Yarn hook yarn picking device of ring spinning machine

Abstract

The invention provides a yarn hook yarn picking device of a ring spinning machine. The yarn hook yarn picking device is used for solving the problems that in the prior art, the structure is complex, a broken yarn end is difficult to find quickly, and an end-broken yarn is difficult to penetrate through a steel wire ring successfully. Comprising a base, a broken yarn end finding assembly, an ingot pulling and yarn combing assembly and a yarn picking module, and the broken yarn end finding assembly comprises an end finding module, a rotating module and a moving module; the yarn picking module comprises a yarn hook parallel to the central axis of the yarn suction pipe and a yarn picking power module for driving the yarn hook to rotate, the rear end of the yarn hook penetrates through and is rotationally arranged on the clamping block, the front end of the yarn hook is provided with a first bent shape, and the front end of the yarn suction pipe is provided with a second bent shape which forms a U-shaped structure with the first bent shape of the front end of the yarn hook; a yarn picking and threading part is formed between the first bent shape of the yarn hook and the second bent shape of the yarn suction pipe, and the yarn picking and threading part is matched with the rotating module and the moving module to be quickly and conveniently connected to a roller in a penetrating mode. The device is compact in structure, can adapt to rapid yarn combing and end finding of bobbins of different specifications, and can also improve the threading success rate.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of spinning machines, in particular to a yarn hook yarn picking device of a ring spinning machine. BACKGROUND

[0002] In textile spinning mills, yarn breakage in ring spinning machines is a common problem that requires laborer's continuous attention. Today, yarn breakage is still the main drawback in ring spinning machines, which forces a large number of workers / hand laborers to continuously monitor the ring spinning machines on both sides of the entire machine length. The broken yarn has to be manually spliced, and the yarn spinning sequence has to be restarted after the yarn breakage to avoid waste of yarn. The endurance and health of the workers are also affected due to continuous walking along the long ring spinning machine length throughout the day to manually splice the broken yarn end.

[0003] As an improvement over the conventional manual splicing method, automatic splicing devices are provided. Currently, ring spinning automatic splicing is divided into yarn finding splicing and yarn leading splicing, wherein the success rate of yarn leading splicing is generally lower than that of direct yarn finding splicing, and the yarn finding splicing is generally adopted, however, the yarn finding splicing technology still has many defects and cannot completely replace manual splicing for practical production, and the main problems are: (1) The existing yarn finding splicing device has a complex structure, and it is difficult to complete the rapid finding action of the broken yarn in the narrow space of the broken yarn spindle position; (2) The existing broken yarn finding steps are complicated, the finding automation degree is low, the action time is long, and the efficiency of the entire splicing process is low; (3) In the actual splicing process, it is difficult to be compatible with different yarn tube specifications or changes in package density, the broken yarn is wound on the broken yarn tube, it is difficult to find and suck the wound broken yarn end from the broken yarn tube, which directly affects the success rate of splicing; (4) In the actual splicing process, it is difficult to make the yarn quickly and effectively pass through the steel ring in a narrow space, resulting in low efficiency and low success rate of the steel ring threading. SUMMARY

[0004] In view of the above-mentioned defects of the prior art, the purpose of the present application is to provide a yarn hook yarn picking device of a ring spinning machine, which solves the problems of complex structure, difficulty in quickly finding the broken yarn end, and difficulty in successfully threading the broken yarn end through the steel ring in the prior art.

[0005] To achieve the above-mentioned purposes and other related purposes, the present application provides a yarn hook yarn picking device of a ring spinning machine, comprising: The base and the broken yarn end finding assembly, the broken yarn end finding assembly includes an end finding module, a rotating module, a moving module arranged on the base, the end finding module includes a yarn suction pipe, a clamping block and a negative pressure module, the rear end of the yarn suction pipe is connected to the clamping block and communicates with the negative pressure module through a suction pipe, the negative pressure module provides suction force to make the yarn suction pipe suck the end of the broken yarn when finding the broken yarn on the broken yarn pipe, the central axis of the yarn suction pipe is perpendicular to the central axis of the broken yarn pipe; The rotating module is used for controlling the end finding module to rotate in a horizontal plane parallel to the central axis of the yarn suction pipe and a vertical plane and to rotate in a vertical plane perpendicular to the central axis of the yarn suction pipe; The moving module drives the end finding module and the rotating module to move in a vertical direction and a front and back transverse direction at the same time through a connecting plate; The yarn picking module includes a yarn hook arranged in parallel with the central axis of the yarn suction pipe, a yarn picking power module for driving the yarn hook to rotate, the rear end of the yarn hook penetrates and rotates the clamping block, the front end of the yarn hook has a first bending shape, and the front end of the yarn suction pipe has a second bending shape forming a U-shaped structure with the first bending shape of the front end of the yarn hook; A yarn picking threading part is formed between the first bending shape of the yarn hook and the second bending shape of the yarn suction pipe, and the yarn picking threading part is quickly and conveniently threaded to the roller in cooperation with the rotating module and the moving module.

[0006] Optionally, the yarn picking power module includes a pinion fixedly connected to the rear end of the yarn hook, a large gear, a yarn picking power piece arranged on the rotating module to drive the large gear to rotate, and the large gear is in meshing transmission with the pinion.

[0007] Optionally, the rotating module includes a bottom plate fixedly connected to the connecting plate, a rotating seat rotatably connected above the bottom plate, a pitching module arranged above the rotating seat, an L-shaped seat, an inclination module arranged on the vertical part of the L-shaped seat, a rotating power module for driving the rotating seat to rotate in a horizontal plane parallel to the central axis of the yarn suction pipe, and the clamping block is arranged on the inclination module, the pitching module is used for driving the L-shaped seat to rotate and pitch in a vertical plane parallel to the central axis of the yarn suction pipe, and the inclination module is used for driving the end finding module to rotate in a vertical plane perpendicular to the central axis of the yarn suction pipe.

[0008] Optionally, the pitching module includes a U-shaped seat fixedly connected above the bottom plate and having an opening facing upward, a pitching shaft rotatably installed in the U-shaped seat, and a pitching power piece for driving the pitching shaft to rotate, the horizontal part of the L-shaped seat has a mountain-shaped groove, and has a through rotating hole in the width direction of the mountain-shaped groove, and the pitching shaft is coaxially rotatably matched with the through rotating hole. The tilt module comprises a first tilt rotating part rotatably connected to the vertical part of the L-shaped seat, a second tilt rotating part rotatably connected to the vertical part of the L-shaped seat, a tilt transmission part, and a tilt power part for driving the second tilt rotating part to rotate, wherein the tilt transmission part drives the first tilt rotating part and the second tilt rotating part, and the clamping block is arranged on the first tilt rotating part; The rotating power module comprises a first rotating part rotatably connected to the front end of the bottom of the bottom plate, a second rotating part rotatably connected to the rear end of the bottom of the bottom plate, a rotating transmission part, and a rotating power part for driving the second rotating part to rotate, wherein the first rotating part rotates coaxially with the rotating seat, and the rotating transmission part drives the first rotating part and the second rotating part. Alternatively, the rotating power module comprises a first gear rotatably connected to the front end of the bottom of the bottom plate, a second gear rotatably connected to the bottom of the bottom plate, a third gear rotatably connected to the rear end of the bottom of the bottom plate, and a rotating power part for driving the third gear to rotate, wherein the second gear is located between the first gear and the second gear, and the second gear is in meshing transmission with the first gear and the second gear, respectively.

[0009] Alternatively, the negative pressure module comprises an air source, a convex block, and a venturi tube, the venturi tube is arranged in the convex block, the central axis of the venturi tube is parallel to the length direction of the middle part of the convex block, the length direction of the middle part of the convex block has an inlet channel and an outlet channel at both ends thereof, which are in communication with the converging section and the diverging section of the venturi tube, respectively, the top of the convex block has a suction channel in communication with the throat of the venturi tube, the air source is in communication with the inlet channel through a gas delivery pipe, the gas delivery pipe is provided with an electromagnetic valve and a throttle valve, the rear end of the suction pipe is in communication with the suction channel through the suction pipe, and the convex block is arranged on the rotating module.

