Automatic yarn inserting robot device

Abstract

The present invention relates to the technical field of textile machinery, and more specifically to an automatic yarn insertion robot device. In the existing automatic winding machine, the yarn is delivered manually, which has low production efficiency, high labor intensity and high labor cost. The present invention includes a frame assembly, on which the hydraulic lifting trolley, feed port assembly, feed tipping bucket assembly, vertical climbing conveyor and transverse wheel funnel component are used to transmit the yarn tube; a large end yarn suction assembly is provided at the rear and lower part of the transverse wheel funnel component; a yarn tube conveying platform assembly is provided at the head of the frame assembly, and the yarn tube is transferred to the yarn tube conveying platform assembly by the large end yarn suction assembly, a negative pressure line suction head assembly is provided above the yarn tube conveying platform assembly, and a negative pressure system assembly is provided below the yarn tube conveying platform assembly; a shuttle throwing manipulator component is provided on the frame assembly. The conveying of the yarn tube is mechanized, which reduces manual handling and speeds up production efficiency. The manipulator directly grabs and delivers the yarn, making the production process of the winding machine more convenient and reducing the manual yarn throwing link.

Description

Technical Field

[0001] The invention relates to the technical field of textile machinery, and more particularly to an automatic yarn inserting robot device. Background Art

[0002] Winding machine is a special equipment for textile industry. Winding is the last process of spinning and the first process of weaving. It plays a "bridge" role between the upper and lower processes, so it occupies an important position in the textile field. Winding machine mainly plays the role of changing the package, increasing the yarn capacity of the yarn package, removing defects on the yarn, and improving the quality of the yarn.

[0003] The existing automatic winding machine does not have a yarn bobbin pretreatment and conveying device, and the yarn bobbin is delivered manually, which results in low production efficiency, high labor intensity, high labor cost, and the production efficiency is limited by human factors. Summary of the invention

[0004] The purpose of the present invention is to provide an automatic yarn inserting robot device with high automation and high efficiency in view of the deficiencies of the prior art.

[0005] An automatic yarn inserting robot device comprises a frame assembly, wherein a hopper hydraulic lifting trolley is fixed at the tail end of the frame assembly, a feed dump assembly is fixed at the middle of the frame assembly, and a feed inlet assembly is fixed between the hopper hydraulic lifting trolley and the feed dump assembly; a lifting scissor assembly is fixed on the upper side of the outlet end of the feed dump assembly, a vertical climbing conveyor is fixed on the frame assembly outside the outlet end of the feed dump assembly, and a discharge scissor assembly is fixed on the side of the feed dump assembly near the top of the vertical climbing conveyor; a transverse runner funnel component is provided on the outside of the discharge scissor assembly, and the transverse runner funnel component is fixed on both sides of the vertical climbing conveyor; a hydraulic lifting scissor assembly is fixed on the upper side of the outlet end of the feed dump assembly, and a vertical climbing conveyor is fixed on the side of the feed dump assembly near the top of the vertical climbing conveyor; a transverse runner funnel component is provided on the outside of the transverse runner funnel component, and the transverse runner funnel component is fixed on both sides of the vertical climbing conveyor; a hydraulic lifting scissor assembly is fixed on the upper side of the outlet end of the feed dump assembly, and a vertical climbing conveyor is fixed on the side of the feed dump assembly near the top of the vertical climbing conveyor; a hydraulic lifting scissor assembly is fixed on the upper side of the feed dump assembly, and a hydraulic lifting scissor assembly is fixed on the upper side of the feed dump assembly ... The trolley, feed port assembly, feed tipping bucket assembly, vertical climbing conveyor and transverse wheel funnel assembly transfer the bobbin; a large end yarn suction assembly is fixed at the rear lower part of the transverse wheel funnel assembly; an electrical cabinet assembly is fixed at the head of the frame assembly, and a bobbin transfer platform assembly is fixed at the frame assembly close to the electrical cabinet assembly, and the bobbin transfer platform assembly is transferred from the large end yarn suction assembly to the bobbin transfer platform assembly, a negative pressure line suction head assembly is provided above the bobbin transfer platform assembly, and a negative pressure system assembly is installed below the bobbin transfer platform assembly; a shuttle manipulator assembly is fixed on the head platform of the frame assembly to grab the bobbin; an AGV track wheel is provided at the lower side of the frame assembly. The bobbin transfer is mechanized, reducing the manual process and accelerating production efficiency. The trolley has sufficient yarn carrying capacity to meet the needs of the winding machine. The manipulator directly grabs and delivers, making the process of taking the yarn bobbin in the production process of the winding machine more convenient and reducing the manual yarn delivery link.

