (410) is provided at the top of the suction tube (408). An air suction device is provided directly below the movable cover (407) inside the workbench (5). A limit post (502) and a second probe (503) are provided on the side of the top of the first limit plate (501) away from the support frame (201). Multiple cylinders (504) are arranged in a ring at one end of the workbench (5) and the limiting plate (501) near the limiting post (502). The top output end of the cylinder (504) is fixedly connected to the bottom of the movable block (505). An air blowing hole (5051) is provided in the middle of the movable block (505). An air inlet hole (5052) is provided on one side wall of the movable block (5051). The bottom of the air blowing hole (5051) is connected to one end of the air inlet hole (5052). The other end of the air inlet hole (5052) is connected to the output end of the air source device inside the workbench (5).

7. The high-efficiency automatic yarn feeding robot according to claim 6, characterized in that: The yarn holder (6) has a round base at the bottom and a raised top. A through hole is provided in the middle of the yarn holder (6).

8. The high-efficiency automatic yarn feeding robot according to claim 6, characterized in that: The yarn bar (7) is a yarn bar with a small opening at the top and a large opening at the bottom, and a through hole is provided in the middle of the yarn bar (7).

9. The high-efficiency automatic yarn feeding robot according to claim 6, characterized in that: The workbench (5) is equipped with a host computer, which is used to control the various components to work together.

Images