[0010] Alternatively, the moving module comprises an L-shaped top station plate, three vertical and triangularly arranged support columns at the bottom of the L-shaped top station plate, a vertical lug fixedly connected to the bottom of the horizontal part of the L-shaped top station plate, an L-shaped block, three sliding columns coaxially and slidingly fitted on the support columns, respectively, a moving module fixedly connected to the bottom of the L-shaped block, a vertical connecting plate fixedly connected to the moving module, a station block, and an annular lifting module for driving the moving module to move up and down, wherein the three sliding columns are fixedly connected to the L-shaped block, the station block is fixedly connected to the bottom of the adjacent support column located on the horizontal part of the L-shaped block, the moving module is connected to the annular lifting module through the vertical connecting plate, and the moving module is fixedly connected to the connecting plate. The mobile module comprises an L-shaped plate, two slide rails, two slide rods, a cross connecting plate, a rectangular frame and a ring-shaped telescopic module, the vertical part of the L-shaped plate is fixedly connected with the bottom of the horizontal part of the L-shaped block, the two slide rails are fixedly connected with one side of the horizontal part of the L-shaped plate and are parallel to the vertical part of the L-shaped plate, the two slide rods are respectively in sliding fit with the two slide rails, the two slide rods are parallel along the length direction of the rectangular frame and are fixedly connected in the rectangular frame, the cross connecting plate is fixedly connected with the top of the rectangular frame, the connecting plate is fixedly connected with one end of the rectangular frame which is towards the spinning frame, the vertical connecting plate is fixedly connected with the opposite side of the L-shaped plate and the slide rails; The ring-shaped telescopic module drives the movement of the cross connecting plate to drive the rectangular frame to stretch and retract along the length direction of the slide rail; The opposite side of the L-shaped plate fixedly connected with the slide rail and below the vertical connecting plate has a balance plate, the balance plate is in sliding fit with the adjacent support; The side of the rectangular frame has a stabilizing plate.

[0011] Optionally, it further comprises a broken end tube combing assembly, the broken end tube combing assembly is used to take the broken end tube off the spindle and can rotate the broken end tube in the direction opposite to the normal winding direction of the yarn, and provides tangential force to the broken end on the broken end tube in the tangential direction of the broken end tube during the reverse rotation of the broken end tube to loosen or unwind the broken end on the broken end tube; The broken end tube combing assembly comprises a tube taking mounting frame vertically fixed above the base, a tube grabbing module, a yarn combing module, a position adjusting module arranged on the tube taking mounting frame for adjusting the position of the tube grabbing module, the tube grabbing module is used to take the broken end tube off the spindle and can rotate the broken end tube in the direction opposite to the normal winding direction of the yarn, the yarn combing module is used to provide tangential force to the broken end on the broken end tube in the tangential direction of the broken end tube during the reverse rotation of the broken end tube to loosen or unwind the broken end on the broken end tube; The tube grabbing module comprises a rotating pneumatic shaft arranged at one end of the position adjusting module towards the spinning frame, a tube grabbing part coaxially fixedly connected with the pneumatic shaft, a flexible bag body arranged in the tube grabbing part and communicated with the pneumatic shaft, and an unwinding power module for driving the rotation of the pneumatic shaft, the pneumatic shaft is communicated with a gas source structure, an air inlet pipe and an air outlet pipe are arranged between the flexible bag body and the pneumatic shaft, the flexible bag body is inflated and deflated by the gas source structure to grab and release the broken end tube; The flexible bag body in the tube grabbing part has a plurality of flexible bag bodies arranged axially along the tube grabbing part, and all the flexible bag bodies are connected with the gas source structure; The flexible bag body is in the shape of a continuous ring.

[0012] Optionally, the combing module includes a combing component and a combing telescopic module for controlling the combing component to move toward the tangent direction of the broken yarn tube; The combing component is either a brush or an air knife connected to an air source structure.

[0013] Optionally, the position control module includes a lead screw vertically and rotatably installed in the tube pulling mounting frame, a tube pulling mounting seat threaded with the lead screw, a tube pulling pusher with one end inclined on the tube pulling mounting seat and facing the direction of the broken yarn tube, an L-shaped support plate fixedly connected to the other end of the tube pulling pusher, and a tube pulling power component for driving the lead screw to rotate. The tube pulling mounting frame has a vertical sliding groove that slides with the tube pulling mounting seat, and the tube gripping module is rotatably mounted on the L-shaped support plate. The tube-pulling power component drives the lead screw to rotate, causing the tube-pulling mounting base to move up and down. The extension and retraction motion of the tube-pulling horizontal pusher drives the L-shaped support plate to move, which in turn drives the tube-gripping module to move.

[0014] Optionally, the yarn drawing and combing assembly further includes a detection suction head module, which is used for real-time detection of yarn breakage adsorption by the suction tube; The detection suction head module is connected to a detection telescopic power component that uses a hydraulic cylinder, pneumatic cylinder, or electric push rod to perform linear motion.

[0015] As described above, the yarn hook picking device for a ring spinning machine of the present invention has at least the following beneficial effects: The yarn-picking power module drives the yarn hook to rotate, causing the broken yarn between the yarn suction tube and the broken yarn tube to be wound into the first bend at the front end of the yarn hook. The broken yarn wound into the first bend at the front end of the yarn hook and the broken yarn sucked in by the second bend at the front end of the yarn suction tube form the yarn-picking and threading part. By cooperating with the rotating module and the moving module, the yarn-picking and threading part is tilted at a certain angle to the horizontal plane, so that the yarn can pass through the steel wire ring quickly and effectively, thereby solving the problem of low efficiency and low success rate of threading the steel wire ring. Through the coordinated operation of the spindle-pulling and combing assembly and the broken yarn head finding assembly, the spindle-pulling and combing assembly removes the broken yarn tube from the spindle and rotates it in the opposite direction to the normal winding direction of the yarn. During the reverse rotation of the broken yarn tube, it moves towards the tangential direction of the broken yarn tube, providing tangential force to the broken yarn on the broken yarn tube to loosen or unwind it. This solves the problem of broken yarn being difficult to find and pick up when it is wrapped around the broken yarn tube, directly affecting the splicing success rate. The rotation module controls the rotation of the suction tube in the horizontal and vertical planes parallel to the central axis of the suction tube, as well as in the plane perpendicular to the central axis of the suction tube. The vertical plane rotation of the axis ensures multi-degree-of-freedom adjustment of the suction tube within a confined space. Through collaboration with the motion module and vision module, the suction tube can achieve angle and position adjustments in three-dimensional space. The central axis of the suction tube is perpendicular to the central axis of the broken yarn tube, facilitating precise alignment of the broken yarn end on the broken yarn tube from the side. The negative pressure module and the suction tube work together to locate and effectively adsorb the broken yarn on the broken yarn tube. This optimizes the motion space, reduces operation steps, simplifies operation, and makes the structure compact, solving the problem of complex mechanical structures. It also optimizes the strength-to-weight ratio, thereby saving costs. Attached Figure Description

[0016] Figure 1 The diagram shown is a three-dimensional structural schematic of the present invention. Figure 2 The diagram shown is a three-dimensional structural schematic of the yarn breakage finding component of the present invention. Figure 3 This invention is shown as Figure 1 Enlarged view of part I in the image; Figure 4 This invention is shown as Figure 2 Enlarged view of part A in the image; Figure 5 The diagram shown is a cross-sectional view of the negative pressure module of the present invention. Figure 6 The diagram shown is a three-dimensional structural schematic of the mobile module of the present invention. Figure 7 The diagram shows a three-dimensional structural schematic of the mobile module of the present invention from another perspective. Figure 8 The diagram shown is a three-dimensional structural schematic of the yarn drawing and combing assembly of the present invention. Figure 9The diagram shown is a three-dimensional structural schematic of the spindle-drawing and combing assembly of the present invention from another perspective. Figure 10 This invention is shown as Figure 7 Enlarged view of part B in the image; Figure 11 The image shown is a cross-sectional view of the gripper of the present invention.