[0006] As a further improvement and supplement to the above solution, the present invention also includes the following additional technical features:

[0007] The feed inlet assembly is provided with an inlet and an outlet, and two openings are provided at the inlet, which are opened and closed by a material stopper driven by a first cylinder. The first cylinder controls the openings, so that the yarn tube can enter easily without being blocked, and controls the speed of the yarn tube entering.

[0008] The feeding bucket assembly comprises a bucket assembly driven by a second cylinder, on which a bucket V-shaped plate is arranged. The second cylinder controls the bucket assembly, pushes the bucket assembly to turn over, and falls into the V-shaped groove, so that the bobbin can be automatically discharged.

[0009] The vertical climbing conveyor comprises a vertical conveyor belt driven by a first motor, a bobbin hanging plate welding group is arranged on the vertical conveyor belt, a vertical belt active roller and a vertical belt driven roller are sleeved at both ends of the vertical conveyor belt, and a plurality of climbing conveyor belt clamping wires are embedded in the bobbin hanging plate welding group; a large arc bending end is arranged at the upper end of the climbing conveyor belt clamping wire, and a convex section is arranged at the lower end. The convex section can squeeze out the excess bobbin, and the large arc bending section at the upper end ensures that the bobbin is separated from the conveyor belt. It is ensured that only one bobbin enters the next process, which reduces the production cost and improves the production efficiency.

[0010] The transverse shifting wheel funnel component includes an entrance transverse shifting conveyor and a table turning funnel assembly. The entrance transverse shifting conveyor includes a transverse conveyor belt driven by a second motor and a six-slot yarn selector driven by a first stepper motor, which is used for transverse positioning and transportation of the yarn tubes; the table turning funnel assembly includes a lever cylinder and funnel yarn blockers arranged on the left and right to ensure that the large end of the yarn tube falls downward after entering.

[0011] The large end yarn suction assembly includes a Y-direction conveying mechanism that moves left and right, a Z-direction conveying mechanism that moves up and down, and an X-direction conveying mechanism that moves forward and backward, as well as a tail yarn suction and cutting assembly arranged below the Z-direction conveying mechanism; the Y-direction conveying mechanism includes a first finger cylinder driven by a third cylinder and two short semicircular guide plates thereon; the Z-direction conveying mechanism includes a second finger cylinder driven by a fourth and fifth cylinder and a single-finger clamp; the X-direction conveying mechanism includes a first finger cylinder driven by a sixth cylinder and a bobbin clamp thereon; the tail yarn suction and cutting assembly includes a large ceramic blade assembly and a damper assembly. The bobbin conveying is mechanized, reducing the use of manual processes and accelerating production efficiency.

[0012] The bobbin transmission platform assembly packaging is located on the installation base plate, and the slideway support plate mechanism, channel plate group, outer round rib belt and inner round rib belt form the bobbin channel; it is divided into two channels I and II on the left side of the platform, and the two channels merge to the front side, the lower right is the qualified channel, and the rear side III is the unqualified channel; friction driving wheel groups are respectively provided on the outer side of the left corner of the outer round rib belt and the inner round rib belt, and a small negative pressure sealer is provided on the opposite side of the installation base plate. The bobbin is transmitted by two routes, which is highly efficient, and the line is sucked during the transmission to ensure that the bobbin provided to the next process is qualified.

[0013] The negative pressure line suction head finding assembly comprises two groups of first negative pressure pipe groups, a line suction head assembly and a line scraping assembly. The two-way head finding mechanism is adopted to make up for the defect of insufficient efficiency of the one-way head finding mechanism and improve the working efficiency.

[0014] The negative pressure system assembly includes a high-pressure fan assembly and a waste yarn box assembly, wherein the high-pressure fan blade in the high-pressure fan assembly includes two side ribs and a middle blade, the blade has an extended width and height, and the two side ribs and the middle fixed section of the blade are an aluminum casting integrated structure. It has strong rigidity, light weight, large air volume and high wind pressure.

[0015] The shuttle picking robot component comprises a Y-direction synchronous belt robot, a Z-direction synchronous belt robot and a bobbin gripper group, and the bobbin gripper group is provided with three groups of grippers.