[0017] Component designation explanation Yarn breakage finding component 2, yarn finding module 21, yarn suction tube 211, clamping block 212, negative pressure module 213, convex block 2131, venturi tube 2132, inlet channel 2133, outlet channel 2134, air suction channel 2135; Rotating module 22, base plate 221, rotating seat 222, pitch module 223, U-shaped seat 2231, pitch axis 2232, pitch power component 2233, mountain-shaped groove 2234, through rotating hole 2235, L-shaped seat 224, tilting module 225, first tilting rotating component 2251, second tilting rotating component 2252, tilting transmission component 2253, tilting power component 2254, rotation power module 226, first rotating component 2261, second rotating component 2262, rotation transmission component 2263, rotation power component 2264; Mobile module 23, L-shaped top plate 231, support column 232, vertical lug 233, L-shaped block 234, sliding column 235, mobile module 236, L-shaped plate 2361, slide rail 2362, slide rod 2363, horizontal connecting plate 2364, rectangular frame 2365, annular telescopic module 2366, first pulley 23661, second pulley 23662, horizontal belt 23663, horizontal power component 23664, vertical connecting plate 237, station block 238, annular lifting module 239, driving pulley 2391, driven pulley 2392, vertical belt 2393, lifting power component 2394, through hole 2310, balance plate 2311, stabilizing plate 2312; Yarn picking module 24, yarn hook 241, yarn picking power module 242, pinion 2421, gear 2422, yarn picking power component 2423, first bending shape 243, second bending shape 244; 3. Spindle pulling and combing assembly, 31. Tube pulling mounting bracket, 32. Tube gripping module, 321. Pneumatic shaft, 322. Tube gripping, 323. Flexible capsule, 324. Unwinding power module, 33. Combing module, 331. Combing component, 332. Position control module, 34. Lead screw, 341. Tube pulling mounting seat, 342. Tube pulling cross pusher, 343. L-shaped support plate, 344. Tube pulling power component, 345. Detection suction head module, 35. Detection telescopic power component, 351. Support shaft, 352. Base 4. Detailed Implementation

[0018] The following specific embodiments illustrate the implementation of the present invention. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification.

[0019] Please see Figures 1 to 11 It should be understood that the structures, proportions, sizes, etc., depicted in the accompanying drawings are merely for illustrative purposes to aid those skilled in the art and to facilitate understanding. They are not intended to limit the scope of the invention and therefore have no substantial technical significance. Any modifications to the structure, changes in proportions, or adjustments to size, without affecting the effectiveness and purpose of the invention, should still fall within the scope of the technical content disclosed herein. Furthermore, the terms "upper," "lower," "left," "right," "middle," and "one" used in this specification are merely for clarity and not intended to limit the scope of the invention. Changes or adjustments to their relative relationships, without substantially altering the technical content, should also be considered within the scope of the invention.

[0020] The emphasis here can be on the end closer to the spinning machine as the front end and the end farther away from the spinning machine as the back end.

[0021] The following embodiments are for illustrative purposes only. These embodiments can be combined and are not limited to the content shown in any single embodiment below.

[0022] In this embodiment, please refer to Figures 1 to 11 The present invention provides a yarn-picking device 241 for a ring spinning machine, comprising: The system comprises a base 4, a broken yarn finding assembly 2, a spindle drawing and combing assembly 3, and a yarn picking module 24. The broken yarn finding assembly 2 includes a finding module 21, a rotating module 22, and a moving module 23 mounted on the base 4. The finding module 21 includes a suction tube 211, a clamping block 212, and a negative pressure module 213. The rear end of the suction tube 211 is connected to the clamping block 212 and communicates with the negative pressure module 213 through a suction tube. The negative pressure module 213 provides suction so that when the suction tube 211 finds the broken yarn on the broken yarn tube, it sucks up the end of the broken yarn. The central axis of the suction tube 211 is perpendicular to the central axis of the broken yarn tube, which facilitates accurate alignment of the broken yarn end on the broken yarn tube from the side. The negative pressure module 213 is a negative pressure pump that continuously generates negative pressure airflow. The rotating module 22 is used to control the head-finding module 21 to rotate in a horizontal plane and a vertical plane parallel to the central axis of the yarn suction tube 211, as well as in a vertical plane perpendicular to the central axis of the yarn suction tube 211. The moving module 23 drives the head-finding module 21 and the rotating module 22 to move simultaneously in the vertical and forward / backward lateral directions via the connecting plate. The moving module 23 can accurately position the position where yarn needs to be sucked up, improving the degree of automation and production efficiency, while also reducing the error rate caused by inaccurate manual operation. It also includes a vision module, which is used to collect and process the position information of broken yarn spindles, broken yarn, ring rail, air ring, yarn guide hook and roller. The vision module can be an industrial camera mounted on the clamping block 212.

[0023] The yarn picking module 24 includes a yarn hook 241 arranged parallel to the central axis of the yarn suction tube 211 and a yarn picking power module 242 for driving the yarn hook 241 to rotate. The rear end of the yarn hook 241 passes through and is rotatably mounted on the clamping block 212. The front end of the yarn hook 241 has a first bend 243, and the front end of the yarn suction tube 211 has a second bend 244 that forms a U-shaped structure with the first bend 243 at the front end of the yarn hook 241. A yarn picking and threading section is formed between the first bend 243 of the yarn hook 241 and the second bend 244 of the yarn suction tube 211, and cooperates with the rotating module 22 and the moving module 23 to quickly and conveniently thread the yarn picking and threading section onto the roller.

[0024] The yarn-picking power module 242 drives the yarn hook 241 to rotate, causing the broken yarn between the yarn suction tube 211 and the broken yarn tube to be wound into the first bend 243 at the front end of the yarn hook 241. The broken yarn wound into the first bend 243 at the front end of the yarn hook 241 and the broken yarn end sucked by the second bend 244 at the front end of the yarn suction tube 211 form a yarn-picking and threading part. By cooperating with the rotating module 22 and the moving module 23, the yarn-picking and threading part is tilted at a certain angle to the horizontal plane, so that the yarn passes through the steel wire ring quickly and effectively, thereby solving the problem of low efficiency and low success rate of threading the steel wire ring. Through the coordinated operation of the spindle-pulling and combing assembly 3 and the broken yarn head finding assembly 2, the spindle-pulling and combing assembly removes the broken yarn tube from the spindle and rotates it in the opposite direction to the normal winding direction of the yarn. During the reverse rotation of the broken yarn tube, it moves towards the tangential direction of the broken yarn tube to provide tangential force to the broken yarn on the broken yarn tube, thereby loosening or unwinding the broken yarn on the broken yarn tube. This solves the problem that when the broken yarn is wrapped on the broken yarn tube, it is difficult to find and pick up the wrapped broken yarn head, which directly affects the splicing success rate. The rotation module 22 controls the yarn suction tube 211 to rotate in the horizontal and vertical planes parallel to the central axis of the yarn suction tube 211, as well as in the plane perpendicular to the central axis of the yarn suction tube 211. The vertical plane can rotate, thus ensuring the multi-degree-of-freedom adjustment of the suction tube 211 in a confined space. Through cooperation with the moving module 23 and the vision module, the suction tube 211 can achieve angle and position adjustment in three-dimensional space. The central axis of the suction tube 211 is perpendicular to the central axis of the broken yarn tube, which facilitates precise alignment of the broken yarn end on the broken yarn tube from the side. The negative pressure module 213 and the suction tube 211 work together to find and effectively adsorb the broken yarn on the broken yarn tube. This achieves optimization of the motion space, reduces operation steps, makes operation simple and the structure compact, solves the problem of complex mechanical structure, and also optimizes the strength-to-weight ratio, thereby saving costs.