[0016] The following beneficial effects can be achieved by using the present invention:

[0017] 1. The conveying of yarn tubes is mechanized, which reduces the manual process and speeds up production efficiency.

[0018] 2. The yarn carrying capacity of the trolley is sufficient to meet the needs of the winding machine.

[0019] 3. The robot directly grabs and delivers the yarn, making it more convenient to take the yarn bobbins during the winding machine production process and reducing the manual yarn delivery process.

[0020] 4. The winding machine is no longer a fixed machine, which shortens the time of transporting raw materials, speeds up the production process, realizes the intelligence of equipment, and makes the production workshop more standardized and easy to manage.

[0021] 5. During the movement of the whole equipment, the yarn tube ends are automatically found synchronously, and a two-way end-finding mechanism is adopted to make up for the defect of insufficient efficiency of the one-way end-finding mechanism, improve work efficiency, and ensure the effectiveness of the yarn tube.

[0022] 6. The whole machine effectively reduces the number of operating staff. Originally, one 72-spindle winding machine required 2 people per shift to manually feed the yarn, and three 72-spindle winding machines required 6 people per shift, and a total of 18 people were required for three shifts. After adopting this equipment, one device can supply one 72-spindle winding machine, and three 72-spindle winding machines only require 1 operator per shift, and a total of 3 people are required for three shifts, which directly reduces 15 people and greatly reduces the company's labor costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 It is a structural schematic diagram of the present invention.

[0024] Figure 2 It is a structural schematic diagram of the feed port assembly 4 in the present invention.

[0025] Figure 3It is a schematic diagram of the entry direction of the feed port assembly 4 in the present invention.

[0026] Figure 4 It is a structural schematic diagram of the feed bucket assembly 3 in the present invention.

[0027] Figure 5 It is a schematic structural diagram of the vertical climbing conveyor 6 in the present invention.

[0028] Figure 6 It is a schematic structural diagram of the transverse runner funnel component 8 in the present invention.

[0029] Figure 7 It is a structural schematic diagram of the large-end yarn suction component 9 in the present invention.

[0030] Figure 8 It is a first stereoscopic view of the bobbin transfer platform assembly 10 of the present invention.

[0031] Fig. 9 It is a second stereoscopic view of the bobbin transfer platform assembly 10 of the present invention.

[0032] Fig.10 It is a schematic structural diagram of the channel of the bobbin conveying platform assembly 10 in the present invention.

[0033] Fig.11 It is a structural schematic diagram of the negative pressure line suction head finding component 13 in the present invention.

[0034] Fig.12 It is a schematic diagram of the structure of the negative pressure system component 12 in the present invention.

[0035] Fig.13 It is a schematic structural diagram of the high pressure fan assembly 1201 in the negative pressure system component 12 of the present invention.

[0036] Fig.14 It is a structural schematic diagram of the shuttle throwing robot component 11 in the present invention.

[0037] Fig.15 The principle of the present invention Figure 1 .

[0038] Fig.16 The principle of the present invention Figure 2 .

[0039] Fig.17 The principle of the present invention Figure 3 . DETAILED DESCRIPTION

[0040] The specific embodiments of the present invention are described in detail below with reference to the accompanying drawings.

[0041] like Figure 1-17 As shown, the present invention is an automatic yarn inserting robot device.

[0042] The automatic yarn insertion robot device described in this embodiment includes a frame assembly 1, and a hopper hydraulic lifting trolley 2 is fixed at the tail end of the frame assembly 1, and the hopper hydraulic lifting trolley 2 is used to transport and overturn the yarn tube. The feed tipping bucket assembly 3 is fixed in the middle of the frame assembly 1, and the tipping bucket is on the side of the hopper hydraulic lifting trolley 2. A feed port assembly 4 is fixed between the hopper hydraulic lifting trolley 2 and the feed tipping bucket assembly 3; the inlet end of the feed port assembly 4 is on the side of the hopper hydraulic lifting trolley 2, and the outlet end is close to the tipping bucket of the feed tipping bucket assembly 3. A lifting scissor assembly 5 is fixed on the upper side of the outlet end of the feed tipping bucket assembly 3, and a vertical climbing conveyor 6 is fixed on the frame assembly 1 outside the outlet end of the feed tipping bucket assembly 3. The vertical climbing conveyor 6 is on the side of the feed tipping bucket assembly 3, and a unloading scissor assembly 7 is fixed near the top position; the lifting scissor assembly 5 and the unloading scissor assembly 7 are provided to ensure that the waste yarn on the yarn tube is sheared. The outside of the unloading scissor assembly 7 is provided with a transverse wheel funnel component 8, which is fixed on both sides of the vertical climbing conveyor 6; the bobbin is transmitted by the hydraulic lifting trolley 2, the feed port assembly 4, the feed tipping bucket assembly 3, the vertical climbing conveyor 6 and the transverse wheel funnel component 8; the large end yarn suction component 9 is fixed at the rear and lower part of the transverse wheel funnel component 8; the head of the frame assembly 1 is fixed with an electrical cabinet assembly 14, and the automatic yarn insertion robot device is controlled by the components on the electrical cabinet assembly 14. The frame assembly 1 close to the electrical cabinet assembly 14 is fixed with a bobbin conveying platform assembly 10, and the bobbin is transferred to the bobbin conveying platform assembly 10 by the large end yarn suction component 9, and a negative pressure suction line head finding component 13 is provided above the bobbin conveying platform assembly 10, and a negative pressure system component 12 is installed below the bobbin conveying platform assembly 10; a shuttle manipulator component 11 is fixed on the head platform of the frame assembly 1 to grab the bobbin. The lower side of the frame assembly 1 is provided with a movable AGV track wheel 15. The lifting scissors assembly 5 and the unloading scissors assembly 7 are both opened and closed by cylinders.

[0043] Furthermore, the feed port assembly 4 is provided with an inlet and an outlet, the bobbins enter from the inlet and exit from the outlet, and two openings 402 are provided at the inlet, which are opened and closed by a blocking block 401 driven by a first cylinder. When there are too many bobbins, the openings 402 are partially opened to increase the slope, so that the bobbins can enter easily without being blocked, thereby controlling the speed at which the bobbins enter.

[0044] Furthermore, the feeding bucket assembly 3 includes a bucket assembly 301 driven by a second cylinder, and a bucket V-shaped plate is provided on the bucket assembly 301. When there is no bobbin in the hopper welding part 302, it is triggered by the cross-shooting sensor at the outlet end, driving the piston rod of the second cylinder to extend, pushing the bucket assembly 301 to flip, so that the bobbin on the bucket assembly 301 is turned over to the hopper welding part 302 and falls into the V-shaped groove, and the bobbin can be automatically discharged.

[0045] Furthermore, the vertical climbing conveyor 6 comprises a vertical conveyor belt 605 driven by a first motor, a bobbin hanging plate welding group 602 is arranged on the vertical conveyor belt 605, vertical belt active rollers 603 and vertical belt driven rollers 601 are sleeved at both ends of the vertical conveyor belt 605, and a plurality of climbing conveyor belt clamping wires 604 are embedded in the bobbin hanging plate welding group 602; a large arc bending end is arranged at the upper end of the climbing conveyor belt clamping wire 604, and a convex section is arranged at the lower end. The material of the vertical conveyor belt 605 is PVC, which is light in weight, and the entrance of the bobbin hanging plate welding group 602 is an oblique structure, which is convenient for bobbin entry.

[0046] Further, the transverse shifting wheel funnel component 8 includes an inlet transverse shifting conveyor and a table turning funnel assembly, wherein the inlet transverse shifting conveyor includes a transverse conveyor belt 802 driven by a second motor and a six-slot yarn selector 801 driven by a first stepper motor, and the six-slot yarn selector 801 is provided with six circumferential arc-shaped slots, and a magnet is installed on one side of the six-slot yarn selector 801. A Hall switch is provided at the corresponding position of the mounting bracket to control the six-slot yarn selector 801 to rotate at the same angle, so as to carry out horizontal positioning and transportation of the bobbin. The table turning funnel assembly includes a lever cylinder 803 and a left and right set funnel yarn blocker 804, and the left and right ends of the funnel yarn blocker 804 are respectively provided with large and small head induction sheets, because the distances of the large and small ends of the bobbin are not consistent, and the distance of the large end is large, the large and small head induction sheets that are lifted up will be close to the corresponding magnetic proximity switch, and the lever cylinder 803 will be controlled to move, so as to ensure that the large end of the bobbin falls downward after entering.