[0025] In this embodiment, please refer to Figure 1 and 3 The yarn picking power module 242 includes a small gear 2421 and a large gear 2422 coaxially fixedly connected to the rear end of the yarn hook 241, and a yarn picking power component 2423 mounted on the rotating module 22 to drive the large gear 2422 to rotate. The yarn picking power component 2423 can be a servo motor or a motor. The large gear 2422 meshes with the small gear 2421 for transmission. By driving the large gear 2422 to rotate through the yarn picking power component 2423, and the large gear 2422 meshing with the small gear 2421 for transmission, the output torque of the yarn picking power component 2423 is amplified, improving the reliability of yarn picking and the smoothness of movement.

[0026] In this embodiment, please refer to Figure 2 and Figure 4The rotating module 22 includes a base plate 221 fixedly connected to the connecting plate, a rotating seat 222 rotatably connected above the base plate 221, a pitch module 223 disposed above the rotating seat 222, an L-shaped seat 224, an tilting module 225 disposed on the vertical portion of the L-shaped seat 224, and a rotating power module 226 for driving the rotating seat 222 to rotate in a horizontal plane parallel to the central axis of the suction tube 211. The clamping block 212 is disposed on the tilting module 225. The pitch module 223 is used to drive the L-shaped seat 224 to rotate and pitch in a vertical plane parallel to the central axis of the suction tube 211. The tilting module 225 is used to drive the head-finding module 21 to rotate in a vertical plane perpendicular to the central axis of the suction tube 211. By combining the tilting module 225, the pitching module 223, and the rotation power module 226 of the rotating module 22, the suction tube 211 can rotate in the horizontal plane and the vertical plane parallel to the central axis of the suction tube 211, as well as in the vertical plane perpendicular to the central axis of the suction tube 211, thereby ensuring the multi-degree-of-freedom adjustment of the suction tube 211 in a confined space.

[0027] In this embodiment, please refer to Figure 2 and Figure 4 The pitch module 223 includes a U-shaped seat 2231 fixed above the base plate 221 with its opening facing upwards, a pitch shaft 2232 rotatably installed in the U-shaped seat 2231, and a pitch power component 2233 that drives the pitch shaft 2232 to rotate. The pitch power component 2233 can be either a rotary cylinder or a motor. The horizontal portion of the L-shaped seat 224 has a mountain-shaped groove 2234 and a through rotating hole 2235 along the width direction of the mountain-shaped groove 2234. The pitch shaft 2232 is coaxially rotatably engaged with the through rotating hole 2235. Through the structural design of the U-shaped seat 2231, both stability and torsional resistance can be improved, and pitch space can also be provided for the L-shaped seat 224. The pitch shaft 2232 is driven to rotate by the pitch power component 2233, which in turn drives the L-shaped seat 224 to rotate in a vertical plane parallel to the central axis of the suction tube 211, thereby driving the suction tube 211 to move. The operation is simple and the structure is compact. During the splicing process, the broken yarn end can be easily threaded onto the roller.

[0028] The tilting module 225 includes a first tilting rotating member 2251 rotatably connected to the vertical portion of the L-shaped base 224, a second tilting rotating member 2252 rotatably connected to the vertical portion of the L-shaped base 224, a tilting transmission member 2253, and a tilting power member 2254 that drives the second tilting rotating member 2252 to rotate. The tilting transmission member 2253 drives the first tilting rotating member 2251 and the second tilting rotating member 2252. The clamping block 212 is disposed on the first tilting rotating member 2251. The tilting power member 2254 can be a rotary cylinder or a motor. The first tilting rotating member 2251 is a pulley or a sprocket, the second tilting rotating member 2252 is a pulley or a sprocket, and the tilting transmission member 2253 is a belt or a chain. The second tilting rotating member 2252 is driven to rotate by the tilting power member 2254, and the first tilting rotating member 2251 is driven to rotate by the tilting transmission member 2253, which in turn drives the clamping block 212 to rotate, so that the yarn suction tube 211 rotates in a vertical plane perpendicular to the central axis of the yarn suction tube 211. The operation is simple and the structure is compact. It can facilitate the threading of broken yarn ends during the splicing process and can also adapt to narrow spaces.

[0029] The rotary power module 226 includes a first rotating component 2261 rotatably connected to the front end of the bottom of the base plate 221, a second rotating component 2262 rotatably connected to the rear end of the bottom of the base plate 221, a rotary transmission component 2263, and a rotary power component 2264 that drives the second rotating component 2262 to rotate. The first rotating component 2261 rotates coaxially with the rotating seat 222. The rotary transmission component 2263 drives the first rotating component 2261 and the second rotating component 2262. The rotary power component 2264 can be either a rotary cylinder or a motor. The first rotating component 2261 is a pulley or sprocket, the second rotating component is a pulley or sprocket, and the rotational transmission component 2263 is a belt or chain. The second rotating component 2262 is driven to rotate by the rotational power component 2264, and the first rotating component 2261 is driven to rotate by the rotational transmission component 2263. In turn, the rotating seat 222 rotates in a horizontal plane parallel to the central axis of the suction tube 211. This can not only provide stable and precise transmission so that the suction tube 211 can adapt to yarn breakage in a stationary position, but also allow the power component to be arranged at the rear end, so that the suction tube 211 has enough operating space and avoids operational interference.

[0030] Alternatively, the rotary power module 226 includes a first gear rotatably connected to the front end of the bottom of the base plate 221, a second gear rotatably connected to the bottom of the base plate 221, a third gear rotatably connected to the rear end of the bottom of the base plate 221, and a rotary power component 2264 that drives the third gear to rotate. The rotary power component 2264 is either a rotary cylinder or a motor. The second gear is located between the first gear and the second gear, and the second gear meshes with both the first gear and the second gear for transmission. By driving the third gear to rotate through the rotary power component 2264, the second gear is driven to rotate. The first gear meshes with the second gear for transmission, thereby driving the rotating seat 222 to rotate in a horizontal plane parallel to the central axis of the suction tube 211. This allows for precise transmission so that the suction tube 211 can adapt to yarn breakage at a stationary position, and also allows the power component to be arranged at the rear end, giving the suction tube 211 sufficient operating space and avoiding operational interference.

[0031] In this embodiment, please refer to Figure 4 and Figure 5 The negative pressure module 213 includes an air source, a convex block 2131, and a venturi tube 2132. The venturi tube 2132 is disposed inside the convex block 2131, and the central axis of the venturi tube 2132 is parallel to the length direction of the middle part of the convex block 2131. The two ends of the length direction of the middle part of the convex block 2131 respectively have an inlet channel 2133 and an outlet channel 2134 communicating with the contraction section and expansion section of the venturi tube 2132. The top of the convex block 2131 has an air intake channel 2135 that communicates with the throat of the venturi tube 2132. The air source is connected to the inlet channel 2133 through an air supply pipe. The air supply pipe has a solenoid valve and a throttle valve. The rear end of the yarn suction tube 211 is connected to the air intake channel 2135 through the air intake pipe. The convex block 2131 is disposed on the rotating module 22 and the L-shaped seat 224. Gas is introduced into the inlet channel 2133 via an air source, creating negative pressure at the throat of the venturi tube 2132. Air enters through the suction channel 2135, simultaneously sucking up the broken yarn ends on the broken yarn tube. Both the introduced gas and the air entering through the suction channel 2135 flow out through the outlet channel 2134. Through the cooperation of the air source, the convex block 2131, and the venturi tube 2132, negative pressure is generated efficiently, applicable to different yarn tube specifications or varying package densities, improving versatility. It also optimizes negative pressure airflow efficiency, reduces energy loss and negative pressure attenuation, and facilitates accurate location and adsorption of broken yarn ends on the broken yarn tube by the suction tube 211, reducing operational steps and improving the success rate and efficiency of yarn end locating and adsorption. The solenoid valve and throttle valve on the air supply pipe can precisely control the airflow and pressure, thereby adjusting the adsorption force to adapt to different yarn types and working conditions.