[0047] Further, the large end yarn suction assembly 9 includes a Y-direction conveying mechanism that moves left and right, a Z-direction conveying mechanism that moves up and down, and an X-direction conveying mechanism that moves forward and backward, and a tail yarn suction and cutting assembly arranged below the Z-direction conveying mechanism; the Y-direction conveying mechanism includes a first finger cylinder 911 driven by a third cylinder and two short semicircular guide pieces 912 thereon; the Z-direction conveying mechanism includes a second finger cylinder 921 driven by a fourth and a fifth cylinder and a single-finger clamp 922; the X-direction conveying mechanism includes a first finger cylinder 911 driven by a sixth cylinder and a yarn tube clamp 931 thereon; the tail yarn suction and cutting assembly includes a large ceramic blade assembly 941 and a damper assembly 942. The large ceramic blade assembly 941 closes and opens the opening of the negative pressure damper assembly 942 while shearing the tail yarn. After the yarn tube is grabbed by the Y-direction conveying mechanism, it is transmitted to the Z-direction conveying mechanism. After the tail yarn is sheared by the large ceramic blade assembly 941, the tail yarn is sucked into the negative pressure air duct through the air gate assembly 942 and then transported to the conveying platform assembly 10 by the X-direction conveying mechanism.

[0048] Furthermore, the bobbin conveying platform assembly 10 comprises a slideway support plate mechanism 1005, a channel plate group 1001, an outer round rib belt 1004 and an inner round rib belt 1002 on the installation base plate 1007 to form a bobbin channel. The inner round rib belt 1002 and the outer round rib belt 1004 are respectively mounted on the rotating driving wheel group and the rotating driven wheel group. The power is input by the second stepping motor to drive the bobbin to rotate. The bobbin is divided into two channels I and II on the left side of the platform. The two channels merge after reaching the front side. The lower right channel is a qualified channel, and the rear side III is an unqualified channel. The friction driving wheel group 1003 driven by the third stepping motor is respectively arranged on the outer side of the left corner of the outer round rib belt 1004 and the inner round rib belt 1002 to drive the bobbin to reverse and find the head. A small negative pressure sealer 1006 is arranged on the reverse side of the installation base plate 1007 to reversely suck the thread ends of the bobbin. A plurality of ultra-thin cylinders and diffuse reflection sensors are also provided on the bobbin conveying platform assembly 10, which are used for setting the workstations, controlling the movement position of the bobbin, and transmitting in two ways to improve production efficiency.

[0049] Furthermore, the negative pressure thread suction and head finding assembly 13 comprises two groups of first negative pressure pipe groups 1301, a thread suction and pressure head assembly 1302 and a thread scraping assembly 1303. There is a gap inside the negative pressure pipe for the yarn to pass through, and the aluminum pressure sleeve in the thread suction and pressure head assembly 1302 goes down to press the head of the yarn tube. The yarn tube cooperates with the negative pressure thread suction and head finding assembly 13 while rotating with the friction driving wheel group 1003. The friction driving wheel group 1003 rotates in the opposite direction of the yarn winding to find the thread head, and the scraper in the thread scraping assembly 1303 scrapes the tail yarn up and down.

[0050] Furthermore, the negative pressure system component 12 includes a high-pressure fan assembly 1201 and a waste yarn box assembly 1202, wherein the high-pressure fan blades in the high-pressure fan assembly 1201 include ribs on both sides and a blade in the middle, the blade has an extended width and height, and the ribs on both sides of the blade and the middle fixed section are an aluminum casting integrated structure. Negative pressure is provided by the negative pressure system. The high-pressure fan assembly 1201 rotates at a high speed, and the air in the inner cavity of the fan assembly 1201 is thrown out of the air outlet, so that a negative pressure cavity is formed in the inner cavity of the fan assembly 1201, which automatically extracts the air in the waste yarn box 1202. A PVC pipe assembly is arranged on the waste yarn box assembly 1202, and then the entire negative pressure pipeline is connected to form a negative pressure system.

[0051] Furthermore, the shuttle picking robot component 11 includes a Y-direction synchronous belt robot 1101, a Z-direction synchronous belt robot 1102 and a bobbin gripper group 1103, and three groups of grippers are provided on the bobbin gripper group 1103. The Y-direction synchronous belt robot 1101 and the Z-direction synchronous belt robot 1102 are prior art and will not be further described.

[0052] When the automatic yarn inserting robot device is used:

[0053] 1. In the initial state, the trolley in the hopper hydraulic lifting trolley 2 is outside the entire device, and other components are in their original positions, and the negative pressure system is always open, as shown in the principle Figure 1 .