[0032] The contraction section of the venturi tube 2132 is larger than the expansion section. This design allows the airflow to accelerate more quickly upon entering the venturi tube 2132. Increased flow velocity leads to decreased pressure, creating a stronger negative pressure at the throat, reducing energy loss, optimizing energy conversion efficiency, and improving the adsorption force of the yarn suction tube 211 on the yarn end, enabling it to more effectively absorb yarn. It also allows for smoother airflow into the venturi tube 2132, reducing airflow turbulence and eddy currents, improving airflow stability, adapting to compact spatial layouts, and enhancing structural reliability.

[0033] In this embodiment, please refer to Figure 1 , Figure 2 , Figure 6 and Figure 7 The mobile module 23 includes an L-shaped top plate 231, three vertical supports 232 arranged in a triangle at the bottom of the L-shaped top plate 231, vertical lugs 233 fixed to the bottom of the horizontal part of the L-shaped top plate 231, an L-shaped block 234, three sliding columns 235 respectively coaxially slidably fitted on the supports 232, a mobile module 236 fixed to the bottom of the L-shaped block 234, a vertical connecting plate 237 fixed to the mobile module 236, a station block 238, and a mechanism for driving the mobile module. The annular lifting module 239, which moves vertically, has three sliding columns 235 fixedly connected to the L-shaped block 234. The station block 238 is fixedly connected to the bottom of the adjacent support column 232 located on the horizontal part of the L-shaped block 234, forming a local reinforcing node. The moving module 236 is connected to the annular lifting module 239 through the vertical connecting plate 237 and is fixedly connected to the connecting plate. The vertical lug 233 is fixedly connected to the L-shaped top station plate 231 to provide additional torsional support. The three support columns 232 are arranged in a triangle, with the top fixed to the L-shaped top station plate 231 and the bottom connected to the L-shaped block 234 through the sliding columns 235, forming a spatial truss structure. This structure can resist the multi-directional inertial forces generated when the suction tube 211 moves, ensuring long-term motion accuracy and significantly improving load-bearing capacity. It also makes full use of space, making the entire moving module 23 compact. The ring lifting module 239 drives the moving module 236 to move through the vertical connecting plate 237. The L-shaped block 234 slides with the support column 232 through the sliding column 235, so that the vertical lifting trajectory of the suction tube 211 is strictly controlled, avoiding the problem of angular deviation of the suction tube 211 caused by swaying, thereby enhancing the stability and reliability of the movement.

[0034] The annular lifting module 239 includes a drive pulley 2391 rotatably mounted on the vertical lug 233, a driven pulley 2392 rotatably connected to the station block 238, a vertical belt 2393, and a lifting power component 2394 that drives the drive pulley 2391 to rotate. The lifting power component 2394 is either a rotary cylinder or a motor. The vertical belt 2393 drives the drive pulley 2391 and the driven pulley 2392. The vertical connecting plate 237 is fixed to the vertical belt 2393. Alternatively, the annular lifting module 239 includes a drive sprocket rotatably mounted on the vertical lug 233, a driven sprocket rotatably connected to the station block 238, a vertical chain, and a lifting power component 2394 that drives the drive sprocket to rotate. The lifting power component 2394 is either a rotary cylinder or a motor. The vertical chain drives the drive sprocket and the driven sprocket together. The vertical connecting plate 237 is fixed to the vertical chain. The horizontal portion of the L-shaped block 234 has a through hole 2310 along its thickness direction, through which the vertical chain or the vertical belt 2393 passes. The through hole 2310 not only strengthens guidance and enhances stability, but also optimizes space utilization, thereby optimizing the strength-to-weight ratio and saving costs. The lifting power component 2394 drives the driving pulley 2391 or driving sprocket to rotate, which in turn drives the driven pulley 2392 or driven sprocket to rotate, so that the vertical connecting plate 237 and the connected moving module 236 can move up and down at a stable speed, thereby precisely controlling the position of the head-finding module 21.

[0035] The moving module 236 includes an L-shaped plate 2361, two slide rails 2362, two slide rods 2363, a horizontal connecting plate 2364, a rectangular frame 2365, and an annular telescopic module 2366. The outer side of the vertical portion of the L-shaped plate 2361 is fixedly connected to the bottom of the horizontal portion of the L-shaped block 234. The two slide rails 2362 are fixedly connected to one side of the horizontal portion of the L-shaped plate 2361 and are parallel to the vertical portion of the L-shaped plate 2361. The two slide rods 2363 are slidably engaged with the two slide rails 2362 respectively. The two slide rods 2363 are parallel to the length direction of the rectangular frame 2365 and fixedly connected inside the rectangular frame 2365. The horizontal connecting plate 2364 is fixedly connected to the top of the rectangular frame 2365. The connecting plate is fixedly connected to one end of the rectangular frame 2365 facing the spinning machine. The vertical connecting plate 237 is fixedly connected to the opposite side of the slide rails 2362 of the L-shaped plate 2361. The annular telescopic module 2366 drives the horizontal connecting plate 2364 to move, thereby causing the rectangular frame 2365 to extend and retract along the length direction of the slide rail 2362. During lateral movement, the annular telescopic module 2366 drives the horizontal connecting plate 2364 to move, thereby causing the rectangular frame 2365 to move along the length direction of the slide rail 2362. The slide rod 2363 slides with the slide rail 2362. The rectangular frame 2365 drives the connecting plate to move, thereby driving the suction tube 211 to move to achieve position adjustment. The rectangular frame 2365 can limit the slide rod 2363 during movement, and also achieve high stability and strong load capacity, reduce maintenance costs, and is suitable for industrial automation.

[0036] The L-shaped plate 2361 is fixed to the opposite side of the slide rail 2362 and has a balance plate 2311 below the vertical connecting plate 237. The balance plate 2311 and the adjacent support column 232 are in sliding engagement. When the vertical chain or vertical belt 2393 drives the vertical connecting plate 237 to rise and fall, the L-shaped plate will be subjected to a certain lateral force. The sliding engagement between the balance plate 2311 and the support column 232 can provide additional support and constraint, which can reduce the horizontal swing of the L-shaped plate, making the whole structure more stable, and also provide precise guidance.

[0037] The rectangular frame 2365 has a stabilizing plate 2312 on its side. The stabilizing plate 2312 is installed on the side of the rectangular frame 2365, which can increase the overall rigidity of the rectangular frame 2365. The stabilizing plate 2312 can distribute the load on the rectangular frame 2365 more evenly, thereby improving the load-bearing capacity of the rectangular frame 2365.

[0038] The annular telescopic module 2366 includes a first pulley 23661 rotatably disposed at the connection position between the vertical and horizontal portions of the L-shaped plate 2361, a second pulley 23662 rotatably connected to the end of the vertical portion of the L-shaped plate 2361, a transverse belt 23663, and a transverse power component 23664 that drives the second pulley 23662 to rotate. The transverse power component 23664 is either a rotary cylinder or a motor. The transverse belt 23663 drives the first pulley 23661 and the second pulley 23662. The transverse connecting plate 2364 is fixedly connected to the transverse belt 23663. Alternatively, the annular telescopic module 2366 includes a first sprocket rotatably disposed at the connection position between the vertical and horizontal portions of the L-shaped plate 2361, a second sprocket rotatably connected to the end of the vertical portion of the L-shaped plate 2361, a transverse chain, and a transverse power component 23664 that drives the second sprocket to rotate. The transverse power component 23664 is either a rotary cylinder or a motor. The transverse chain drives the first sprocket and the second sprocket together. The transverse connecting plate 2364 is fixed to the transverse chain. By fixing the transverse connecting plate 2364 to the transverse belt 23663 or transverse chain, when the transverse power component 23664 drives the second pulley 23662 or the second sprocket to rotate, the transverse belt 23663 or transverse chain will drive the transverse connecting plate 2364 to move, thereby realizing the extension and retraction of the rectangular frame 2365 along the length direction of the slide rail 2362. This allows for convenient extension and retraction of the rectangular frame 2365, meeting the needs for adjusting the position of the suction tube 211 in different working scenarios. The first pulley 23661 or the first sprocket is located at the connection position between the vertical and horizontal parts of the L-shaped plate, and the second pulley 23662 or the second sprocket is located at the end of the vertical part of the L-shaped plate. This makes full use of space, making the entire annular telescopic module 2366 compact and reducing unnecessary space occupation.

[0039] In this embodiment, please refer to Figure 1 , Figures 8 to 11 It also includes the spindle-pulling and combing assembly 3 for removing the broken yarn tube from the spindle and rotating the broken yarn tube in the opposite direction to the normal winding direction of the yarn, and moving towards the tangential direction of the broken yarn tube during the reverse rotation of the broken yarn tube to provide tangential force to the broken yarn on the broken yarn tube to loosen or unwind the broken yarn on the broken yarn tube. The yarn pulling and combing assembly 3 includes a tube pulling mounting frame 31 vertically fixed above the base 4, a tube gripping module 32, a combing module 33, and a position adjustment module 34 disposed on the tube pulling mounting frame 31 for adjusting the position of the tube gripping module 32. The tube gripping module 32 is used to remove the broken yarn tube from the spindle and can rotate the broken yarn tube in the opposite direction to the normal winding direction of the yarn. The combing module 33 is used to move in the tangential direction of the broken yarn tube during the reverse rotation of the broken yarn tube to provide tangential force to the broken yarn on the broken yarn tube to loosen or unwind the broken yarn wrapped on the broken yarn tube. The yarn-grabbing module 32 includes a pneumatic shaft 321 rotatably mounted on the position control module 34 facing one end of the spinning machine, a yarn-grabbing tube 322 coaxially fixedly connected to the pneumatic shaft 321, a flexible bladder 323 disposed inside the yarn-grabbing tube 322 and communicating with the pneumatic shaft 321, and an unwinding power module 324 that drives the pneumatic shaft 321 to rotate. The pneumatic shaft 321 is connected to an air source structure. An air inlet pipe and an air extraction pipe are provided between the flexible bladder 323 and the pneumatic shaft 321. The air source structure inflates and deflates the flexible bladder 323 to grasp and release the broken yarn tube. The flexible bladder 323 can be a pneumatic silicone sheet. The pneumatic shaft 321 enables air circulation, and the yarn-grabbing module 322 uses a pneumatic silicone sheet to grasp and release the yarn tube. The air pressure can be adjusted through the air source structure to achieve precise control of the gripping force: when inflated, the flexible bladder 323 expands and clamps the yarn tube; when deflated, it releases quickly. Both the inlet and outlet pipes are equipped with air valves. When inflation or deflating is complete, the air valves are closed to allow the flexible bladder 323 to enter a pressure-holding state. The flexible bladder 323 achieves gripping through inflation and deflation deformation. The uniform wrapping force of the flexible bladder 323 fixes the yarn tube, enabling it to adaptively conform to broken yarn tubes of different diameters or surface conditions, ensuring gripping stability while reducing contact stress.

[0040] The unwinding power module 324 includes a first unwinding rotating component rotatably mounted on the position control module 34, a second unwinding rotating component rotatably mounted on the position control module 34, an unwinding transmission component, and an unwinding power component that drives the second unwinding rotating component to rotate. The unwinding transmission component drives the first and second unwinding rotating components. The first unwinding rotating component rotates coaxially with the pneumatic shaft 321. The unwinding power component can be either a rotary cylinder or a motor. The first and second unwinding rotating components are pulleys or sprockets, and the unwinding transmission component is a belt or chain. The unwinding power component drives the second unwinding rotating component to rotate, which in turn drives the first unwinding rotating component to rotate via the unwinding transmission component. This, in turn, drives the pneumatic shaft 321 to rotate, causing the broken yarn tube to rotate in the opposite direction to the normal winding direction of the yarn. The operation is simple, the structure is compact, and the operation steps are reduced. It can make the broken yarn longer and can also adapt to confined spaces.

[0041] The flexible bladder 323 inside the gripping tube 322 has multiple flexible bladders 323 arranged along the axial direction of the gripping tube 322. All the flexible bladders 323 are connected to the air source structure. The axial arrangement can increase the contact points and prevent the yarn tube from sliding. Each flexible bladder 323 is independently controlled and can be adjusted to fit yarn tubes of various diameters, providing practicality and universality.

[0042] The flexible capsule 323 has an uninterrupted annular shape. Multiple flexible capsules 323 may have the same or different specifications, and all flexible capsules 323 may be inflated and deflated together or independently.

[0043] In this embodiment, please refer to Figure 8 The combing module 33 includes a combing component 331 and a combing telescopic module 332 for controlling the combing component 331 to move toward the tangent direction of the broken yarn tube. The combing telescopic module 332 is mounted on the tube pulling mounting frame 31. The combing telescopic module 332 is one of a cylinder, a hydraulic cylinder or an electric push rod, which makes the structure compact and suitable for narrow spaces.

[0044] The combing component 331 is either a brush or an air knife connected to the air source structure, used to loosen and unwind the tangled yarn, thus meeting the combing requirements of different yarn types. The air pressure of the air knife can be adjusted by the air source structure. The air knife sprays high-speed airflow through the air source to blow away broken yarns in a non-contact manner.

[0045] In this embodiment, please refer to Figures 8 to 10 The position control module 34 includes a lead screw 341 vertically and rotatably mounted in the tube pulling mounting frame 31, a tube pulling mounting seat 342 threadedly engaged with the lead screw 341, a tube pulling horizontal pusher 343 with one end inclined on the tube pulling mounting seat 342 and facing the direction of the broken yarn tube, an L-shaped support plate 344 fixedly connected to the other end of the tube pulling horizontal pusher 343, and a tube pulling power component 345 that drives the lead screw 341 to rotate. The tube pulling power component 345 is a motor or a rotary cylinder. The tube pulling mounting frame 31 has a vertical sliding groove that slides with the tube pulling mounting seat 342. The tube gripping module 322 is rotatably mounted on the L-shaped support plate. The first unwinding rotating component and the second unwinding rotating component are respectively rotatably mounted on the front and rear ends of the horizontal part of the L-shaped support plate 344. The tube-pulling power component 345 drives the lead screw 341 to rotate, which in turn moves the tube-pulling mounting base 342 up and down. The tube-pulling horizontal pusher 343 extends and retracts, which in turn moves the L-shaped support plate 344, thereby moving the tube-gripping module 322.