[0054] 2. The trolley in the hopper hydraulic lifting trolley 2 is pushed into position, and the position sensor senses that it is in position, notifying the system to start the action, as shown in the principle Figure 2 .

[0055] 3. The system starts to work. The hydraulic cylinder in the hopper hydraulic lifting trolley 2 moves, pushing the trolley up, and dumping the bobbins in the trolley into the feed port assembly 4, as shown in the principle. Figure 3 .

[0056] Fourth, when the bobbin enters the feed port assembly 4, it is blocked by the tipping bucket in the feed tipping bucket assembly 3 at the outlet end. The through-beam sensor at the outlet end of the feed tipping bucket assembly 3 controls the tipping bucket movement to flip the bobbin on the tipping bucket into the feed frame.

[0057] 5. The bobbins roll into the vertical climbing conveyor 6 from the outlet end of the feed frame and are lifted upward. The excess bobbins are squeezed off during the lifting process to ensure that there is only one bobbin in each grid. The excess bobbins fall back into the feed frame, and the lifting scissor assembly 5 is activated to cut the dragged yarn in the dropped bobbins.

[0058] Sixth, the bobbin is lifted to the top of the vertical climbing conveyor 6, detached from the vertical climbing conveyor 6, and slides onto the transverse moving wheel funnel component 8, passing through the unloading scissor assembly 7, which cuts off the dragged yarn from the bobbin.

[0059] 7. The bobbin is transported and oriented in the transverse rotating wheel funnel component 8, and freely falls into the large end yarn suction component 9. The bobbin is transported in the large end yarn suction component 9 in the Y direction, transported twice in the Z direction, the tail yarn is sheared at the large end, and transported to the designated position in the X direction.

[0060] 8. The bobbin falls from the designated position onto the bobbin conveying platform assembly 10, and is transferred to the position of the negative pressure thread suction head finding assembly 13. The rotary thread suction head finding is successful, and after the yarn sensor senses it, it is transported to the next station, and the scissors cut the yarn, and the negative pressure is sucked into the inner hole of the bobbin, and then transferred to the bobbin waiting position. When the bobbin yarn head finding is unsuccessful (referred to as waste yarn), the waste yarn is transferred to the waste yarn channel, and is grabbed and removed to the empty tube conveyor belt of the matching winding machine.

[0061] 9. When the number of bobbins that have been successfully found reaches the designed number (3), the system automatically controls the shuttle manipulator component 11 to move, grab the bobbins and release them. The bottom of the whole equipment is equipped with AGV track wheels 15. The whole trolley moves back and forth in a straight line during the above process. Combined with the empty material situation of the yarn warehouse of the matching winding machine, the shuttle manipulator component 11 automatically releases.

[0062] The above are preferred embodiments of the present invention, which do not limit the protection scope of the present invention. Any modifications and improvements made by those skilled in the art based on the design ideas of the present invention should be regarded as within the protection scope of the present invention.