[0046] The tube puller 343 includes a hydraulic cylinder, a pneumatic cylinder, or an electric push rod; Alternatively, the tube pulling pusher 343 includes a tube pulling pusher obliquely disposed on the tube pulling mounting base 342 and facing the direction of the broken yarn tube, a translational plate fixedly connected to the telescopic end of the tube pulling pusher, a follower module rotatably disposed on the tube pulling mounting base 342, and a follower plate disposed on the follower module. The follower plate is fixedly connected to the L-shaped support plate 344. The tube pulling pusher is one of a hydraulic cylinder, a pneumatic cylinder, or an electric push rod. The follower module includes a first follower pulley, a second follower pulley, and a follower belt. The first follower pulley and the second follower pulley are connected by a follower belt drive. The first follower pulley and the second follower pulley are rotatably mounted on the tube pulling mounting base 342. The translational plate and the follower plate are fixedly connected to the lower front end and the upper rear end of the follower belt, respectively, and are arranged diagonally. The tube pulling mounting frame 31 has a follower groove that slides with the follower plate. The retraction of the tube-pulling horizontal pusher drives the translation plate to move backward, and the rotation of the follower belt drives the follower plate to move forward, so that the L-shaped pallet 344 has a longer movement distance and improves space utilization.

[0047] In this embodiment, please refer to Figure 9 The yarn drawing and combing assembly 3 also includes a detection suction head module 35, which is used for real-time detection of the adsorption of broken ends of the yarn suction tube 211; the detection suction head module 35 is an optical fiber sensor.

[0048] The detection suction head module 35 is connected to a detection telescopic power component 351, which uses a hydraulic cylinder, a pneumatic cylinder, or an electric push rod to perform linear motion. The detection telescopic power component 351 is mounted on the base 4 via a support shaft 352.

[0049] Working principle: When using it, the following steps are included: The brake module stops the rotation of the broken yarn brake; the brake module can be an existing one. The position control module 34 moves the tube gripping module 32 above the broken yarn tube. The tube gripping module 32 removes the broken yarn tube from the spindle and rotates the broken yarn tube in the opposite direction to the normal winding direction of the yarn. The combing module 33 moves toward the tangential direction of the broken yarn tube during the reverse rotation of the broken yarn tube to loosen or unwind the broken yarn wrapped on the broken yarn tube. Location information is collected, processed, and identified through a vision module; The rotating module 22 controls the head-finding module 21 to rotate in a horizontal plane parallel to the central axis of the yarn suction tube 211, and cooperates with the moving module 23 to make the central axis of the yarn suction tube 211 perpendicular to the central axis of the broken yarn tube. The negative pressure module 213 provides suction so that when the yarn suction tube 211 finds the broken yarn on the broken yarn tube, it sucks up the end of the broken yarn. The yarn picking power module 242 drives the yarn hook 241 to rotate, so that the broken yarn between the yarn suction tube 211 and the broken yarn tube is wound into the first bend 243 at the front end of the yarn hook 241. The broken yarn wound into the first bend 243 at the front end of the yarn hook 241 and the broken yarn end sucked by the second bend 244 at the front end of the yarn suction tube 211 form a yarn picking and threading part. By cooperating with the rotating module 22 and the moving module 23, the yarn picking and threading part is tilted at a certain angle to the horizontal plane, so that the yarn passes through the wire ring quickly and effectively. The moving module 23 drives the head-finding module 21 and the rotating module 22 to move simultaneously in the vertical and forward / backward lateral directions via the connecting plate, and cooperates with the pitch module 223 to more easily thread the broken yarn onto the roller.

[0050] In summary, this invention drives the yarn hook 241 to rotate via the yarn picking power module 242, causing the broken yarn between the yarn suction tube 211 and the broken yarn tube to be wound into the first bend 243 at the front end of the yarn hook 241. The broken yarn wound into the first bend 243 at the front end of the yarn hook 241 and the broken yarn end sucked by the second bend 244 at the front end of the yarn suction tube 211 form a yarn picking and threading part. By cooperating with the rotating module 22 and the moving module 23, the yarn picking and threading part is tilted at a certain angle to the horizontal plane, thereby enabling the yarn to pass through the steel wire ring quickly and effectively, thus solving the problems of low efficiency and low success rate of threading through the steel wire ring. Through the coordinated operation of the spindle-pulling and combing assembly 3 and the broken yarn head finding assembly 2, the spindle-pulling and combing assembly removes the broken yarn tube from the spindle and rotates it in the opposite direction to the normal winding direction of the yarn. During the reverse rotation of the broken yarn tube, it moves towards the tangential direction of the broken yarn tube to provide tangential force to the broken yarn on the broken yarn tube, thereby loosening or unwinding the broken yarn on the broken yarn tube. This solves the problem that when the broken yarn is wrapped on the broken yarn tube, it is difficult to find and pick up the wrapped broken yarn head, which directly affects the splicing success rate. The rotation module 22 controls the yarn suction tube 211 to rotate in the horizontal and vertical planes parallel to the central axis of the yarn suction tube 211, as well as in the plane perpendicular to the central axis of the yarn suction tube 211. The vertical rotation of the suction tube 211 ensures multi-degree-of-freedom adjustment within a confined space. Through collaboration with the motion module 23 and the vision module, the suction tube 211 can achieve angle and position adjustments in three-dimensional space. The central axis of the suction tube 211 is perpendicular to the central axis of the broken yarn tube, facilitating precise alignment of the broken yarn end on the broken yarn tube from the side. The negative pressure module 213 and the suction tube 211 work together to locate and effectively adsorb the broken yarn on the broken yarn tube. This optimizes the movement space, reduces operational steps, simplifies operation, and creates a compact structure, solving the problem of complex mechanical structures. It also optimizes the strength-to-weight ratio, thereby saving costs. Therefore, this invention effectively overcomes the various shortcomings of existing technologies and has high industrial applicability.

[0051] The above embodiments are merely illustrative of the principles and effects of the present invention and are not intended to limit the invention. Any person skilled in the art can modify or alter the above embodiments without departing from the spirit and scope of the present invention. Therefore, all equivalent modifications or alterations made by those skilled in the art without departing from the spirit and technical concept disclosed in the present invention should still be covered by the claims of the present invention.

Claims

1. A yarn hook picking device for a ring spinning machine, characterized in that, include: The base and the broken yarn finding assembly include a finding module, a rotating module, and a moving module mounted on the base. The finding module includes a yarn suction tube, a clamping block, and a negative pressure module. The rear end of the yarn suction tube is connected to the clamping block and communicates with the negative pressure module through a suction tube. The negative pressure module provides suction so that when the yarn suction tube finds the broken yarn on the broken yarn tube, it sucks up the end of the broken yarn. The central axis of the yarn suction tube is perpendicular to the central axis of the broken yarn tube. The rotating module is used to control the head-finding module to rotate in a horizontal plane and a vertical plane parallel to the central axis of the yarn suction tube, as well as in a vertical plane perpendicular to the central axis of the yarn suction tube. The moving module drives the head-finding module and the rotating module to move simultaneously in the vertical and forward / backward lateral directions via a connecting plate; The yarn picking module includes a yarn hook arranged parallel to the central axis of the yarn suction tube and a yarn picking power module for driving the yarn hook to rotate. The rear end of the yarn hook passes through and is rotatably mounted on the clamping block. The front end of the yarn hook has a first bend, and the front end of the yarn suction tube has a second bend that forms a U-shaped structure with the first bend at the front end of the yarn hook. A yarn picking and threading section is formed between the first bend of the yarn hook and the second bend of the yarn suction tube, and cooperates with the rotating module and the moving module to quickly and conveniently thread the yarn picking and threading section onto the roller.

2. The yarn hook picking device for a ring spinning machine according to claim 1, characterized in that: The yarn picking power module includes a small gear and a large gear coaxially fixedly connected to the rear end of the yarn hook, and a yarn picking power component disposed on the rotating module to drive the large gear to rotate, wherein the large gear meshes with the small gear for transmission.

3. The yarn hook picking device for a ring spinning machine according to claim 1, characterized in that: The rotating module includes a base plate fixed to the connecting plate, a rotating seat rotatably connected above the base plate, a pitching module disposed above the rotating seat, an L-shaped seat, an tilting module disposed on the vertical portion of the L-shaped seat, and a rotating power module for driving the rotating seat to rotate in a horizontal plane parallel to the central axis of the suction tube. The clamping block is disposed on the tilting module. The pitching module is used to drive the L-shaped seat to rotate and pitch in a vertical plane parallel to the central axis of the suction tube. The tilting module is used to drive the head-finding module to rotate in a vertical plane perpendicular to the central axis of the suction tube.

4. The yarn hook picking device for a ring spinning machine according to claim 3, characterized in that: The pitch module includes a U-shaped seat fixed above the base plate with the opening facing upward, a pitch shaft rotatably installed in the U-shaped seat, and a pitch power component that drives the pitch shaft to rotate. The horizontal part of the L-shaped seat has a mountain-shaped groove and a through rotating hole along the width direction of the mountain-shaped groove. The pitch shaft and the through rotating hole are coaxially rotated together. The tilting module includes a first tilting rotating component rotatably connected to the vertical part of the L-shaped seat, a second tilting rotating component rotatably connected to the vertical part of the L-shaped seat, a tilting transmission component, and a tilting power component for driving the second tilting rotating component to rotate. The tilting transmission component drives the first tilting rotating component and the second tilting rotating component to connect. The clamping block is disposed on the first tilting rotating component. The rotary power module includes a first rotating component rotatably connected to the front end of the bottom of the base plate, a second rotating component rotatably connected to the rear end of the bottom of the base plate, a rotary transmission component, and a rotary power component that drives the second rotating component to rotate. The first rotating component rotates coaxially with the rotating seat, and the rotary transmission component drives the first rotating component and the second rotating component to rotate. Alternatively, the rotary power module includes a first gear rotatably connected to the front end of the bottom of the base plate, a second gear rotatably connected to the bottom of the base plate, a third gear rotatably connected to the rear end of the bottom of the base plate, and a rotary power component that drives the third gear to rotate. The second gear is located between the first gear and the second gear, and the second gear meshes with the first gear and the second gear respectively.

5. The yarn hook picking device for a ring spinning machine according to claim 1, characterized in that: The negative pressure module includes an air source, a convex block, and a venturi tube. The venturi tube is located inside the convex block, and the central axis of the venturi tube is parallel to the length direction of the middle part of the convex block. The two ends of the length direction of the middle part of the convex block have an inlet channel and an outlet channel respectively communicating with the contraction section and expansion section of the venturi tube. The top of the convex block has an air intake channel communicating with the throat of the venturi tube. The air source is connected to the inlet channel through an air supply pipe. The air supply pipe has a solenoid valve and a throttle valve. The rear end of the yarn suction tube is connected to the air intake channel through the air intake pipe. The convex block is located on the rotating module.

6. The yarn hook picking device for a ring spinning machine according to claim 1, characterized in that: The mobile module includes an L-shaped top plate, three vertical pillars arranged in a triangle at the bottom of the L-shaped top plate, vertical lugs fixed to the bottom of the horizontal portion of the L-shaped top plate, an L-shaped block, three sliding columns slidably fitted coaxially to the pillars, a mobile module fixed to the bottom of the L-shaped block, a vertical connecting plate fixed to the mobile module, a station block, and an annular lifting module for driving the mobile module to move up and down. The three sliding columns are all fixedly connected to the L-shaped block. The station block is fixedly connected to the bottom of the adjacent pillar located on the horizontal portion of the L-shaped block. The mobile module is connected to the annular lifting module through the vertical connecting plate. The mobile module is fixedly connected to the connecting plate. The moving module includes an L-shaped plate, two slide rails, two slide rods, a horizontal connecting plate, a rectangular frame, and an annular telescopic module. The outer side of the vertical portion of the L-shaped plate is fixedly connected to the bottom of the horizontal portion of the L-shaped block. The two slide rails are fixedly connected to one side of the horizontal portion of the L-shaped plate and are parallel to the vertical portion of the L-shaped plate. The two slide rods are slidably engaged with the two slide rails respectively. The two slide rods are parallel to the length direction of the rectangular frame and fixedly connected inside the rectangular frame. The horizontal connecting plate is fixedly connected to the top of the rectangular frame. The connecting plate is fixedly connected to one end of the rectangular frame facing the spinning machine. The vertical connecting plate is fixedly connected to the opposite side of the slide rails of the L-shaped plate. The annular telescopic module drives the horizontal connecting plate to move, thereby causing the rectangular frame to extend and retract along the length direction of the slide rail. The L-shaped plate is fixed to the opposite side of the slide rail and has a balance plate below the vertical plate. The balance plate is slidably engaged with the adjacent support column. The rectangular frame has a stabilizing plate on its side.

7. The yarn hook picking device for a ring spinning machine according to claim 1, characterized in that: It also includes a spindle-pulling and combing assembly, which is used to remove the broken yarn tube from the spindle and can rotate the broken yarn tube in the opposite direction to the normal winding direction of the yarn, and during the reverse rotation of the broken yarn tube, it moves toward the tangential direction of the broken yarn tube to provide tangential force to the broken yarn on the broken yarn tube to loosen or unwind the broken yarn on the broken yarn tube. The spindle pulling and combing assembly includes a tube pulling mounting frame, a tube gripping module, a combing module, and a position control module on the tube pulling mounting frame for adjusting the position of the tube gripping module. The tube gripping module is used to remove the broken yarn tube from the spindle and can rotate the broken yarn tube in the opposite direction to the normal winding direction of the yarn. The combing module is used to move in the tangential direction of the broken yarn tube during the reverse rotation of the broken yarn tube to provide tangential force to the broken yarn on the broken yarn tube to loosen or unwind the broken yarn wrapped on the broken yarn tube. The yarn-grabbing module includes a pneumatic shaft rotatably mounted on the position control module facing one end of the spinning machine, a yarn-grabbing tube coaxially fixedly connected to the pneumatic shaft, a flexible bladder disposed inside the yarn-grabbing tube and communicating with the pneumatic shaft, and an unwinding power module that drives the pneumatic shaft to rotate. The pneumatic shaft is connected to an air source structure, and an air inlet pipe and an air extraction pipe are provided between the flexible bladder and the pneumatic shaft. The broken yarn tube is grasped and released by inflating and deflating the flexible bladder through the air source structure. The flexible capsule inside the gripping tube is multiple, and the flexible capsule is arranged along the axial direction of the gripping tube. All the flexible capsules are connected to the air source structure. The flexible capsule has a continuous ring shape.

8. The yarn hook picking device for a ring spinning machine according to claim 7, characterized in that: The combing module includes a combing component and a combing telescopic module for controlling the combing component to move toward the tangent direction of the broken yarn tube. The combing component is either a brush or an air knife connected to an air source structure.

9. The yarn hook picking device for a ring spinning machine according to claim 7 or 8, characterized in that: The position control module includes a lead screw that is vertically and rotatably installed in the tube pulling mounting frame, a tube pulling mounting seat that is threadedly engaged with the lead screw, a tube pulling pusher that is inclined at one end on the tube pulling mounting seat and facing the direction of the broken yarn tube, an L-shaped support plate that is fixedly connected to the other end of the tube pulling pusher, and a tube pulling power component that drives the lead screw to rotate. The tube pulling mounting frame has a vertical sliding groove that is slidably engaged with the tube pulling mounting seat, and the tube gripping module is rotatably mounted on the L-shaped support plate. The tube-pulling power component drives the lead screw to rotate, causing the tube-pulling mounting base to move up and down. The extension and retraction motion of the tube-pulling horizontal pusher drives the L-shaped support plate to move, which in turn drives the tube-gripping module to move.

10. The yarn hook picking device for a ring spinning machine according to claim 7 or 8, characterized in that: The yarn drawing and combing assembly also includes a detection suction head module, which is used for real-time detection of yarn breakage adsorption of the suction tube; The detection suction head module is connected to a detection telescopic power component that uses a hydraulic cylinder, pneumatic cylinder, or electric push rod to perform linear motion.

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