Claims

1. An automatic yarn inserting robot device, comprising a frame assembly (1), characterized in that: The frame assembly (1) is provided with a hopper hydraulic lifting trolley (2) at the rear end, a feed dump assembly (3) is provided in the middle of the frame assembly (1), and a feed inlet assembly (4) is provided between the hopper hydraulic lifting trolley (2) and the feed dump assembly (3); a lifting scissor assembly (5) is provided on the upper side of the outlet end of the feed dump assembly (3), a vertical climbing conveyor (6) is provided on the frame assembly (1) outside the outlet end of the feed dump assembly (3), and a discharge scissor assembly (7) is provided on the side of the feed dump assembly (3) near the top; a transverse rotating wheel funnel component (8) is provided on the outside of the discharge scissor assembly (7), and the transverse rotating wheel funnel component (8) is fixed on both sides of the vertical climbing conveyor (6); the hydraulic lifting trolley (2), the feed inlet assembly (4), and the feed dump assembly (3) are provided. The bobbin is transmitted by a frame assembly (3), a vertical climbing conveyor (6) and a transverse rotating wheel funnel assembly (8); a large end yarn suction assembly (9) is arranged at the rear lower part of the transverse rotating wheel funnel assembly (8); an electrical cabinet assembly (14) is arranged at the head of the frame assembly (1); a bobbin conveying platform assembly (10) is arranged on the frame assembly (1) close to the electrical cabinet assembly (14); the bobbin is transmitted to the bobbin conveying platform assembly (10) by the large end yarn suction assembly (9); a negative pressure line suction and head finding assembly (13) is arranged above the bobbin conveying platform assembly (10); a negative pressure system assembly (12) is installed below the bobbin conveying platform assembly (10); a shuttle picking manipulator assembly (11) is fixed on the head platform of the frame assembly (1) to grab the bobbin; an AGV track wheel (15) is arranged at the lower side of the frame assembly (1); The vertical climbing conveyor (6) comprises a vertical conveyor belt (605) driven by a first motor, a bobbin hanging plate welding group (602) is arranged on the vertical conveyor belt (605), vertical belt active rollers (603) and vertical belt driven rollers (601) are sleeved at both ends of the vertical conveyor belt (605), and a plurality of climbing conveyor belt clamping steel wires (604) are embedded in the bobbin hanging plate welding group (602); the climbing conveyor belt clamping steel wires (604) are provided with a large arc bending end at the upper end and a convex section at the lower end; The transverse shifting wheel funnel component (8) comprises an inlet transverse shifting conveyor and a table turning funnel assembly, wherein the inlet transverse shifting conveyor comprises a transverse conveyor belt (802) driven by a second motor and a six-slot yarn selector (801) driven by a first stepper motor, and is used for transverse positioning and transporting the yarn tubes; the table turning funnel assembly comprises a lever cylinder (803) and funnel yarn blockers (804) arranged on the left and right, and the yarn tubes fall downward with their large ends facing downward after entering; The large-end yarn suction assembly (9) comprises a Y-direction conveying mechanism that moves left and right, a Z-direction conveying mechanism that moves up and down, and an X-direction conveying mechanism that moves forward and backward, and a tail yarn suction and cutting assembly arranged below the Z-direction conveying mechanism; the Y-direction conveying mechanism comprises a first finger cylinder (911) driven by a third cylinder and two short semicircular guide plates (912) thereon; the Z-direction conveying mechanism comprises a second finger cylinder (921) driven by a fourth and a fifth cylinder and a single-finger clamp (922); the X-direction conveying mechanism comprises a first finger cylinder (911) driven by a sixth cylinder and a yarn tube clamp (931) thereon; the tail yarn suction and cutting assembly comprises a large ceramic blade assembly (941) and a damper assembly (942); The bobbin conveying platform assembly (10) is packaged with a slideway support plate mechanism (1005), a channel plate group (1001), an outer circular rib belt (1004) and an inner circular rib belt (1002) located on a mounting base plate (1007) to form a channel for the bobbin; it is divided into two channels, I and II, on the left side of the platform, and the two channels merge at the front side, the lower right side is a qualified channel, and the rear side III is an unqualified channel; friction driving wheel groups (1003) are respectively provided on the outer side of the left corners of the outer circular rib belt (1004) and the inner circular rib belt (1002), and a small negative pressure sealer (1006) is provided on the opposite side of the mounting base plate (1007).

2. The automatic yarn inserting robot device according to claim 1, characterized in that: The feed port assembly (4) is provided with an inlet and an outlet, and the inlet is provided with two openings (402) which are opened and closed by a blocking block (401) driven by a first cylinder.

3. The automatic yarn inserting robot device according to claim 1, characterized in that: The feeding bucket assembly (3) comprises a bucket assembly (301) driven by a second cylinder, and a bucket V-shaped plate is arranged on the bucket assembly (301).

4. The automatic yarn inserting robot device according to claim 1, characterized in that: The negative pressure line suction and finding head assembly (13) comprises two groups of first negative pressure pipe groups (1301), a line suction pressure head assembly (1302) and a line scraping assembly (1303).

5. The automatic yarn inserting robot device according to claim 1, characterized in that: The negative pressure system component (12) includes a high-pressure fan assembly (1201) and a waste yarn box assembly (1202), wherein the high-pressure fan blades in the high-pressure fan assembly (1201) include side guards and a middle blade, the blade has an extended width and height, and the side guards on both sides of the blade and the middle fixed section are an aluminum cast integrated structure.

6. The automatic yarn inserting robot device according to claim 1, characterized in that: The shuttle picking robot component (11) comprises a Y-direction synchronous belt robot (1101), a Z-direction synchronous belt robot (1102) and a bobbin gripper group (1103), and the bobbin gripper group (1103) is provided with three groups of grippers.

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